Cut-in vehicle identification method and device, electronic equipment and storage medium

Abstract

The invention provides a cut-in vehicle identification method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining a road model corresponding to a current vehicle and position information corresponding to each first vehicle located in a preset range in front of the current vehicle on a target lane under the condition that the current vehicle is in a self-adaptive cruise control mode; for each first vehicle, monitoring a corresponding line crossing distance when the first vehicle crosses the target lane line based on the road model and the position information corresponding to the first vehicle; when the line crossing distance is equal to the distance threshold value, a first distance between the first vehicle and the current vehicle and a second distance between the second vehicle and the current vehicle are obtained; and when the first distance is smaller than or equal to the second distance, the first vehicle is determined as a target cut-in vehicle, and the speed of the current vehicle is adjusted based on the speed of the target cut-in vehicle. According to the method and the device, the cut-in vehicle can be accurately and timely identified, vehicle snub caused by wrong identification is avoided, and the comfort of passengers is improved.

Description

Technical Field

[0001] The present application relates to the field of automobile technology, and in particular to a method, device, electronic device and storage medium for identifying a vehicle. Background Art

[0002] The Adaptive Cruise Control (ACC) system is a Level 2 assisted driving system technology oriented towards safety and comfort. It can automatically adjust the vehicle speed and the distance to the target vehicle ahead according to the vehicle speed and following distance set by the driver and the actual road conditions ahead and around.

[0003] At present, the method of selecting the ACC main target vehicle in front of the lane is relatively mature. The following vehicle target is stably selected by the lateral distance or overlap rate. However, due to the complex and changeable actual road driving environment, vehicles in the adjacent lane often cut into the lane or cross the line, and the vehicle needs to make corresponding target vehicle switching. If the cutting-in target vehicle is not identified in time, it may cause a serious traffic accident. If the target is mistakenly selected when the adjacent lane vehicle has not cut in, it will cause the vehicle to brake, reducing the comfort of the passengers.

[0004] The current assisted driving system is limited by the sensor recognition capability and controller computing power, and has a weak ability to identify targets in the adjacent lane. Targets entering the adjacent lane often do not meet the screening conditions for the main tracking target at the initial stage of the behavior, so they are unable to identify and handle such targets well. Summary of the invention

[0005] The embodiments of the present application provide a method, device, electronic device and storage medium for identifying a cutting-in vehicle to solve the problem of how to accurately and timely identify the cutting-in behavior of a vehicle in an adjacent lane.

[0006] In a first aspect, an embodiment of the present application provides a method for identifying a vehicle entering the vehicle, the method comprising:

[0007] When the current vehicle is in an adaptive cruise control mode, a road model corresponding to the current vehicle and position information corresponding to each first vehicle on a target lane and located within a preset range in front of the current vehicle are obtained, wherein lane lines on both sides of a current lane in which the current vehicle is traveling are both target lane lines, an adjacent lane to the current lane is the target lane, and the road model includes a lane line equation corresponding to the target lane line;

[0008] For each of the first vehicles, based on the road model and the position information corresponding to the first vehicle, monitoring a crossing distance corresponding to when the first vehicle crosses the target lane line;

[0009] When the crossing distance is equal to the distance threshold, obtaining a first distance between the first vehicle and the current vehicle in a first target direction, and a second distance between a second vehicle traveling in front of the current vehicle and the current vehicle in the first target direction, wherein the first target direction is the traveling direction of the current vehicle;

[0010] When the first distance is less than or equal to the second distance, the first vehicle is determined as a target cut-in vehicle, and the speed of the current vehicle is adjusted based on the speed of the target cut-in vehicle.

[0011] In a second aspect, an embodiment of the present application further provides a cut-in vehicle identification device, the device comprising:

[0012] A first acquisition module is used to acquire, when the current vehicle is in an adaptive cruise control mode, a road model corresponding to the current vehicle and position information corresponding to each first vehicle on a target lane and located within a preset range in front of the current vehicle, wherein lane lines on both sides of a current lane in which the current vehicle is traveling are both target lane lines, an adjacent lane to the current lane is the target lane, and the road model includes a lane line equation corresponding to the target lane line;

[0013] A monitoring module, configured to monitor, for each of the first vehicles, a crossing distance corresponding to when the first vehicle crosses the target lane line based on the road model and the position information corresponding to the first vehicle;

[0014] A second acquisition module is used to acquire, when the crossing distance is equal to a distance threshold, a first distance between the first vehicle and the current vehicle in a first target direction, and a second distance between a second vehicle traveling in front of the current vehicle and the current vehicle in the first target direction, wherein the first target direction is the traveling direction of the current vehicle;

[0015] The first determination module is configured to determine the first vehicle as a target cut-in vehicle when the first distance is less than or equal to the second distance, and adjust the speed of the current vehicle based on the speed of the target cut-in vehicle.

[0016] In a third aspect, an embodiment of the present application provides a vehicle, including the above-mentioned cut-in vehicle identification device.

[0017] In a fourth aspect, an embodiment of the present application provides an electronic device, which includes a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program implements the above-mentioned method for identifying a vehicle entering the vehicle when executed by the processor.

[0018] In a fifth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the above-mentioned method for identifying a vehicle entering the vehicle is implemented.

[0019] The embodiments of the present application include at least the following technical effects:

[0020] The technical solution of the embodiment of the present application obtains the road model corresponding to the current vehicle and the position information corresponding to each first vehicle on the target lane and within a preset range in front of the current vehicle, and based on the road model and the position information corresponding to the first vehicle, monitors the corresponding cross-line distance when the first vehicle crosses the target lane line. When the cross-line distance is equal to the distance threshold and the first distance between the first vehicle and the current vehicle in the first target direction is less than or equal to the second distance between the second vehicle and the current vehicle in the first target direction, the first vehicle is determined as the target cutting-in vehicle, and the speed of the current vehicle is adjusted based on the speed of the target cutting-in vehicle. The vehicle cutting into the current lane can be identified accurately and timely, thereby avoiding vehicle braking caused by misidentification of the cutting-in vehicle, thereby improving the comfort of the occupants. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0022] Figure 1 It is a flow chart of a vehicle identification method provided in an embodiment of the present application;

[0023] Figure 2 is a structural schematic diagram of the road conditions corresponding to the vehicle in the embodiment of the present application;

[0024] Figure 3 is a schematic diagram corresponding to the position information of the first vehicle in an embodiment of the present application;

[0025] Figure 4 This is the intention of the enclosing box corresponding to the first vehicle in the embodiment of the present application;

[0026] Figure 5 is a schematic diagram of the structure of a vehicle identification device provided in an embodiment of the present application;

[0027] Figure 6 A block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0029] It should be understood that the references to "one embodiment" or "an embodiment" throughout the specification mean that the specific features, structures, or characteristics associated with the embodiment are included in at least one embodiment of the present application. Therefore, the references to "in one embodiment" or "in an embodiment" appearing throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0030] In the various embodiments of the present application, it should be understood that the size of the serial numbers of the following processes 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.

[0031] When the vehicle is in adaptive cruise control mode, after the speed is set, the vehicle will automatically adjust the speed according to the condition of the vehicle in front, provided that the speed is not higher than the set speed. When there is no vehicle in front, the vehicle will travel at the set speed. When there is a vehicle in front, the speed will be automatically adjusted to maintain the distance between the vehicle and the vehicle in front. The embodiment of the present application accurately and timely identifies the vehicle that cuts into the lane from the adjacent lane, and determines the cutting-in vehicle as the target vehicle in the adaptive cruise control mode, so that the speed of the vehicle can be adjusted according to the speed of the cutting-in vehicle, thereby preventing traffic accidents and improving driving safety. At the same time, it can avoid the vehicle braking caused by misidentification of the cutting-in vehicle and improve the comfort of the passengers.

[0032] like Figure 1 As shown, an embodiment of the present application provides a method for identifying a vehicle entering the vehicle, the method comprising:

[0033] Step 101, when the current vehicle is in an adaptive cruise control mode, obtain a road model corresponding to the current vehicle and position information corresponding to each first vehicle on a target lane and located within a preset range in front of the current vehicle, wherein lane lines on both sides of a current lane in which the current vehicle is traveling are both target lane lines, an adjacent lane to the current lane is the target lane, and the road model includes a lane line equation corresponding to the target lane line.

[0034] In this embodiment, in order to accurately and timely identify the behavior of a vehicle traveling in the adjacent lane cutting into the current lane, it is necessary to obtain the road model corresponding to the current vehicle and the position information corresponding to each first vehicle in the target lane and located within a preset range in front of the current vehicle, such as Figure 2 As shown, the road model here includes lane line equations corresponding to the target lane lines 204 on both sides of the current lane where the current vehicle 201 is traveling. The target lane 205 here is an adjacent lane to the current lane where the current vehicle 201 is traveling. Specifically, according to the actual driving road conditions, the number of the target lanes 205 is one or two, and the driving direction of the first vehicle 202 on the target lane 205 can be the same as that of the current vehicle or opposite to that of the current vehicle 201.

[0035] It should be noted that, after identifying a cutting-in vehicle, the embodiment of the present application will set the cutting-in vehicle as the target cutting-in vehicle, and adjust the speed of the current vehicle based on the target cutting-in vehicle. Therefore, only the vehicles that will affect the speed of the current vehicle after cutting-in need to be identified, while vehicles that are far away from the current vehicle and will not affect the current vehicle's travel at the original speed after cutting-in do not need to be identified. Therefore, a preset range can be set to obtain the vehicle on the target lane that is within the preset range in front of the current vehicle and determine it as the first vehicle. The preset range can be adjusted in real time according to the speed of the current vehicle. When the speed is faster, the preset range is set larger, and when the speed is slower, the preset range can be set smaller. Therefore, the number of first vehicles identified here is determined by the size of the preset range and the number of vehicles on the actual road. For example, Figure 2 As shown, the two vehicles in front of the current vehicle on the left lane of the current lane and the two vehicles in front of the current vehicle 201 on the right lane of the current lane are both the first vehicle 202 mentioned above.

[0036] Step 102: For each of the first vehicles, based on the road model and the position information corresponding to the first vehicle, monitor the crossing distance corresponding to when the first vehicle crosses the target lane line.

[0037] After acquiring the road model corresponding to the current vehicle and the position information corresponding to each first vehicle, for each first vehicle, based on the road model and the position information corresponding to the first vehicle, the crossing distance corresponding to when the first vehicle crosses the target lane line is monitored.

[0038] Step 103, when the crossing distance is equal to the distance threshold, obtain a first distance between the first vehicle and the current vehicle in a first target direction, and a second distance between the second vehicle traveling in front of the current vehicle and the current vehicle in the first target direction, wherein the first target direction is the traveling direction of the current vehicle.

[0039] In the embodiment of the present application, a distance threshold is set. Only when the crossing distance is equal to the distance threshold, the first vehicle is determined as the cutting-in vehicle. After the cutting-in vehicle is determined, the first distance between the first vehicle and the current vehicle in the first target direction and the second distance between the second vehicle and the current vehicle in the first target direction are obtained. The target direction here refers to the driving direction of the current vehicle. Figure 2 As shown, the second vehicle 203 is a vehicle traveling in front of the current vehicle 201 .

[0040] Step 104 : When the first distance is less than or equal to the second distance, the first vehicle is determined as a target cut-in vehicle, and the speed of the current vehicle is adjusted based on the speed of the target cut-in vehicle.

[0041] Specifically, if the first distance is less than the second distance, that is, the vehicle closer to the current vehicle between the first vehicle and the second vehicle is the first vehicle, then the first vehicle is determined as the target cut-in vehicle, and the speed of the current vehicle is adjusted based on the speed of the target cut-in vehicle to prevent the current vehicle from colliding with the first vehicle that is cutting into the current lane due to excessive speed. In addition, if the first distance is greater than the second distance, that is, the vehicle closer to the current vehicle between the first vehicle and the second vehicle is the second vehicle, the first vehicle will be driving in front of the second vehicle after cutting into the current lane, and will not directly affect the driving of the current vehicle. Therefore, there is no need to determine the first vehicle as the target cut-in vehicle, but the adaptive cruise control will continue to be performed with the second vehicle as the target vehicle.

[0042] Since the actual road driving environment is complex and changeable, targets in the adjacent lanes often cut in or cross the line. The setting of the distance threshold in the embodiment of the present application can prevent the first vehicle that crosses the line but does not cut in from being identified as the target cutting-in vehicle, thereby avoiding frequent braking of the current vehicle, thereby improving the comfort of the occupants of the current vehicle.

[0043] In an embodiment of the present application, by acquiring a road model corresponding to the current vehicle and position information corresponding to each first vehicle on the target lane and within a preset range in front of the current vehicle, and based on the road model and the position information corresponding to the first vehicle, the corresponding cross-line distance when the first vehicle crosses the target lane line is monitored; when the cross-line distance is equal to a distance threshold and the first distance between the first vehicle and the current vehicle in the first target direction is less than or equal to the second distance between the second vehicle and the current vehicle in the first target direction, the first vehicle is determined as the target cutting-in vehicle, and the speed of the current vehicle is adjusted based on the speed of the target cutting-in vehicle. The vehicle cutting into the current lane can be identified accurately and timely, thereby avoiding vehicle braking caused by misidentification of the cutting-in vehicle, thereby improving occupant comfort.

[0044] In an optional embodiment of the present application, after monitoring the crossing distance corresponding to when the first vehicle crosses the target lane line, the method further includes:

[0045] Acquire a first vehicle speed corresponding to the current vehicle, a second vehicle speed of the first vehicle, a vehicle type of the first vehicle, and current road condition information;

[0046] The distance threshold is determined according to at least one of the first vehicle speed, the second vehicle speed, the vehicle type, the current road condition information, and the first distance.

[0047] Specifically, when the first vehicle is detected to have crossed the target lane line, the crossing distance is monitored, and the magnitude of the crossing distance and the distance threshold is further determined. When starting to monitor the crossing distance, the distance threshold needs to be determined, and the distance threshold here can be a pre-set fixed value or a value calculated in real time based on some driving parameters of the current vehicle and the first vehicle.

[0048] Considering the relative speed between the current vehicle and the first vehicle and the relative longitudinal distance between the current vehicle and the first vehicle, the timing of selecting the cut-in target will have different effects on the passengers' experience. For example, the target cut-in vehicle is selected when the relative speed is low and the distance is far. At this time, the current vehicle brakes, which will affect the subjective comfort experience of the driver and passengers. If the relative speed of the target cut-in vehicle is high and the distance is close, the brakes will be applied violently if the recognition is late, causing the driver and passengers to have a strong sense of distrust of the vehicle. Considering the comprehensive experience and safety factors of the driver and passengers, it is necessary to design a safety margin, that is, a distance threshold, in combination with the first speed, the second speed and the first distance. At the same time, the timing of selection of different types of vehicles is also different. Large trucks are selected earlier than cars, so the setting of the distance threshold should also consider the target type. Due to the different types of cars and trucks, their widths are different. When the lane line is narrow, such as in an intersection, different safety margins, that is, distance thresholds, are designed according to the longitudinal distance. When the longitudinal distance is small, a smaller safety margin is designed. When the longitudinal distance is large, the safety margin can be appropriately enlarged. Therefore, the road environment, that is, road condition information, also needs to be considered when setting the distance threshold.

[0049] In summary, after monitoring the crossing distance, the embodiment of the present application obtains the first vehicle speed corresponding to the current vehicle, the second vehicle speed corresponding to the first vehicle, the vehicle type of the first vehicle, and the current road condition information, and then determines the distance threshold based on at least one of the first vehicle speed, the second vehicle speed, the vehicle type, the current road condition information and the first distance. The specific determination method and the proportion of each influencing factor can be determined through simulation experiments, and this application does not make specific limitations.

[0050] The above implementation scheme of the present application determines the distance threshold by taking into account various influencing factors during driving through at least one of the first vehicle speed, the second vehicle speed, the vehicle type, the current road condition information and the first distance, thereby ensuring driving safety while improving the comfort of the driver and passengers.

[0051] In an optional embodiment of the present application, the obtaining of the road model corresponding to the current vehicle includes:

[0052] Acquire a first image corresponding to the road environment in front of the current vehicle by an image acquisition device arranged in front of the current vehicle;

[0053] Identifying a target lane line in the first image;

[0054] For each of the target lane lines, obtaining a plurality of position coordinates on the target lane line;

[0055] Curve fitting is performed on the multiple position coordinates to obtain a lane line equation corresponding to the target lane line.

[0056] In this embodiment, the road model corresponding to the current vehicle includes a lane line equation corresponding to the target lane line, wherein the lane lines on both sides of the current lane where the current vehicle is traveling are both target lane lines. In order to obtain the road model, a first image corresponding to the road environment in front of the current vehicle can be obtained by an image acquisition device arranged in front of the current vehicle, and the first image includes the target lane line corresponding to the road model. Here, the target lane line is the lane line on both sides of the current lane. For each target lane line, multiple position coordinates on the target lane line can be obtained. Here, a coordinate system can be set with the current vehicle as the coordinate origin, wherein the driving direction of the vehicle is the x-axis. The lane line equation corresponding to the target lane line is obtained by curve fitting the obtained multiple position coordinates. Specifically, in order to improve the accuracy of the lane line equation obtained by fitting, the selected multiple position coordinates can be the coordinates of points evenly distributed on the target lane line. The number of specific selected points can be determined according to the curvature of the target lane line, and this application does not make specific restrictions.

[0057] Specifically, the target lane line can be fitted with a cubic function to obtain a cubic function equation of the target lane line, which is as follows:

[0058] y=C 3 x 3 +C 2 x 2 +C 1 x+C 0 (x start ≤x≤x end )

[0059] Among them, C3 ~C 0 represents the coefficient of its corresponding power, x start 、x end Indicates the starting and ending values ​​of the horizontal axis x.

[0060] The above implementation scheme of the present application obtains the lane line equation corresponding to the target lane line by performing curve fitting on the points on the target lane line. The target lane line corresponding to the current lane being a curve can be accurately fitted, thereby accurately determining whether the vehicle on the adjacent lane has crossed the line. Furthermore, the crossing distance corresponding to the vehicle that has crossed the line can be accurately obtained.

[0061] In an optional embodiment of the present application, the position information corresponding to the first vehicle includes coordinates of vertices of a bounding box corresponding to the first vehicle;

[0062] Acquiring position information corresponding to each first vehicle on the target lane and located within a preset range in front of the current vehicle, including:

[0063] Obtaining the coordinates of the center point of the rear bumper corresponding to the first vehicle, the length corresponding to the first vehicle, the width corresponding to the first vehicle, and the azimuth corresponding to the first vehicle, wherein the azimuth is the angle between the driving direction corresponding to the first vehicle and the driving direction corresponding to the current vehicle;

[0064] The coordinates of each vertex of the enclosing box corresponding to the first vehicle are calculated according to the coordinates of the center point of the rear bumper, the length, the width and the azimuth.

[0065] Specifically, in order to accurately determine whether the first vehicle crosses the line and the corresponding crossing distance after crossing the line, it is necessary to obtain the position information corresponding to the first vehicle, where the position information may include the coordinates of each vertex on the enclosing box corresponding to the first vehicle.

[0066] In order to determine the coordinates of each vertex on the bounding box corresponding to the first vehicle, the millimeter wave radar and the image acquisition device can be used as the main recognition devices. First, the coordinates of the center point of the rear bumper are obtained based on the millimeter wave radar installed on the current vehicle, and the length, width and azimuth are obtained based on the image acquisition device installed on the current vehicle. Since the millimeter wave radar has multiple radar reflection points for the same object, it is necessary to obtain the coordinates of the center of the rear bumper through target fusion.

[0067] like Figure 3 As shown, a coordinate system is established with the rear axle center of the current vehicle as the coordinate origin and the vehicle driving direction as the x-axis. Based on the millimeter wave radar and the image acquisition device, the coordinates of the center point of the rear bumper corresponding to the first vehicle, the length, width and azimuth of the first vehicle can be obtained, where (x 1 ,y 1) is the coordinate of the center point of the rear bumper, a is the width of the first vehicle, b is the length of the first vehicle, and A is the azimuth. After obtaining the above parameters, the coordinates of each vertex on the bounding box corresponding to the first vehicle can be calculated, such as Figure 4 As shown, the four vertices corresponding to the bounding box corresponding to the first vehicle are LU, LL, RU and RL. Here, in order to prevent the target from being lost or missed due to the special situation of crossing the target, the midpoints LM and RM of the two sides can be calculated.

[0068] The following is the calculation formula for each vertex:

[0069] 1. Left front vertex LU

[0070]

[0071] 2. Left rear vertex LL

[0072]

[0073] 3. Right front vertex RU

[0074]

[0075] 4. Right rear vertex RL

[0076]

[0077] 5. Left midpoint LM

[0078]

[0079] 6. Right midpoint RM

[0080]

[0081] The above implementation scheme of the present application obtains the coordinates of the center point, length, width and azimuth of the rear bumper corresponding to the first vehicle, and then calculates the coordinates of the vertices of the enclosing box corresponding to the first vehicle based on the above parameters, so as to accurately determine whether the first vehicle has crossed the line and the corresponding crossing distance after crossing the line.

[0082] In an optional embodiment of the present application, based on the road model and the position information corresponding to the first vehicle, monitoring the crossing distance corresponding to when the first vehicle crosses the target lane line includes:

[0083] Based on the road model and the position information corresponding to the first vehicle, determining whether the first vehicle crosses the target lane line;

[0084] When the first vehicle crosses the target lane line, a crossing distance corresponding to the first vehicle crossing the target lane line is obtained.

[0085] Wherein, judging whether the first vehicle crosses the target lane line based on the road model and the position information corresponding to the first vehicle includes:

[0086] Determine, as a target vertex, a vertex closest to the current vehicle in a second target direction among vertices of the bounding box corresponding to the first vehicle, wherein the second target direction is perpendicular to the first target direction;

[0087] Obtaining a first lane line equation corresponding to a first target lane line close to the target vertex among the target lane lines corresponding to the road model;

[0088] Acquire a first transverse coordinate value of the target vertex in the second target direction and a first longitudinal coordinate value in the first target direction;

[0089] Calculate a second longitudinal coordinate value corresponding to the first transverse coordinate value on the first target lane line according to the first lane line equation and the first transverse coordinate value;

[0090] When the second longitudinal coordinate value is greater than the first longitudinal coordinate value, it is determined that the first vehicle has crossed the first target lane line.

[0091] When judging whether the first vehicle has crossed the target lane line, the embodiment of the present application first determines the target vertex closest to the vertices of the enclosing box corresponding to the first vehicle and the current vehicle in the second target direction, and then determines the first lane line equation corresponding to the first target lane line close to the target vertex in the target lane lines corresponding to the road model based on the target vertex, and substitutes the first horizontal coordinate value corresponding to the target vertex into the first lane line equation to obtain the second longitudinal coordinate value, and compares the second longitudinal coordinate value with the first longitudinal coordinate value. If the second longitudinal coordinate value is greater than the first longitudinal coordinate value, it is determined that the first vehicle has crossed the first target lane line.

[0092] For example, in determining the left front vertex LU(x LU ,y LU ) is the target vertex, where the first horizontal coordinate value is x LU , the first vertical coordinate value is y LU , substituting the first horizontal coordinate value into the first lane line equation, we can get the second longitudinal coordinate value y L-U =C 3 X LU 3 +C 2 X LU 2 +C 1 X LU +C 0 , if yL-U Greater than y LU , it is determined that the first vehicle crosses the first target lane line.

[0093] The above implementation scheme of the present application can more accurately determine whether the first vehicle has crossed the line through the lane line equation and vertex coordinates, so that the crossing distance can be monitored in time, and then the cutting-in vehicle can be accurately and timely identified, thereby improving driving safety.

[0094] In an optional embodiment of the present application, before determining whether the first vehicle crosses the target lane line, the method further includes:

[0095] Obtaining a value range corresponding to the lane line equation in the first target direction;

[0096] When the coordinate value corresponding to the target vertex in the first target direction is within the value range, the target vertex is determined to be valid, and it is determined whether the first vehicle crosses the target lane line.

[0097] Specifically, since the lane line equation corresponding to the target lane line is obtained by curve fitting based on multiple points on the target lane line in the first image, the fitted lane line equation is only the equation of the lane line section included in the first image. Therefore, before determining whether the first vehicle crosses the target lane line, it is also necessary to determine whether the coordinate value corresponding to the target vertex in the first target direction is within the value range of the lane line equation in the first target direction. Only when the coordinate value corresponding to the target vertex in the first target direction is within the value range, can it be determined that the target vertex is valid, and further determine whether the first vehicle crosses the target lane line.

[0098] The above implementation scheme of the present application determines the validity of the target vertex that needs to be judged before judging whether the first vehicle crosses the target lane line, thereby preventing the lane line equation corresponding to the invalid target vertex and the target lane line, thereby improving the accuracy of identifying the cutting-in vehicle.

[0099] The above introduces the method for identifying an entering vehicle provided in an embodiment of the present application. The following will introduce the device for identifying an entering vehicle provided in an embodiment of the present application in conjunction with the accompanying drawings.

[0100] like Figure 5 As shown, an embodiment of the present invention further provides a cut-in vehicle identification device, the device comprising:

[0101] A first acquisition module 501 is used to acquire, when the current vehicle is in an adaptive cruise control mode, a road model corresponding to the current vehicle and position information corresponding to each first vehicle on a target lane and located within a preset range in front of the current vehicle, wherein lane lines on both sides of a current lane in which the current vehicle is traveling are both target lane lines, an adjacent lane to the current lane is the target lane, and the road model includes a lane line equation corresponding to the target lane line;

[0102] A monitoring module 502 is used to monitor, for each of the first vehicles, a crossing distance corresponding to when the first vehicle crosses the target lane line based on the road model and the position information corresponding to the first vehicle;

[0103] A second acquisition module 503 is used to acquire, when the crossing distance is equal to a distance threshold, a first distance between the first vehicle and the current vehicle in a first target direction, and a second distance between a second vehicle traveling in front of the current vehicle and the current vehicle in the first target direction, wherein the first target direction is the traveling direction of the current vehicle;

[0104] The first determination module 504 is configured to determine the first vehicle as a target cut-in vehicle when the first distance is less than or equal to the second distance, and adjust the speed of the current vehicle based on the speed of the target cut-in vehicle.

[0105] Optionally, the device further comprises:

[0106] A third acquisition module is used to acquire a first vehicle speed corresponding to the current vehicle, a second vehicle speed of the first vehicle, a vehicle type of the first vehicle, and current road condition information;

[0107] The second determination module is used to determine the distance threshold according to at least one of the first vehicle speed, the second vehicle speed, the vehicle type, the current road condition information and the first distance.

[0108] Optionally, the first acquisition module includes:

[0109] A first acquisition submodule, configured to acquire a first image corresponding to the road environment in front of the current vehicle through an image acquisition device arranged in front of the current vehicle;

[0110] A recognition submodule, used to recognize the target lane line in the first image;

[0111] A second acquisition submodule is used to acquire a plurality of position coordinates on each target lane line;

[0112] The first processing submodule is used to perform curve fitting on the multiple position coordinates to obtain a lane line equation corresponding to the target lane line.

[0113] Optionally, the position information corresponding to the first vehicle includes coordinates of vertices of a bounding box corresponding to the first vehicle;

[0114] The first acquisition module includes:

[0115] A third acquisition submodule is used to acquire the coordinates of the center point of the rear bumper corresponding to the first vehicle, the length corresponding to the first vehicle, the width corresponding to the first vehicle, and the azimuth corresponding to the first vehicle, wherein the azimuth is the angle between the driving direction corresponding to the first vehicle and the driving direction corresponding to the current vehicle;

[0116] The second processing submodule is used to calculate the coordinates of each vertex of the bounding box corresponding to the first vehicle according to the coordinates of the center point of the rear bumper, the length, the width and the azimuth.

[0117] Optionally, the third acquisition submodule includes:

[0118] A first acquisition unit, configured to acquire the coordinates of the center point of the rear bumper based on a millimeter wave radar disposed on the current vehicle;

[0119] A second acquisition unit is used to acquire the length, the width and the azimuth based on an image acquisition device arranged on the current vehicle.

[0120] Optionally, the monitoring module includes:

[0121] A judgment submodule, configured to judge whether the first vehicle has crossed the target lane line based on the road model and the position information corresponding to the first vehicle;

[0122] The fourth acquisition submodule is used to acquire a crossing distance corresponding to the first vehicle crossing the target lane line when the first vehicle crosses the target lane line.

[0123] Optionally, the judgment submodule includes:

[0124] A first determining unit is used to determine, as a target vertex, a vertex of the enclosing box corresponding to the first vehicle that is closest to the current vehicle in a second target direction, wherein the second target direction is perpendicular to the first target direction;

[0125] A third acquisition unit is used to acquire a first lane line equation corresponding to a first target lane line close to the target vertex among the target lane lines corresponding to the road model;

[0126] A fourth acquisition unit, configured to acquire a first horizontal coordinate value of the target vertex in the second target direction and a first vertical coordinate value in the first target direction;

[0127] A calculation unit, configured to calculate a second longitudinal coordinate value corresponding to the first transverse coordinate value on the first target lane line according to the first lane line equation and the first transverse coordinate value;

[0128] The second determining unit is used to determine that the first vehicle has crossed the first target lane line when the second longitudinal coordinate value is greater than the first longitudinal coordinate value.

[0129] Optionally, the device further comprises:

[0130] A fourth acquisition module, used to acquire a value range corresponding to the lane line equation in the first target direction;

[0131] The third determination module is used to determine that the target vertex is valid when the coordinate value corresponding to the target vertex in the first target direction is within the value range, and to judge whether the first vehicle crosses the target lane line.

[0132] The cutting-in vehicle identification device provided by the present application obtains the road model corresponding to the current vehicle and the position information corresponding to each first vehicle on the target lane and located within a preset range in front of the current vehicle, and monitors the corresponding cross-line distance when the first vehicle crosses the target lane line based on the road model and the position information corresponding to the first vehicle. When the cross-line distance is equal to a distance threshold and the first distance between the first vehicle and the current vehicle in the first target direction is less than or equal to the second distance between the second vehicle and the current vehicle in the first target direction, the first vehicle is determined as the target cutting-in vehicle, and the speed of the current vehicle is adjusted based on the speed of the target cutting-in vehicle. The vehicle cutting into the current lane can be identified accurately and timely, thereby avoiding vehicle braking caused by misidentification of the cutting-in vehicle, thereby improving the comfort of the occupants.

[0133] An embodiment of the present application also provides a vehicle, including the above-mentioned vehicle entry identification device, which can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0134] An embodiment of the present application also provides an electronic device, including: a processor, a memory, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, the various processes of the above-mentioned vehicle identification method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be described here.

[0135] For example, Figure 6 A schematic diagram of the physical structure of an electronic device is shown.

[0136] like Figure 6 As shown, the electronic device may include: a processor (processor) 610, a communication interface (Communications Interface) 620, a memory (memory) 630 and a communication bus 640, wherein the processor 610, the communication interface 620, and the memory 630 communicate with each other through the communication bus 640. The processor 610 can call the logic instructions in the memory 630, and the processor 610 is used to perform the following steps: when the current vehicle is in an adaptive cruise control mode, obtain a road model corresponding to the current vehicle, and position information corresponding to each first vehicle on the target lane and located within a preset range in front of the current vehicle, wherein the lane lines on both sides of the current lane in which the current vehicle is traveling are both target lane lines, the adjacent lane of the current lane is the target lane, and the road model includes a lane line equation corresponding to the target lane line; for each first vehicle, based on the road model and the position information corresponding to the first vehicle, monitor the corresponding crossing distance when the first vehicle crosses the target lane line; when the crossing distance is equal to a distance threshold, obtain a first distance between the first vehicle and the current vehicle in a first target direction, and a second distance between the second vehicle traveling in front of the current vehicle and the current vehicle in the first target direction, wherein the first target direction is the driving direction of the current vehicle; when the first distance is less than or equal to the second distance, determine the first vehicle as a target cut-in vehicle, and adjust the speed of the current vehicle based on the speed of the target cut-in vehicle.

[0137] In addition, the logic instructions in the above-mentioned memory 630 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art, and the computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk.

[0138] An embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the various processes of the above-mentioned vehicle identification method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0139] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0140] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0141] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation modes, which are merely illustrative rather than restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are within the protection of the present invention.

[0142] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed in the embodiments of the present invention 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.

[0143] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0144] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the 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.

[0145] 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.

[0146] 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.

[0147] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, ROM, RAM, magnetic disks, or optical disks.

[0148] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A method for identifying a vehicle, characterized in that: include: When the current vehicle is in an adaptive cruise control mode, a road model corresponding to the current vehicle and position information corresponding to each first vehicle on a target lane and located within a preset range in front of the current vehicle are obtained, wherein lane lines on both sides of a current lane in which the current vehicle is traveling are both target lane lines, an adjacent lane to the current lane is the target lane, and the road model includes a lane line equation corresponding to the target lane line; For each of the first vehicles, based on the road model and the position information corresponding to the first vehicle, monitoring a crossing distance corresponding to when the first vehicle crosses the target lane line; When the crossing distance is equal to the distance threshold, obtaining a first distance between the first vehicle and the current vehicle in a first target direction, and a second distance between a second vehicle traveling in front of the current vehicle and the current vehicle in the first target direction, wherein the first target direction is the traveling direction of the current vehicle; When the first distance is less than or equal to the second distance, the first vehicle is determined as a target cut-in vehicle, and the speed of the current vehicle is adjusted based on the speed of the target cut-in vehicle.

2. The method for identifying an intruding vehicle according to claim 1, characterized in that: After monitoring the crossing distance corresponding to when the first vehicle crosses the target lane line, the method further includes: Acquire a first vehicle speed corresponding to the current vehicle, a second vehicle speed of the first vehicle, a vehicle type of the first vehicle, and current road condition information; The distance threshold is determined according to at least one of the first vehicle speed, the second vehicle speed, the vehicle type, the current road condition information, and the first distance.

3. The method for identifying a cutting-in vehicle according to claim 1, characterized in that: The obtaining of the road model corresponding to the current vehicle includes: Acquire a first image corresponding to the road environment in front of the current vehicle by an image acquisition device arranged in front of the current vehicle; Identifying a target lane line in the first image; For each of the target lane lines, obtaining a plurality of position coordinates on the target lane line; Curve fitting is performed on the multiple position coordinates to obtain a lane line equation corresponding to the target lane line.

4. The method for identifying an intruding vehicle according to claim 1, characterized in that: The position information corresponding to the first vehicle includes coordinates of each vertex of the bounding box corresponding to the first vehicle; Acquiring position information corresponding to each first vehicle on the target lane and located within a preset range in front of the current vehicle, including: Obtaining the coordinates of the center point of the rear bumper corresponding to the first vehicle, the length corresponding to the first vehicle, the width corresponding to the first vehicle, and the azimuth corresponding to the first vehicle, wherein the azimuth is the angle between the driving direction corresponding to the first vehicle and the driving direction corresponding to the current vehicle; The coordinates of each vertex of the enclosing box corresponding to the first vehicle are calculated according to the coordinates of the center point of the rear bumper, the length, the width and the azimuth.

5. The method for identifying a cutting-in vehicle according to claim 4, characterized in that: Acquiring the coordinates of the center point of the rear bumper corresponding to the first vehicle, the length corresponding to the first vehicle, the width corresponding to the first vehicle, and the azimuth corresponding to the first vehicle, including: Acquiring the coordinates of the center point of the rear bumper based on a millimeter wave radar arranged on the current vehicle; The length, the width and the azimuth are acquired based on an image acquisition device arranged on the current vehicle.

6. The method for identifying a cutting-in vehicle according to claim 4, characterized in that: Based on the road model and the position information corresponding to the first vehicle, monitoring a crossing distance corresponding to when the first vehicle crosses the target lane line includes: Based on the road model and the position information corresponding to the first vehicle, determining whether the first vehicle crosses the target lane line; When the first vehicle crosses the target lane line, a crossing distance corresponding to the first vehicle crossing the target lane line is obtained.

7. The method for identifying an intruding vehicle according to claim 6, characterized in that: Determining whether the first vehicle crosses the target lane line based on the road model and the position information corresponding to the first vehicle includes: Determine, as a target vertex, a vertex closest to the current vehicle in a second target direction among vertices of the bounding box corresponding to the first vehicle, wherein the second target direction is perpendicular to the first target direction; Obtaining a first lane line equation corresponding to a first target lane line close to the target vertex among the target lane lines corresponding to the road model; Acquire a first transverse coordinate value of the target vertex in the second target direction and a first longitudinal coordinate value in the first target direction; Calculate a second longitudinal coordinate value corresponding to the first transverse coordinate value on the first target lane line according to the first lane line equation and the first transverse coordinate value; When the second longitudinal coordinate value is greater than the first longitudinal coordinate value, it is determined that the first vehicle has crossed the first target lane line.

8. A vehicle identification device, characterized in that: include: A first acquisition module is used to acquire, when the current vehicle is in an adaptive cruise control mode, a road model corresponding to the current vehicle and position information corresponding to each first vehicle on a target lane and located within a preset range in front of the current vehicle, wherein lane lines on both sides of a current lane in which the current vehicle is traveling are both target lane lines, an adjacent lane to the current lane is the target lane, and the road model includes a lane line equation corresponding to the target lane line; A monitoring module, configured to monitor, for each of the first vehicles, a crossing distance corresponding to when the first vehicle crosses the target lane line based on the road model and the position information corresponding to the first vehicle; A second acquisition module is used to acquire, when the crossing distance is equal to a distance threshold, a first distance between the first vehicle and the current vehicle in a first target direction, and a second distance between a second vehicle traveling in front of the current vehicle and the current vehicle in the first target direction, wherein the first target direction is the traveling direction of the current vehicle; The first determination module is configured to determine the first vehicle as a target cut-in vehicle when the first distance is less than or equal to the second distance, and adjust the speed of the current vehicle based on the speed of the target cut-in vehicle.

9. An electronic device, characterized in that: The method comprises a processor, a memory and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the method for identifying a cutting-in vehicle as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the cut-in vehicle identification method according to any one of claims 1 to 7 are implemented.

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