Vehicle stop detection method, device, controller and storage medium

Abstract

The present application is applicable to the field of intelligent driving technology, and provides a method, device, controller and storage medium for detecting a vehicle stopping at an intersection. The method includes: obtaining lane line information, information on the drivable area of ​​the vehicle, curb information and vehicle speed information; predicting whether there is an intersection in front of the vehicle based on the above information; if there is an intersection in front of the vehicle, obtaining the angular velocity of the gyroscope installed on the vehicle, and judging whether the vehicle is turning based on the angular velocity; if the vehicle is judged to be turning, detecting whether the vehicle is stopping based on the vehicle speed. The present application combines the road surface and the vehicle speed to first detect whether there is an intersection in front of the vehicle, and then using the gyroscope to detect whether the vehicle is turning when there is an intersection, and then detecting whether the vehicle is stopping when turning at the intersection based on the vehicle speed, which can improve the accuracy of vehicle intersection parking detection, reduce misjudgments and false alarms, and effectively supervise vehicles.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to a method, device, controller and storage medium for detecting vehicle parking at intersections. Background Art

[0002] With the gradual improvement of economic level, the number of cars owned by residents has gradually increased. Under this circumstance, the efficient operation of urban transportation has become an important factor in the rapid development of urban economy and the improvement of people's lifestyle.

[0003] In order to ensure the efficient operation of urban traffic, modern road traffic management continues to upgrade. For example, in order to reduce the frequency of traffic accidents at intersections, traffic regulations in some cities require commercial vehicles to stop for a period of time, such as 3 seconds, when turning at intersections, so that drivers can observe the road conditions and pass through the intersection after confirming that there is no danger. Therefore, it is necessary to supervise whether vehicles stop for 3 seconds when turning at intersections.

[0004] In the related technology, due to the influence of complex traffic environment, the detection accuracy of vehicles stopping at intersections is low, which may cause misjudgments and false alarms and make it impossible to effectively supervise the vehicles. Summary of the invention

[0005] In view of this, the embodiments of the present application provide a vehicle parking detection method, device, controller and storage medium to solve the technical problems in the related art of low detection accuracy during vehicle parking detection at intersections, which may cause false judgments and false alarms and make effective supervision impossible.

[0006] In a first aspect, an embodiment of the present application provides a method for detecting a vehicle stopping at an intersection, comprising:

[0007] Obtain lane line information, drivable area information, roadside information and vehicle speed information;

[0008] Predicting whether there is an intersection ahead of the vehicle based on the lane line information, the drivable area information of the vehicle, the curb information and the vehicle speed information;

[0009] If there is an intersection in front of the vehicle, the angular velocity of the gyroscope installed on the vehicle is obtained, and based on the angular velocity, it is determined whether the vehicle is turning;

[0010] If it is determined that the vehicle is turning, whether the vehicle is stopping is detected based on the speed of the vehicle.

[0011] In a possible implementation of the first aspect, the vehicle speed information includes vehicle deceleration information and vehicle speed range information;

[0012] The predicting whether there is an intersection ahead of the vehicle according to the lane line information, the drivable area information of the vehicle, the curb information and the vehicle speed information includes:

[0013] According to the correspondence between the preset information and the scores, determine a first score corresponding to the lane line information, a second score corresponding to the drivable area information of the vehicle, a third score corresponding to the curb information, a fourth score corresponding to the deceleration information of the vehicle, and a fifth score corresponding to the speed range information;

[0014] The first score, the second score, the third score, the fourth score and the fifth score are added together to obtain a sum. If the sum is greater than or equal to a preset score threshold, it is predicted that there is an intersection ahead of the vehicle.

[0015] In a possible implementation of the first aspect, the lane line information indicates whether the lane line length is shortened, the drivable area information of the own vehicle indicates whether the drivable area of ​​the own vehicle is widened on both sides, and the curb information indicates whether the curb is discontinuous on both sides; the deceleration information of the own vehicle indicates whether the own vehicle is decelerated, and the speed range information indicates whether the speed of the own vehicle is within a preset speed range;

[0016] In the correspondence between the preset information and the score, the score corresponding to the shortening of the lane line length in the lane line information is greater than the score corresponding to the unchanged shortening of the lane line length;

[0017] The score corresponding to the drivable area of ​​the vehicle being widened on both sides in the drivable area information of the vehicle is greater than the score corresponding to the drivable area of ​​the vehicle being widened on both sides;

[0018] The score corresponding to the discontinuity on both sides of the curb in the curb information is greater than the score corresponding to the undiscontinuity on both sides of the curb;

[0019] The score corresponding to the deceleration of the vehicle in the deceleration information of the vehicle is greater than the score corresponding to the non-deceleration of the vehicle;

[0020] The score corresponding to the vehicle speed within the preset vehicle speed range in the vehicle speed range information is greater than the score corresponding to the vehicle speed not within the preset vehicle speed range.

[0021] In a possible implementation of the first aspect, the angular rate is an angular rate of a vertical axis of the gyroscope; and judging whether the vehicle is turning based on the angular rate includes:

[0022] The angular velocity of the vertical axis is integrated to obtain the yaw angle of the vehicle, and whether the vehicle is turning is determined based on the yaw angle and a preset angle threshold.

[0023] In a possible implementation manner of the first aspect, the yaw angle includes a first yaw angle and a second yaw angle; the preset angle threshold includes a first preset angle threshold and a second preset angle threshold;

[0024] The integrating process of the angular velocity of the vertical axis to obtain the yaw angle of the vehicle, and judging whether the vehicle is turning according to the yaw angle and a preset angle threshold, comprises:

[0025] Performing a first integration process on the angular velocity of the vertical axis in the current time period to obtain a first yaw angle, and determining whether the first yaw angle is greater than the first preset angle threshold;

[0026] If the first yaw angle is greater than the first preset angle threshold, a second integration process is performed on the angular velocity of the vertical axis in the next time period to obtain multiple second yaw angles, and it is determined whether each second yaw angle is greater than the second preset angle threshold; the current time period is less than the next time period;

[0027] If there are a preset number of second yaw angles that are all greater than the second preset angle threshold, it is determined that the vehicle is turning.

[0028] In a possible implementation of the first aspect, detecting whether the vehicle has stopped based on the speed of the vehicle includes:

[0029] Taking the time when the vehicle turns as the start time and the time corresponding to when the second yaw angle is the preset angle as the end time, determining the time period of the vehicle turning;

[0030] During the time period when the ego vehicle is turning, determining whether the ego vehicle has stopped based on the ego vehicle's speed;

[0031] Alternatively, the current position of the vehicle turning is confirmed as the starting position, and within a preset distance, based on the speed of the vehicle, it is determined whether the vehicle has stopped.

[0032] In a possible implementation of the first aspect, determining whether the vehicle has a parking behavior based on the speed of the vehicle during a turning period of the vehicle includes:

[0033] During the time period when the vehicle is turning, detecting whether the speed of the vehicle is zero and whether the time period when the speed is zero is greater than a preset parking time period;

[0034] If the vehicle speed of the own vehicle is zero and the time period during which the vehicle speed is zero is greater than the preset parking time period, it is determined that the own vehicle has a parking behavior.

[0035] In a second aspect, an embodiment of the present application provides a vehicle stop detection device at an intersection, comprising:

[0036] An acquisition module is used to obtain lane line information, drivable area information, roadside information and vehicle speed information;

[0037] A prediction module, used for predicting whether there is an intersection ahead of the vehicle based on the lane line information, the drivable area information of the vehicle, the curb information and the vehicle speed information;

[0038] A judgment module, used for obtaining the angular velocity of the gyroscope installed on the vehicle when there is an intersection in front of the vehicle, and judging whether the vehicle is turning based on the angular velocity;

[0039] The detection module is used to detect whether the vehicle is stopping based on the speed of the vehicle when judging whether the vehicle is turning.

[0040] In a third aspect, an embodiment of the present application provides a controller including a memory and a processor, wherein the memory stores a computer program executable on the processor, and when the processor executes the computer program, the vehicle intersection parking detection method as described in any one of the first aspects is implemented.

[0041] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the vehicle intersection parking detection method as described in any one of the first aspects is implemented.

[0042] In a fifth aspect, an embodiment of the present application provides a vehicle, comprising a controller as described in the third aspect.

[0043] It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here.

[0044] The vehicle intersection parking detection method, device, controller and storage medium provided in the embodiment of the present application predict whether there is an intersection in front of the vehicle based on lane line information, vehicle drivable area information, curb information and vehicle speed information, and when predicting that there is an intersection in front of the vehicle, judge whether the vehicle is turning based on the angular rate of the gyroscope installed on the vehicle, and then, when determining that the vehicle is turning, detect whether the vehicle is parking based on the speed of the vehicle. Among them, the embodiment of the present application combines the road surface and the vehicle speed to first detect whether there is an intersection in front of the vehicle, and then use the gyroscope to detect whether the vehicle is turning when there is an intersection, and then detect whether the vehicle is parking when turning at the intersection based on the vehicle speed, which can improve the accuracy of vehicle intersection parking detection, reduce misjudgments and false alarms, and effectively supervise vehicles.

[0045] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present specification. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0047] Figure 1 It is a schematic diagram of an application scenario provided by an embodiment of the present application;

[0048] Figure 2 It is a flow chart of a vehicle parking detection method at an intersection provided by an embodiment of the present application;

[0049] Figure 3 is a flow chart of a vehicle parking intersection detection method provided by another embodiment of the present application;

[0050] Figure 4 It is a structural schematic diagram of a vehicle intersection parking detection device provided by an embodiment of the present application;

[0051] Figure 5 It is a schematic diagram of the structure of a controller provided in one embodiment of the present application. DETAILED DESCRIPTION

[0052] The present application is described more clearly below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the effects of the present application, but are not intended to limit the present application in any form. It should be noted that, for those of ordinary skill in the art, several variations and improvements may be made without departing from the concept of the present application. These all fall within the scope of protection of the present application.

[0053] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0054] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0055] In the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0056] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0057] In addition, the “plurality” mentioned in the embodiments of the present application should be interpreted as two or more.

[0058] In order to reduce the frequency of traffic accidents at intersections, traffic regulations in some cities require commercial vehicles to stop for a period of time, such as 3 seconds, when turning at intersections. Therefore, it is necessary to supervise whether the vehicle stops for 3 seconds when turning at an intersection. In related technologies, due to the influence of complex traffic environments, the detection accuracy of vehicle parking at intersections is low. For example, the gyroscope installed on the vehicle is used to detect whether the vehicle is turning, and then determine whether the vehicle stops for 3 seconds when turning at the intersection. However, in some cases, such as when the vehicle turns at a curve, the related technology may produce misjudgments and false alarms, and it is impossible to effectively supervise whether the vehicle stops at the intersection.

[0059] Based on the above problems, the inventors have discovered through research that it is possible to combine the road surface and the speed of the vehicle to predict whether there is an intersection ahead, and when predicting that there is an intersection ahead, use a gyroscope to determine whether the vehicle is turning. Afterwards, when it is determined that the vehicle is turning, it is detected whether the vehicle is stopping, thereby improving the accuracy of vehicle parking detection at intersections, reducing misjudgments and false alarms, and effectively supervising vehicles.

[0060] First reference Figure 1 , Figure 1 The schematic diagram of an application scenario provided according to an embodiment of the present application is schematically shown. The devices involved in the application scenario include a controller 101, a gyroscope 102 and a visual sensor 103.

[0061] Among them, the controller 101, the gyroscope 102 and the visual sensor 103 are installed on the vehicle, and the visual sensor 103 is used to sense the road surface conditions, such as lane lines, the drivable area of ​​the vehicle and the roadside conditions, to obtain the perception results of the road surface. The controller 101 can communicate with the gyroscope 102 and the visual sensor 103 through the network, such as the controller 101 controls the gyroscope 102 to start through the network, obtains the angular rate of the gyroscope 102, and can also obtain the perception results of the road surface by the visual sensor 103 through the network.

[0062] Optionally, the controller 101 may be an electronic control unit (ECU) in the vehicle, which determines the vehicle speed through the obtained vehicle speed, and determines the road surface condition through the visual sensor 103, and then predicts whether there is an intersection ahead in combination with the road surface and the vehicle speed. When predicting that there is an intersection ahead, the gyroscope 102, such as the angular velocity of the gyroscope, is used to determine whether the vehicle is turning. Then, when determining that the vehicle is turning, it detects whether the vehicle is stopping, thereby improving the accuracy of vehicle intersection parking detection.

[0063] In some feasible embodiments, the equipment involved in the application scenario may further include an alarm 104. When the controller 101 detects that the vehicle has not stopped, it controls the alarm 104 to sound an alarm to remind the driver to stop at the intersection.

[0064] Combine the following Figure 1 For application scenarios, refer to Figure 2-Figure 3 The vehicle intersection parking detection method provided according to the exemplary embodiment of the present application is described. It should be noted that the above application scenarios are only shown to facilitate understanding of the spirit and principle of the present application, and the embodiments of the present application are not limited in this respect. On the contrary, the embodiments of the present application can be applied to any applicable scenario.

[0065] Figure 2 FIG. 1 is a flow chart of a vehicle parking detection method at an intersection provided by an embodiment of the present application. Figure 2 As shown, the method in the embodiment of the present application may include:

[0066] S201, obtaining lane line information, vehicle drivable area information, roadside information and vehicle speed information.

[0067] For example, in this embodiment, the vehicle is equipped with a visual sensor, and the road area information can be obtained according to the perception result of the visual sensor on the road surface, that is, the lane line information, the vehicle drivable area information and the roadside information. It can be understood that the lane line information, the vehicle drivable area information and the roadside information can be obtained by using an image processing method based on computer vision.

[0068] Optionally, this embodiment obtains the vehicle speed information of the vehicle according to the acquired vehicle speed and the use of the brake pedal. The vehicle speed information includes the vehicle deceleration information and the speed range information. For example, the vehicle deceleration information can be obtained according to whether the brake pedal is used and whether the speed difference obtained by subtracting the vehicle's previous speed from the vehicle's real-time speed is greater than a preset speed difference threshold, and the vehicle speed range information can be obtained according to the vehicle speed of the vehicle.

[0069] S202: predict whether there is an intersection ahead of the vehicle based on lane line information, vehicle drivable area information, roadside information, and vehicle speed information.

[0070] Exemplarily, in this embodiment, the lane line information indicates whether the lane line length becomes shorter, the vehicle's drivable area information indicates whether the vehicle's drivable area becomes wider on both sides, the curb information indicates whether the curb is interrupted on both sides, the vehicle's deceleration information indicates whether the vehicle is decelerating, and the speed range information indicates whether the vehicle's speed is within a preset speed range.

[0071] Accordingly, the lane line information may include that the lane line length becomes shorter, the lane line length does not become shorter, and the lane line does not exist. The information on the drivable area of ​​the vehicle may include that the drivable area of ​​the vehicle becomes wider on both sides, the drivable area of ​​the vehicle becomes wider on one side, and the drivable area of ​​the vehicle does not become wider on both sides. The curb information may include that the curb is discontinuous on both sides, the curb is discontinuous on one side, and the curb is not discontinuous on both sides. The deceleration information of the vehicle may include that the vehicle decelerates and the vehicle does not decelerate. The speed range information may include that the speed of the vehicle is within the preset speed range and that the speed of the vehicle is not within the preset speed range.

[0072] Among them, if the lane line becomes shorter until it disappears, the drivable area of ​​the vehicle widens on both sides, the drivable area of ​​the vehicle widens on one side, the curb is discontinuous on both sides, the curb is discontinuous on one side, the vehicle slows down, and the vehicle speed is within the preset speed range, it means that there may be an intersection ahead. If the lane line does not shorten, the drivable area of ​​the vehicle does not widen on both sides, the curb is not discontinuous on both sides, the vehicle does not slow down, and the vehicle speed is not within the preset speed range, it means that there may be no intersection ahead. And the absence of lane lines means that there may be an intersection ahead or there may not be an intersection.

[0073] Therefore, in the correspondence between the preset information and the score, it can be set that in the lane line information, the score corresponding to the shortening of the lane line length is greater than the score corresponding to the absence of the lane line, which is greater than the score corresponding to the unchanged lane line length. Similarly, in the drivable area information of the vehicle, the score corresponding to the widening of the drivable area on both sides of the vehicle is greater than the score corresponding to the widening of the drivable area on one side of the vehicle, which is greater than the score corresponding to the unchanged widening of the drivable area on both sides of the vehicle. In the curb information, the score corresponding to the discontinuity of the curb on both sides is greater than the score corresponding to the discontinuity of the curb on one side of the curb, which is greater than the score corresponding to the undiscontinuity of the curb on both sides. In the deceleration information of the vehicle, the score corresponding to the deceleration of the vehicle is greater than the score corresponding to the non-deceleration of the vehicle. In the speed range information, the score corresponding to the vehicle speed within the preset speed range is greater than the score corresponding to the vehicle speed not being within the preset speed range. Assigning scores to each information, for example, the highest score is 10 points and the lowest score is 0 points, can obtain Table 1, which is the correspondence between the preset information and the scores.

[0074] Table 1

[0075]

[0076] In one possible implementation, when predicting whether there is an intersection ahead of the vehicle, this embodiment can determine, based on the correspondence between preset information and scores, a first score corresponding to the lane line information, a second score corresponding to the vehicle's drivable area information, a third score corresponding to the curb information, a fourth score corresponding to the vehicle's deceleration information, and a fifth score corresponding to the vehicle's speed information, and add the first score, the second score, the third score, the fourth score, and the fifth score to obtain the sum. When the above sum is greater than or equal to the preset score threshold, it is predicted that there is an intersection ahead of the vehicle.

[0077] Exemplarily, the preset score threshold can be set according to the correspondence between the preset information and the score. For example, in this embodiment, the preset score threshold can be set to 35. If the sum of the scores corresponding to the information is greater than or equal to the preset score threshold, it is predicted that there is an intersection in front of the vehicle. If the sum is less than the preset score threshold, it is predicted that there is no intersection in front of the vehicle, and the vehicle will naturally not turn at the intersection, and there is no need to detect the vehicle stopping at the intersection, so the angular rate of the gyroscope is no longer obtained subsequently.

[0078] In this embodiment, by analyzing whether there is an intersection ahead of the ego vehicle from multiple angles rather than a single angle, such as changes in lane line length, changes on both sides of the drivable area of ​​the ego vehicle, changes in the curb, deceleration of the ego vehicle, and speed range, it is possible to more accurately predict whether there is an intersection ahead, and subsequently determine whether the ego vehicle is turning based on this, thereby improving the accuracy of detecting whether the ego vehicle is turning.

[0079] S203: If there is an intersection in front of the vehicle, obtain the angular velocity of the gyroscope installed on the vehicle, and determine whether the vehicle is turning based on the angular velocity.

[0080] The angular velocity is the angular velocity of the vertical axis of the gyroscope, that is, the angular velocity of the gyroscope Z axis. After predicting that there is an intersection ahead of the vehicle, this embodiment acquires the angular velocity of the vertical axis of the gyroscope in real time.

[0081] In a possible implementation, when determining whether the vehicle is turning based on the angular velocity, this embodiment may integrate the angular velocity of the vertical axis to obtain the yaw angle of the vehicle, and determine whether the vehicle is turning based on the yaw angle and a preset angle threshold.

[0082] Exemplarily, the yaw angle includes a first yaw angle and a second yaw angle, and the preset angle threshold includes a first preset angle threshold and a second preset angle threshold. Integrating the angular rate of the vertical axis to obtain the yaw angle of the vehicle, and then judging whether the vehicle is turning according to the yaw angle and the preset angle threshold, may include steps A1 to A3.

[0083] A1. Perform a first integration process on the angular velocity of the vertical axis in the current time period to obtain a first yaw angle, and determine whether the first yaw angle is greater than a first preset angle threshold.

[0084] A2. If the first yaw angle is greater than the first preset angle threshold, perform a second integration process on the angular velocity of the vertical axis in the next time period to obtain multiple second yaw angles, and determine whether each second yaw angle is greater than the second preset angle threshold.

[0085] A3. If there are a preset number of second yaw angles that are all greater than the second preset angle threshold, it is determined that the vehicle is turning.

[0086] Among them, the integration period corresponding to the first integration process is less than the integration period corresponding to the second integration process, that is, the length of the current time period is less than the length of the next time period. First, the angular velocity of the vertical axis of the current time period is subjected to the first integration process, that is, short-time integration, to obtain the first yaw angle. If the first yaw angle is greater than the first preset angle threshold, it means that the vehicle has a tendency to turn at this time. The vehicle may turn at the intersection, or the vehicle may just merge at the intersection and actually not turn. Therefore, further judgment is required at this time, that is, the angular velocity of the vertical axis of the next time period is subjected to the second integration process, that is, long-time integration process, to obtain multiple second yaw angles. If the preset number of second yaw angles are all greater than the second preset angle threshold, it can be determined that the vehicle is turning. In order to make the judgment of the vehicle turning more accurate, it can also be determined that the vehicle is turning within the preset detection time period after the second integration process is started, if the preset number of second yaw angles are all greater than the second preset angle threshold.

[0087] Optionally, if the first yaw angle is less than or equal to the first preset angle threshold, it means that the vehicle has no turning tendency at this time, and the vehicle will naturally not turn at the intersection, so the angular rate will not be processed by the second integral in the subsequent process. If there are no preset number of second yaw angles that are all greater than the second preset angle threshold, it means that the vehicle may have only merged at the intersection and did not actually turn.

[0088] S204: If it is determined that the vehicle is turning, then based on the speed of the vehicle, it is detected whether the vehicle is stopping.

[0089] For example, in this embodiment, after determining that the vehicle is turning, it is detected whether the vehicle has stopped based on the speed of the vehicle, for example, whether the vehicle has stopped for 3 seconds. If it is detected that the vehicle has stopped, it means that the vehicle has stopped at the intersection. If it is detected that the vehicle has not stopped, an alarm is issued to remind relevant personnel that the vehicle has not stopped at the intersection.

[0090] The vehicle intersection parking detection method provided in the embodiment of the present application predicts whether there is an intersection in front of the vehicle based on lane line information, vehicle drivable area information, curb information and vehicle speed information, and when predicting that there is an intersection in front of the vehicle, determines whether the vehicle is turning based on the angular velocity of the gyroscope installed on the vehicle, and then, when determining that the vehicle is turning, detects whether the vehicle is parking based on the speed of the vehicle. Among them, the embodiment of the present application combines the road surface and the vehicle speed to first detect whether there is an intersection in front of the vehicle, and then uses the gyroscope to detect whether the vehicle is turning when there is an intersection, and then detects whether the vehicle is parking when turning at the intersection based on the vehicle speed, which can improve the accuracy of vehicle intersection parking detection, reduce misjudgments and false alarms, and effectively supervise vehicles.

[0091] In order to more accurately detect whether the vehicle has stopped, after confirming that the vehicle has turned, it is also possible to determine whether the vehicle has stopped based on the vehicle's speed during the time period when the vehicle turned or within a preset distance.

[0092] Figure 3 FIG. 2 is a flow chart of a vehicle parking detection method at an intersection provided by another embodiment of the present application. Figure 3 As shown, the method in the embodiment of the present application may include:

[0093] S301, obtaining lane line information, vehicle drivable area information, roadside information and vehicle speed information.

[0094] S302: predict whether there is an intersection ahead of the vehicle based on lane line information, vehicle drivable area information, roadside information, and vehicle speed information.

[0095] S303: If there is an intersection in front of the vehicle, obtain the angular velocity of the gyroscope installed on the vehicle, and determine whether the vehicle is turning based on the angular velocity.

[0096] The specific implementation process and principle of steps S301 to S303 in this embodiment can refer to the relevant description in the above-mentioned embodiment, which will not be repeated here.

[0097] S304. If it is determined that the vehicle is turning, the time when the vehicle is turning is used as the starting time, and the time corresponding to the second yaw angle being the preset angle is used as the ending time to determine the time period of the vehicle turning. In the time period of the vehicle turning, based on the speed of the vehicle, determine whether the vehicle stops. Alternatively, based on the current position of the vehicle turning being confirmed as the starting position, determine whether the vehicle stops within the preset distance based on the speed of the vehicle.

[0098] Among them, the preset angle can be set to 90 degrees, that is, when the calculated second yaw angle is 90 degrees, it means that the vehicle has turned 90 degrees, that is, the vehicle has completed the turn and entered the straight lane after the turn. Alternatively, the time corresponding to when the second yaw angle is within the preset angle range is used as the end time. For example, the preset angle range can be 85 degrees to 105 degrees, which also means that the vehicle has completed the turn and entered the lane after the turn. In this way, between the time when the vehicle turns and the time when the vehicle has completed the turn, it is detected whether the vehicle has stopped, so that it can be more accurately determined whether the vehicle stops when turning at the intersection.

[0099] Optionally, it is also possible to confirm that when the vehicle turns, the current position of the vehicle is the starting position, and determine whether the vehicle stops within a preset distance. Here, the preset distance can be set according to the average width of multiple intersections, for example, the preset distance can be set to 35 meters. In this way, it can be more accurately determined whether the vehicle stops when turning at the intersection.

[0100] In a possible implementation, when determining whether the vehicle has stopped based on the vehicle's speed, this embodiment can detect whether the vehicle's speed is zero and whether the time period when the speed is zero is greater than a preset parking time period during the time period when the vehicle is turning. When the vehicle's speed is zero and the time period when the speed is zero is greater than the preset parking time period, it is determined that the vehicle has stopped.

[0101] Exemplarily, the preset parking time period may be 3 seconds. During the time period when the vehicle turns, or within a preset distance, when it is detected that the vehicle speed is zero and the duration is greater than 3 seconds, it is determined that the vehicle has stopped.

[0102] In this embodiment, after confirming that the vehicle is turning, it is possible to determine whether the vehicle has stopped based on its speed within the time period of turning or the preset distance, so as to more accurately determine whether the vehicle stops when turning at the intersection.

[0103] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0104] Figure 4 Schematic diagram of the structure of a vehicle intersection parking detection device provided by an embodiment of the present application. Figure 4 As shown, the vehicle stop detection device at an intersection provided in this embodiment may include: an acquisition module 401 , a prediction module 402 , a judgment module 403 and a detection module 404 .

[0105] The acquisition module 401 is used to acquire lane line information, vehicle drivable area information, roadside information and vehicle speed information.

[0106] The prediction module 402 is used to predict whether there is an intersection ahead of the vehicle based on the lane line information, the drivable area information of the vehicle, the curb information and the vehicle speed information.

[0107] The judgment module 403 is used to obtain the angular velocity of the gyroscope installed on the vehicle when there is an intersection in front of the vehicle, and judge whether the vehicle is turning based on the angular velocity.

[0108] The detection module 404 is used to detect whether the vehicle is stopping based on the speed of the vehicle when judging whether the vehicle is turning.

[0109] Optionally, the vehicle speed information includes vehicle deceleration information and vehicle speed range information; the prediction module 402 is specifically used for:

[0110] According to the correspondence between the preset information and the scores, determine a first score corresponding to the lane line information, a second score corresponding to the drivable area information of the vehicle, a third score corresponding to the curb information, a fourth score corresponding to the deceleration information of the vehicle, and a fifth score corresponding to the speed range information;

[0111] The first score, the second score, the third score, the fourth score and the fifth score are added together to obtain a sum. If the sum is greater than or equal to a preset score threshold, it is predicted that there is an intersection ahead of the vehicle.

[0112] Optionally, the angular velocity is the angular velocity of the vertical axis of the gyroscope; the judgment module 403 is specifically used for:

[0113] The angular velocity of the vertical axis is integrated to obtain the yaw angle of the vehicle, and whether the vehicle is turning is determined based on the yaw angle and a preset angle threshold.

[0114] Optionally, the yaw angle includes a first yaw angle and a second yaw angle; the preset angle threshold includes a first preset angle threshold and a second preset angle threshold; the judgment module 403 is specifically used to:

[0115] Performing a first integration process on the angular velocity of the vertical axis in the current time period to obtain a first yaw angle, and determining whether the first yaw angle is greater than the first preset angle threshold;

[0116] If the first yaw angle is greater than the first preset angle threshold, a second integration process is performed on the angular velocity of the vertical axis in the next time period to obtain multiple second yaw angles, and it is determined whether each second yaw angle is greater than the second preset angle threshold; the current time period is less than the next time period;

[0117] If there are a preset number of second yaw angles that are all greater than the second preset angle threshold, it is determined that the vehicle is turning.

[0118] Optionally, the detection module 404 is specifically used for:

[0119] Taking the time when the vehicle turns as the start time and the time corresponding to when the second yaw angle is the preset angle as the end time, determining the time period of the vehicle turning;

[0120] During the time period when the ego vehicle is turning, determining whether the ego vehicle has stopped based on the ego vehicle's speed;

[0121] Alternatively, the current position of the vehicle turning is confirmed as the starting position, and within a preset distance, based on the speed of the vehicle, it is determined whether the vehicle has stopped.

[0122] Optionally, the detection module 404 is further specifically configured to:

[0123] During the time period when the vehicle is turning, detecting whether the speed of the vehicle is zero and whether the time period when the speed is zero is greater than a preset parking time period;

[0124] If the vehicle speed of the own vehicle is zero and the time period during which the vehicle speed is zero is greater than the preset parking time period, it is determined that the own vehicle has a parking behavior.

[0125] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0126] Figure 5 is a schematic diagram of the structure of a controller provided in an embodiment of the present application. Figure 5 As shown, the controller 101 of this embodiment includes: a processor 510 and a memory 520, wherein the memory 520 stores a computer program 521 that can be run on the processor 510. When the processor 510 executes the computer program 521, the steps in any of the above method embodiments are implemented, for example Figure 2 Alternatively, when the processor 510 executes the computer program 521, the functions of each module / unit in the above-mentioned device embodiments are implemented, for example Figure 4 Functions of modules 401 to 404 are shown.

[0127] Exemplarily, the computer program 521 may be divided into one or more modules / units, one or more modules / units are stored in the memory 520, and are executed by the processor 510 to complete the present application. The one or more modules / units may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program 521 in the controller 101.

[0128] Those skilled in the art will understand that Figure 5 These are merely examples of controllers and do not constitute a limitation of the controller, which may include more or fewer components than those shown in the figure, or a combination of certain components, or different components, such as input and output devices, network access devices, buses, etc.

[0129] The processor 510 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0130] The memory 520 may be an internal storage unit of the controller, such as a hard disk or memory of the controller, or an external storage device of the controller, such as a plug-in hard disk equipped on the controller, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. The above-mentioned memory 520 may also include both an internal storage unit of the controller and an external storage device. The above-mentioned memory 520 is used to store computer programs and other programs and data required by the controller. The memory 520 may also be used to temporarily store data that has been output or is to be output.

[0131] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0132] An embodiment of the present invention further provides a vehicle, comprising the controller as described above.

[0133] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0134] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0135] In the embodiments provided by the present invention, it should be understood that the disclosed devices / controllers and methods can be implemented in other ways. For example, the device / controller embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0136] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0137] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0138] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal and software distribution medium, etc.

[0139] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A vehicle parking detection method at an intersection, characterized in that: include: Obtain lane line information, drivable area information, roadside information and vehicle speed information; Predicting whether there is an intersection ahead of the vehicle based on the lane line information, the drivable area information of the vehicle, the curb information and the vehicle speed information; If there is an intersection in front of the vehicle, the angular velocity of the gyroscope installed on the vehicle is obtained, and based on the angular velocity, it is determined whether the vehicle is turning; If it is determined that the vehicle is turning, the vehicle is detected to see if it is stopping based on its speed; The angular rate is the angular rate of the vertical axis of the gyroscope; and judging whether the vehicle is turning based on the angular rate includes: Integrating the angular velocity of the vertical axis to obtain the yaw angle of the vehicle, and determining whether the vehicle is turning according to the yaw angle and a preset angle threshold; The yaw angle includes a first yaw angle and a second yaw angle; the preset angle threshold includes a first preset angle threshold and a second preset angle threshold; the integrating process of the angular velocity of the vertical axis to obtain the yaw angle of the vehicle, and judging whether the vehicle is turning according to the yaw angle and the preset angle threshold, includes: Performing a first integration process on the angular velocity of the vertical axis in the current time period to obtain a first yaw angle, and determining whether the first yaw angle is greater than the first preset angle threshold; If the first yaw angle is greater than the first preset angle threshold, a second integration process is performed on the angular velocity of the vertical axis in the next time period to obtain multiple second yaw angles, and it is determined whether each second yaw angle is greater than the second preset angle threshold; the current time period is less than the next time period; If there are a preset number of second yaw angles that are all greater than the second preset angle threshold, it is determined that the vehicle is turning.

2. The vehicle stop detection method at an intersection according to claim 1, characterized in that: The vehicle speed information includes vehicle deceleration information and vehicle speed range information; The predicting whether there is an intersection ahead of the vehicle according to the lane line information, the drivable area information of the vehicle, the curb information and the vehicle speed information includes: According to the correspondence between the preset information and the scores, determine a first score corresponding to the lane line information, a second score corresponding to the drivable area information of the vehicle, a third score corresponding to the curb information, a fourth score corresponding to the deceleration information of the vehicle, and a fifth score corresponding to the speed range information; The first score, the second score, the third score, the fourth score and the fifth score are added together to obtain a sum. If the sum is greater than or equal to a preset score threshold, it is predicted that there is an intersection ahead of the vehicle.

3. The vehicle stop detection method at an intersection according to claim 2, characterized in that: The lane line information indicates whether the lane line length is shortened, the drivable area information indicates whether the drivable area of ​​the vehicle is widened on both sides, and the curb information indicates whether the curb is discontinuous on both sides; The vehicle deceleration information indicates whether the vehicle is decelerating, and the vehicle speed range information indicates whether the vehicle speed is within a preset vehicle speed range; In the correspondence between the preset information and the score, the score corresponding to the shortening of the lane line length in the lane line information is greater than the score corresponding to the unchanged shortening of the lane line length; The score corresponding to the drivable area of ​​the vehicle being widened on both sides in the drivable area information of the vehicle is greater than the score corresponding to the drivable area of ​​the vehicle being widened on both sides; The score corresponding to the discontinuity on both sides of the curb in the curb information is greater than the score corresponding to the undiscontinuity on both sides of the curb; The score corresponding to the deceleration of the vehicle in the deceleration information of the vehicle is greater than the score corresponding to the non-deceleration of the vehicle; The score corresponding to the vehicle speed within the preset vehicle speed range in the vehicle speed range information is greater than the score corresponding to the vehicle speed not within the preset vehicle speed range.

4. The vehicle stop detection method at an intersection according to claim 1, characterized in that: The detecting whether the vehicle has stopped based on the vehicle speed includes: Taking the time when the vehicle turns as the start time and the time corresponding to when the second yaw angle is the preset angle as the end time, determining the time period of the vehicle turning; During the time period when the ego vehicle is turning, determining whether the ego vehicle has stopped based on the ego vehicle's speed; Alternatively, the current position of the vehicle turning is confirmed as the starting position, and within a preset distance, based on the speed of the vehicle, it is determined whether the vehicle has stopped.

5. The vehicle stop detection method at an intersection according to claim 4, characterized in that: Determining whether the vehicle has stopped based on the speed of the vehicle during the turning period of the vehicle includes: During the time period when the vehicle is turning, detecting whether the speed of the vehicle is zero and whether the time period when the speed is zero is greater than a preset parking time period; If the vehicle speed of the own vehicle is zero and the time period during which the vehicle speed is zero is greater than the preset parking time period, it is determined that the own vehicle has a parking behavior.

6. A vehicle stop detection device at an intersection, characterized in that: include: An acquisition module is used to obtain lane line information, drivable area information, roadside information and vehicle speed information; A prediction module, used for predicting whether there is an intersection ahead of the vehicle based on the lane line information, the drivable area information of the vehicle, the curb information and the vehicle speed information; A judgment module, used for obtaining the angular velocity of the gyroscope installed on the vehicle when there is an intersection in front of the vehicle, and judging whether the vehicle is turning based on the angular velocity; A detection module is used to detect whether the vehicle is stopping based on its speed when judging whether the vehicle is turning; The angular rate is the angular rate of the vertical axis of the gyroscope; the judgment module is further used to integrate the angular rate of the vertical axis to obtain the yaw angle of the vehicle, and judge whether the vehicle is turning according to the yaw angle and a preset angle threshold; The yaw angle includes a first yaw angle and a second yaw angle; the preset angle threshold includes a first preset angle threshold and a second preset angle threshold; the judgment module is also used to perform a first integral processing on the angular velocity of the vertical axis in the current time period to obtain a first yaw angle, and judge whether the first yaw angle is greater than the first preset angle threshold; if the first yaw angle is greater than the first preset angle threshold, perform a second integral processing on the angular velocity of the vertical axis in the next time period to obtain multiple second yaw angles, and judge whether each second yaw angle is greater than the second preset angle threshold; the current time period is less than the next time period; if there are a preset number of second yaw angles that are all greater than the second preset angle threshold, it is determined that the vehicle is turning.

7. A controller comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, characterized in that: When the processor executes the computer program, the vehicle parking detection method at an intersection as described in any one of claims 1 to 5 is implemented.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the vehicle parking intersection detection method according to any one of claims 1 to 5 is implemented.

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