Vehicle passing processing method and system, automobile and storage medium

Abstract

The invention relates to a vehicle passing processing method and system, an automobile and a storage medium. The method comprises the following steps: acquiring a gate and initial information of the gate identified by a sensing device of a vehicle; the gate machine and the initial information of the gate machine are analyzed and processed, a target gate machine and feature information of the target gate machine are determined, and the feature information of the target gate machine comprises the position and the state of the target gate machine; and according to the target gate and the feature information of the target gate, generating and displaying the target gate and the position and state of the target gate on an environment reconstruction display interface of a vehicle display screen. According to the scheme, the gate and the gate state can be displayed for the user through the environment reconstruction display interface when the vehicle passes, and the automatic driving experience of the user is improved.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular to a vehicle traffic processing method, system, vehicle and storage medium. Background Art

[0002] At present, the technology of autonomous driving is constantly developing.

[0003] In the related art, when users turn on the navigation-assisted driving function in their vehicles and pass through highway toll stations, shopping mall parking lots, residential parking lots, etc., they often encounter various situations and slow down or stop driving. Especially when the vehicle is driving in bad weather, the user cannot clearly see the position of the gate in the car, and the vehicle may slow down or stop driving. The user cannot make corresponding driving judgments based on the position of the gate, which causes anxiety or panic in the user, affecting the autonomous driving experience. Summary of the invention

[0004] In order to solve or partially solve the problems existing in the related technology, the present application provides a vehicle traffic processing method, system, automobile and storage medium, which can display the gate and gate status to the user through the environment reconstruction display interface when the vehicle passes, thereby improving the user's autonomous driving experience.

[0005] A first aspect of the present application provides a vehicle traffic processing method, the method comprising:

[0006] Obtaining the gate and initial information of the gate identified by the vehicle's sensing device;

[0007] Analyze and process the gate machine and the initial information of the gate machine to determine the target gate machine and the characteristic information of the target gate machine, wherein the characteristic information of the target gate machine includes the position and state of the target gate machine;

[0008] According to the target gate and the characteristic information of the target gate, the target gate and the position and status of the target gate are generated and displayed on the environment reconstruction display interface of the vehicle display screen.

[0009] In one embodiment, generating and displaying the target gate and the position and state of the target gate on the environment reconstruction display interface of the vehicle display screen according to the target gate and the characteristic information of the target gate includes:

[0010] According to the target gate and the characteristic information of the target gate, the target gate is generated and rendered on the environment reconstruction display interface of the vehicle display screen, and the rendered target gate and the position and status of the target gate are displayed.

[0011] In one embodiment, the analyzing and processing the gate machine and the initial information of the gate machine to determine the target gate machine and the characteristic information of the target gate machine includes:

[0012] Using preset screening rules, the gate machine and the initial information of the gate machine are filtered and screened to obtain the screened candidate gate machines and the characteristic information of the candidate gate machines;

[0013] The candidate gates and the characteristic information of the candidate gates are displayed and filtered by using the preset display rules to obtain the filtered target gates and the characteristic information of the target gates.

[0014] In one embodiment, the gate and the initial information of the gate are filtered and screened by using a preset screening rule to obtain the screened candidate gates and the characteristic information of the candidate gates, including:

[0015] According to the rule of deleting duplicates, duplicate gates are found in the gates and the initial information of the gates and deleted to obtain the screened candidate gates and the characteristic information of the candidate gates; and / or,

[0016] According to the rule for deleting false detections, falsely detected gates are identified and deleted from the gates and the initial information of the gates, thereby obtaining screened candidate gates and characteristic information of the candidate gates.

[0017] In one embodiment, the use of preset screening rules to filter the gate and the initial information of the gate includes:

[0018] According to the rule of over-length retention, when it is detected in the gate and the initial information of the gate that the gate rod length is greater than a preset length threshold, the gate is retained as a candidate gate.

[0019] In one embodiment, the characteristic information of the candidate gate includes one or a combination of the following:

[0020] The target ID of the candidate gate, gate opening and closing angle, gate grounding point, gate status, and gate rod length.

[0021] In one embodiment, the method comprises:

[0022] Different pixel thresholds used for candidate gates are determined according to different positions of the gate grounding point in the field of view of the sensing device.

[0023] In one embodiment, the display screening of the candidate gates and the candidate gate feature information by using a preset display rule includes:

[0024] According to the long-distance non-display rule, when it is determined that the distance between the candidate gate and the vehicle is less than or equal to the first distance threshold, the candidate gate is determined as the target gate for screening display, otherwise the candidate gate is determined not to be the target gate for screening display; or,

[0025] According to the non-first vehicle non-display rule, when it is determined that the vehicle itself is not the first vehicle closest to the candidate gate, the candidate gate is determined not to be the target gate for screening display; when it is determined that the vehicle itself is the first vehicle closest to the candidate gate, the candidate gate is determined to be the target gate for screening display; or,

[0026] According to the gate lever deemed to be open rule, when it is determined that the distance between the candidate gate and the vehicle is less than or equal to the second distance threshold and the vehicle speed is greater than or equal to the preset speed threshold, it is determined that the gate lever of the candidate gate has been opened, and the candidate gate is determined as the target gate for screening and display; or,

[0027] According to the exit gate disappearance rule, when it is determined that the distance between the candidate gate and the vehicle is less than a third distance threshold, it is determined that the candidate gate is not used as a target gate for screening and display.

[0028] In one embodiment, when it is determined that the distance between the candidate gate and the vehicle is less than or equal to the first distance threshold, determining the candidate gate as a target gate for screening and display, otherwise determining that the candidate gate is not a target gate for screening and display, includes:

[0029] When it is determined that the distance between the gate grounding point of the candidate gate and the midpoint of the rear axle of the vehicle is less than or equal to the first distance threshold, the candidate gate is determined as the target gate for screening and display; when it is determined that the distance between the gate grounding point of the candidate gate and the midpoint of the rear axle of the vehicle is greater than the first distance threshold, the candidate gate is determined not to be the target gate for screening and display.

[0030] In one embodiment, when it is determined that the vehicle itself is not the first vehicle closest to the candidate gate, determining that the candidate gate is not used as a target gate for screening display, and when it is determined that the vehicle itself is the first vehicle closest to the candidate gate, determining the candidate gate as a target gate for screening display includes:

[0031] When it is determined that there is a vehicle in the rectangular area formed by the rear axle of the vehicle and the gate rod of the candidate gate extended by a preset distance, it is confirmed that the vehicle is not the first vehicle closest to the candidate gate, and the candidate gate is determined not to be the target gate for screening and display; when it is determined that there is no vehicle in the rectangular area formed by the rear axle of the vehicle and the gate rod of the candidate gate extended by a preset distance, it is confirmed that the vehicle is the first vehicle closest to the candidate gate, and the candidate gate is determined to be the target gate for screening and display.

[0032] In one embodiment, when it is determined that the distance between the candidate gate and the vehicle is less than or equal to the second distance threshold and the speed of the vehicle is greater than or equal to the preset speed threshold, determining that the gate lever of the candidate gate has been opened, and determining the candidate gate as the target gate for screening and display, includes:

[0033] When it is determined that the distance between the gate grounding point of the candidate gate and the midpoint of the rear axle of the vehicle is less than or equal to the second distance threshold and the vehicle speed is greater than or equal to the preset speed threshold, it is determined that the gate rod of the candidate gate has been opened, and the candidate gate is determined as the target gate for screening and display.

[0034] In one embodiment, when it is determined that the distance between the candidate gate and the vehicle is less than a third distance threshold, determining that the candidate gate is not used as a target gate for screening display includes:

[0035] When it is determined that the distance between the gate grounding point of the candidate gate and the midpoint of the rear axle of the vehicle is less than the third distance threshold, it is determined that the candidate gate is not used as a target gate for screening and display.

[0036] In one embodiment, the display screening of the candidate gates and the candidate gate feature information by using a preset display rule includes:

[0037] According to the rule of only displaying the gates of the target lane, when it is determined that the candidate gate belongs to the gate of the vehicle's target lane, the candidate gate is determined as the target gate for screening and display; when it is determined that the candidate gate does not belong to the gate of the vehicle's target lane or when it is determined that the candidate gate is a gate at a sharp turn, it is determined that the candidate gate is not used as the target gate for screening and display.

[0038] In one embodiment, determining that the candidate gate is a gate at a sharp turn includes:

[0039] When it is determined that the distance between the gate grounding point of the candidate gate and the midpoint of the rear axle of the vehicle is greater than or equal to the fourth distance threshold and the vehicle yaw rate is greater than or equal to the preset rate threshold, the candidate gate is determined to be a gate at a sharp turn.

[0040] A third aspect of the present application provides a vehicle traffic processing system, the system comprising:

[0041] The autonomous driving domain controller is used to obtain the gate and initial information of the gate identified by the vehicle's sensing device; analyze and process the gate and initial information of the gate to determine the target gate and characteristic information of the target gate, wherein the characteristic information of the target gate includes the position and status of the target gate;

[0042] A display screen display controller is used to generate and display the target gate and the position and status of the target gate on the environment reconstruction display interface of the vehicle display screen according to the target gate and the characteristic information of the target gate.

[0043] In one embodiment, the autonomous driving domain controller includes:

[0044] A perception fusion module is used to obtain the gate and the initial information of the gate recognized by the vehicle's perception device;

[0045] A first data processing module is used to filter and screen the gate machine and the initial information of the gate machine by using a preset screening rule to obtain the screened candidate gate machines and the characteristic information of the candidate gate machines;

[0046] The second data processing module is used to display and filter the candidate gates and the characteristic information of the candidate gates by using preset display rules to obtain the filtered target gates and the characteristic information of the target gates.

[0047] In one embodiment, the display screen display controller comprises:

[0048] The SR display rendering module is used to generate and render the target gate on the environment reconstruction display interface of the vehicle display screen according to the target gate and its characteristic information, and display the rendered target gate and its position and status.

[0049] A third aspect of the present application provides a vehicle, comprising:

[0050] Processor; and

[0051] The memory stores executable codes thereon, and when the executable codes are executed by the processor, the processor is caused to execute the method as described above.

[0052] A fourth aspect of the present application provides a computer-readable storage medium having executable code stored thereon. When the executable code is executed by a processor of an electronic device, the processor is caused to execute the method as described above.

[0053] The technical solution provided by this application may have the following beneficial effects:

[0054] After the present application obtains the gate and the initial information of the gate identified by the vehicle's sensing device, the gate and the initial information of the gate can be analyzed and processed to determine the characteristic information of the target gate and the target gate, wherein the characteristic information of the target gate includes the position and status of the target gate; then, based on the characteristic information of the target gate and the target gate, the target gate and the position and status of the target gate are generated and displayed on the environmental reconstruction display interface of the vehicle display screen. By displaying the position and status of the target gate on the environmental reconstruction display interface of the vehicle display screen, the user can make corresponding driving judgments based on the gate position and status, thereby improving the user's perception ability of the entire vehicle and the trust and experience of the navigation assisted driving system.

[0055] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The above and other objects, features and advantages of the present application will become more apparent by describing in more detail exemplary embodiments of the present application in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the present application.

[0057] Figure 1 It is a first flow chart of a vehicle traffic processing method shown in an embodiment of the present application;

[0058] Figure 2 is a second flow chart of the vehicle traffic processing method shown in the embodiment of the present application;

[0059] Figure 3 It is an application schematic diagram of a gate status display link structure shown in an embodiment of the present application;

[0060] Figure 4 is a schematic diagram of the relative relationship between a vehicle and a gate shown in an embodiment of the present application;

[0061] Figure 5 is a schematic diagram of the relative relationship between the coordinates of the vehicle, road and gate shown in the embodiment of the present application;

[0062] Figure 6 is a schematic diagram showing the position and status of a target gate on an environment reconstruction display interface of a vehicle display screen according to an embodiment of the present application;

[0063] Figure 7 is a first structural schematic diagram of a vehicle passage processing system shown in an embodiment of the present application;

[0064] Figure 8 is a second structural schematic diagram of the vehicle passage processing system shown in an embodiment of the present application;

[0065] Fig. 9 It is a schematic diagram of the structure of a car shown in an embodiment of the present application. DETAILED DESCRIPTION

[0066] The embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0067] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0068] It should be understood that although the terms "first", "second", "third", etc. may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0069] In some scenarios of related technologies, users cannot clearly see the position of the gate in the car, and the vehicle may slow down or stop, etc. Users cannot make corresponding driving decisions based on the position of the gate, which may cause users to feel anxious or panic and affect the autonomous driving experience.

[0070] In order to solve the problems existing in the related technology, the present application provides a vehicle passage processing method, which can display the gate and gate status to the user through the environment reconstruction display interface when the vehicle passes, thereby improving the user's autonomous driving experience.

[0071] The technical solution of the embodiment of the present application is described in detail below with reference to the accompanying drawings.

[0072] Figure 1 It is a first flow chart of a vehicle traffic processing method for a vehicle shown in an embodiment of the present application.

[0073] like Figure 1 As shown, the method includes:

[0074] S101, obtaining the gate recognized by the vehicle's sensing device and the initial information of the gate.

[0075] The initial information of the gate may include the target ID (identification) of the gate, the location coordinates of four points, and the timestamp. The four points of the gate identified may include: the logical point of the gate column, the two end points of the gate rod; if it is a gate that folds in the middle, the fourth point is the folding center point.

[0076] S102, analyzing and processing the gate and the initial information of the gate to determine the target gate and characteristic information of the target gate, wherein the characteristic information of the target gate includes the position and state of the target gate.

[0077] Among them, the gate machine and the initial information of the gate machine are analyzed and processed to determine the target gate machine and the characteristic information of the target gate machine, including: using preset filtering rules to filter the gate machine and the initial information of the gate machine to obtain the filtered candidate gate machine and the characteristic information of the candidate gate machine; using preset display rules to display and filter the candidate gate machine and the characteristic information of the candidate gate machine to obtain the filtered target gate machine and the characteristic information of the target gate machine.

[0078] Among them, the gate machine and the initial information of the gate machine are filtered and screened by using the preset screening rules to obtain the screened candidate gate machines and the characteristic information of the candidate gate machines, which may include:

[0079] According to the rule of deleting duplicates, duplicate gates are found and deleted from the gates and the initial information of the gates, so as to obtain the screened candidate gates and the characteristic information of the candidate gates; and / or,

[0080] According to the rule of deleting false detection, falsely detected gates are identified and deleted from the gates and their initial information, and the screened candidate gates and their characteristic information are obtained.

[0081] Among them, the characteristic information of the candidate gate may include one of the following items or a combination thereof: the target ID of the candidate gate, the gate opening and closing angle, the gate grounding point, the gate status, and the gate rod length.

[0082] Among them, using the preset screening rules to filter and screen the gate machine and the initial information of the gate machine can also include:

[0083] According to the rule of over-length retention, when the gate rod length is detected to be greater than the preset length threshold in the gate and the initial information of the gate, the gate is retained as a candidate gate.

[0084] Among them, using preset display rules to display and filter candidate gates and candidate gate feature information may include:

[0085] According to the long-distance non-display rule, when it is determined that the distance between the candidate gate and the vehicle is less than or equal to the first distance threshold, the candidate gate is determined as the target gate for screening display, otherwise the candidate gate is determined not to be the target gate for screening display; or,

[0086] According to the non-first vehicle non-display rule, when it is determined that the vehicle itself is not the first vehicle closest to the candidate gate, the candidate gate is determined not to be the target gate for screening display; when it is determined that the vehicle itself is the first vehicle closest to the candidate gate, the candidate gate is determined to be the target gate for screening display; or,

[0087] According to the gate lever deemed to be open rule, when it is determined that the distance between the candidate gate and the vehicle is less than or equal to the second distance threshold and the vehicle speed is greater than or equal to the preset speed threshold, it is determined that the gate lever of the candidate gate has been opened, and the candidate gate is determined as the target gate for screening and display; or,

[0088] According to the exit gate disappearance rule, when it is determined that the distance between the candidate gate and the vehicle is less than the third distance threshold, the candidate gate is determined not to be the target gate for screening display; or,

[0089] According to the rule of only displaying the gates of the target lane, when it is determined that the candidate gate belongs to the gate of the vehicle's target lane, the candidate gate is determined as the target gate for screening and display; when it is determined that the candidate gate does not belong to the gate of the vehicle's target lane or when it is determined that the candidate gate is a gate at a sharp turn, it is determined that the candidate gate is not used as the target gate for screening and display.

[0090] S103, generating and displaying the position and status of the target gate and the target gate on the environment reconstruction display interface of the vehicle display screen according to the target gate and the characteristic information of the target gate.

[0091] Among them, the target gate can be generated and rendered on the environment reconstruction display interface of the vehicle display screen according to the target gate and its characteristic information, and the position and status of the rendered target gate and its characteristic information can be displayed.

[0092] It can be seen from this embodiment that after the present application obtains the gate and the initial information of the gate identified by the vehicle's sensing device, the initial information of the gate and the gate can be analyzed and processed to determine the characteristic information of the target gate and the target gate, wherein the characteristic information of the target gate includes the position and status of the target gate; then, based on the characteristic information of the target gate and the target gate, the position and status of the target gate and the target gate are generated and displayed on the environmental reconstruction display interface of the vehicle display screen. By displaying the position and status of the target gate on the environmental reconstruction display interface of the vehicle display screen, the user can make corresponding driving judgments based on the gate position and status, thereby improving the user's perception ability of the entire vehicle and the trust and experience of the navigation assisted driving system.

[0093] Figure 2 It is a second flow chart of the vehicle traffic processing method of the vehicle shown in the embodiment of the present application. Figure 3 It is an application schematic diagram of the gate status display link structure shown in the embodiment of the present application.

[0094] This application can identify the position and status of the gate through the vehicle's perception device (also known as a perception component), process the gate-related information based on the perception fusion algorithm and data processing module, and render it, and then display the gate and the gate status on the vehicle display screen, such as the SR (Surrounding Reconstruction) display interface of the vehicle's large screen. By displaying the position and status of the gate of the self-driving lane on the environmental reconstruction display interface of the vehicle's large screen, the user's perception ability of the entire vehicle and the trust and experience of the navigation-assisted driving system can be improved.

[0095] exist Figure 3 In the present invention, the gate status display link structure includes the vehicle's autonomous driving domain controller and the display screen display controller, wherein the autonomous driving domain controller includes a perception fusion module, a first data processing module and a second data processing module; the display screen display controller includes an SR display rendering module. SR generally depicts the environmental reality of traffic participants and road facilities around the vehicle.

[0096] See also Figure 2 and Figure 3 As shown, the method includes:

[0097] S201, obtaining the gate recognized by the vehicle's sensor and the initial information of the gate.

[0098] The perception fusion module of the autonomous driving domain controller can be used to obtain the gate and the initial information of the gate identified by the vehicle's sensors. The sensors may include cameras, radars and other sensors.

[0099] The image captured by a sensor such as a camera is obtained, and the gate can be identified from the image according to the relevant image recognition algorithm, and the relevant initial information of the gate can be identified and obtained. The initial information of the gate may include the target ID of the gate, the position coordinates of four points, and the timestamp. The four points of the gate identified may include: the logical point of the gate column, the two end points of the gate rod; if it is a gate that folds in the middle, the fourth point is the folding center point.

[0100] S202, using preset screening rules, filtering and screening the gate and the initial information of the gate to obtain the screened candidate gates and the characteristic information of the candidate gates.

[0101] In this step, the gate and the initial information of the gate input by the perception fusion module can be filtered and screened by the first data processing module of the autonomous driving domain controller, that is, filtering / logical judgment and other processing can be performed, and the landmark (feature information) of the candidate gate can be released based on the processing results. The landmark (feature information) of the candidate gate can include one of the following or a combination thereof: the target ID of the candidate gate, the gate opening and closing angle, the gate grounding point, the gate status, and the gate rod length. In addition, the feature information can further include the yaw angle, the gate grounding point can be the grounding point direction information, etc. The grounding point direction can display the left and right sides of the road.

[0102] Among them, landmark (feature information) can be used as a creation element when generating a gate.

[0103] The present application can find and delete duplicate gates in the gates and their initial information according to the rule of deleting duplicates, and obtain screened candidate gates and their characteristic information.

[0104] The present application can find duplicate gates based on the initial information of the gates, that is, based on the acquired gate attribute information, and then delete the duplicate gates in the same direction, so as to perform a preliminary screening of the gates. For example, multiple gates in the same or multiple images can be deduplicated. For multiple images, relevant technologies can be used for fitting tracking, so that the same gate can be tracked in different images.

[0105] For example, the present application can analyze the gate attribute information of a single frame from the initial information of the gate, including the gate rod direction, gate opening and closing angle, gate type, etc., and delete the gates whose gate rod directions are in the same direction and within a preset distance (e.g., within 2 meters) according to the gate attribute information. Among them, the gate attribute information can be marked in a labeling manner, and whether the gates are the same can be determined based on whether the attribute information is the same.

[0106] The present application can determine and delete the falsely detected gates from the gates and their initial information according to the rules for deleting false detections, and obtain the screened candidate gates and their characteristic information.

[0107] Regarding the judgment of false detection of the gate, when the gate is at a preset distance from the vehicle, for example, more than 10 meters, the entire gate can be seen, and the gate will basically not make false detections.

[0108] When there are multiple gates on the image, according to the driving direction, it is possible to determine whether the gates overlap based on the image similarity. For example, the IOU (Intersection over Union) of the gate pole can be calculated based on the image. When the IOU is greater than a preset threshold, such as IOU>0.7, and the distance between the gate and the vehicle is less than a preset distance, such as 10 meters, it is considered a false detection. It should be noted that here, IOU>0.7 is used as an example but is not limited to this.

[0109] When there are multiple images, the gates in the images can be compared with each other to determine whether they are false positives. For example, when there is only one gate in the image, it can be compared with the gate landmarks in other images. If the gate opening and closing angle is greater than the preset threshold > 10 or the distance between the gate and the vehicle is greater than the preset distance, such as 10 meters, it is considered not a false positive.

[0110] It should be noted that the created landmark is generally credible (can be seen from a distance). If the distance between the gate and the vehicle is less than 10 meters, the IOU of the gate pole calculated from the image is greater than 0.7, which is considered a false detection. When it is considered a false detection, this application does not create a landmark for the gate.

[0111] The present application can retain the gate as a candidate gate according to the rule of over-length retention, when it is detected in the gate and the initial information of the gate that the gate rod length is greater than a preset length threshold.

[0112] When pre-processing the filtering gate, the application also considers the length of the gate rod. If the length of the gate rod is longer, the gate is retained to avoid the problem of the gate being deleted.

[0113] In one embodiment, the present application solution can also determine different pixel thresholds for candidate gates according to different positions of the gate grounding point in the field of view of the sensing device. The different pixel thresholds used by the candidate gates will affect the speed of subsequent mapping.

[0114] For example, when the gate touchdown point is at the bottom edge of the FOV (Fields of View), the candidate gate is fast-in and slow-out. When the touchdown point is determined to be at the bottom, a threshold of 20 pixels is determined for the candidate gate; when the touchdown point is determined not to be at the bottom, a threshold of 40 pixels is determined for the candidate gate (and the previous frame was at the bottom).

[0115] S203, using preset display rules, display and filter the candidate gates and the characteristic information of the candidate gates to obtain the filtered target gates and the characteristic information of the target gates.

[0116] The present application can further judge the candidate gates after the initial screening according to the preset display rules to screen the final target gates. The present application can further perform different display analysis and processing on the input information of the first data processing module through the second data processing module to meet the display effect of the SR interface.

[0117] This application can establish a vehicle coordinate system, determine different scenes according to the distance between the gate pole and the vehicle, and determine different display rules according to different scenes.

[0118] See also Figure 4 , is a schematic diagram of the relative relationship between a vehicle and a gate shown in an embodiment of the present application. Figure 4 As shown, the vehicle coordinate system established in the present application takes the center point of the rear axle of the vehicle as the origin, the driving direction as the X-axis, and the left side of the driving direction as the Y-axis.

[0119] The present application can determine the candidate gate as the target gate for screening display according to the long-distance non-display rule, when it is determined that the distance between the candidate gate and the vehicle is less than or equal to the first distance threshold, otherwise the candidate gate is determined not to be the target gate for screening display.

[0120] For example, when it is determined that the distance between the gate grounding point of the candidate gate and the midpoint of the rear axle of the vehicle is less than or equal to the first distance threshold, the candidate gate is determined as the target gate for screening and display; when it is determined that the distance between the gate grounding point of the candidate gate and the midpoint of the rear axle of the vehicle is greater than the first distance threshold, the candidate gate is determined not to be the target gate for screening and display. The first distance threshold can be, for example, 20m (meters) but is not limited thereto. For example:

[0121] No display rules at long distances: see Figure 4 , the distance X between the gate grounding point and the midpoint of the rear axle of the vehicle is ≤20m (configurable), the gate is displayed, that is, the candidate gate is determined as the target gate for screening and display; the distance X between the gate grounding point and the midpoint of the rear axle of the vehicle is greater than 20m, the gate is not displayed, that is, the candidate gate is determined not to be the target gate for screening and display.

[0122] The present application can, based on the rule of not displaying non-first vehicles, determine that the candidate gate is not used as the target gate for screening display when it is determined that the vehicle itself is not the first vehicle closest to the candidate gate; and determine that the candidate gate is used as the target gate for screening display when it is determined that the vehicle itself is the first vehicle closest to the candidate gate.

[0123] For example, when it is determined that there is a vehicle in the rectangular area formed by the rear axle of the vehicle and the gate rod of the candidate gate extending by a preset distance, it is confirmed that the vehicle itself is not the first vehicle closest to the candidate gate, and the candidate gate is determined not to be the target gate for screening and display; when it is determined that there is no vehicle in the rectangular area formed by the rear axle of the vehicle and the gate rod of the candidate gate extending by a preset distance, it is confirmed that the vehicle itself is the first vehicle closest to the candidate gate, and the candidate gate is determined to be the target gate for screening and display. Among them, extending the preset distance by, for example, 0.5m (meter) is not limited to this. For example:

[0124] Non-first car does not display rules: see Figure 4 , the rear axle of the vehicle and the gate pole + 0.5 meters form a rectangular area (0~X+0.5m, -1~1m), and judge whether there is a vehicle in the rectangular area. If there is a vehicle, it is confirmed that the vehicle is not the first vehicle closest to the candidate gate, and the gate is not displayed, that is, it is determined that the candidate gate is not used as the target gate for screening and display.

[0125] The present application can determine that the gate rod of the candidate gate has been opened based on the gate rod deemed open rule (also known as the gate rod forced opening rule), when it is determined that the distance between the candidate gate and the vehicle is less than or equal to the second distance threshold and the vehicle speed is greater than or equal to the preset speed threshold, and determine the candidate gate as the target gate for screening and display.

[0126] For example, when it is determined that the distance between the gate grounding point of the candidate gate and the midpoint of the rear axle of the vehicle is less than or equal to the second distance threshold and the vehicle speed is greater than or equal to the preset speed threshold, it is determined that the gate lever of the candidate gate has been opened, and the candidate gate is determined as the target gate for screening and display. The second distance threshold may be, for example, 3.5m but not limited thereto, and the preset speed threshold may be, for example, 1.6km / h but not limited thereto. For example:

[0127] Gate lever deemed open rule (also called gate lever forced open rule): see Figure 4 , the distance X between the candidate gate grounding point and the midpoint of the vehicle's rear axle is ≤3.5m&the vehicle speed is ≥1.6km / h; at this time, it is judged to be a misidentification scene, which has exceeded the camera range, and based on the speed, it is considered that the gate rod has been opened.

[0128] The present application can determine, based on the exit gate disappearance rule, that the candidate gate is not used as a target gate for screening display when it is determined that the distance between the candidate gate and the vehicle is less than a third distance threshold.

[0129] For example, when it is determined that the distance between the gate grounding point of the candidate gate and the midpoint of the rear axle of the vehicle is less than the third distance threshold, the candidate gate is determined not to be the target gate for screening display. The third distance threshold may be, for example, -3m but is not limited thereto. For example:

[0130] Disappearance rules for leaving gate: see Figure 4 , the distance X between the grounding point of the candidate gate and the midpoint of the rear axle of the vehicle is less than -3 meters, and the candidate gate is determined not to be the target gate for screening and display.

[0131] The present application can, according to the rule of only displaying the target lane gate, determine the candidate gate as the target gate for screening display when it is determined that the candidate gate belongs to the gate of the vehicle's target lane; when it is determined that the candidate gate does not belong to the gate of the vehicle's target lane or when it is determined that the candidate gate is a gate at a sharp turn, determine that the candidate gate is not used as the target gate for screening display.

[0132] For example, when it is determined that the distance between the gate grounding point of the candidate gate and the midpoint of the rear axle of the vehicle is greater than or equal to the fourth distance threshold and the yaw rate of the vehicle is greater than or equal to the preset rate threshold, the candidate gate is determined to be a gate at a sharp turn. The fourth distance threshold may be, for example, 3m but not limited thereto, and the preset rate threshold may be, for example, 0.15km / h but not limited thereto. For example:

[0133] The gate does not display the rules at the sharp turn: see Figure 5 When the distance X between the candidate gate grounding point and the midpoint of the rear axle of the vehicle is ≥3 meters and the absolute value of ego_yaw_rate (ego yaw rate) is ≥0.15km / h, the gate is not displayed, that is, the candidate gate is determined not to be the target gate for screening and display.

[0134] Target lane display rules: see Figure 5 , the candidate gate can be considered to be in the target lane if the following conditions are met: 1) the number of gates outputted upstream is not 0; 2) the product of the Y coordinates of gate point 1 and point 2 is less than 0; 3) the product of the Y coordinates of gate point 1 and point 2 is greater than 0 & the product of the Y coordinates of gate point 0 and point 4 is less than 0.

[0135] It should also be noted that the present application can also set a residence rule, that is, the gate grounding point can stay for 60 frames, or 1 second, but the attributes are updated in real time.

[0136] S204, generating and rendering the target gate on the environment reconstruction display interface of the vehicle display screen according to the target gate and the characteristic information of the target gate, and displaying the rendered target gate and the position and status of the target gate.

[0137] The present application can continue to process the target gate and the characteristic information of the target gate input by the second data processing module through the SR display rendering module, generate and render the target gate on the environmental reconstruction display interface of the vehicle display screen, and display the rendered target gate and the position and status of the target gate. At the same time, one or a combination of the gate target ID, type, coordinates, heading angle, switch status and other information can also be displayed. Figure 6 , which is a schematic diagram showing the location and status of a target gate on an environment reconstruction display interface of a vehicle display screen according to an embodiment of the present application. Figure 6 In the SR interface, the location and status of the target gate are clearly displayed to the user.

[0138] It should also be noted that when the SR display rendering module of the present application generates a target gate and renders it, a gate animation can be generated.

[0139] As can be seen from this embodiment, the embodiment of the present application can display the gate and the gate status on the vehicle display screen, such as the environment reconstruction display interface of the vehicle large screen, that is, the SR interface. By displaying the position and status of the gate of the self-driving lane on the environment reconstruction display interface of the vehicle large screen, the user's perception ability of the whole vehicle and the trust and experience of the navigation assisted driving system are improved.

[0140] The vehicle traffic processing method of the vehicle of the present application is introduced in detail above, and the embodiments of the present application correspondingly provide a vehicle traffic processing system and a vehicle.

[0141] Figure 7 It is a first structural schematic diagram of the vehicle traffic processing system shown in an embodiment of the present application.

[0142] See also Figure 7 The present application provides a vehicle traffic processing system 60, including: an autonomous driving domain controller 61 and a display screen controller 62.

[0143] The autonomous driving domain controller 61 is used to obtain the gate and the initial information of the gate identified by the vehicle's sensing device; analyze and process the gate and the initial information of the gate to determine the target gate and the characteristic information of the target gate, wherein the characteristic information of the target gate includes the location and status of the target gate.

[0144] Among them, the autonomous driving domain controller 61 uses preset filtering rules to filter and screen the gate and the initial information of the gate, and obtains the filtered candidate gate and the characteristic information of the candidate gate; uses preset display rules to display and filter the candidate gate and the characteristic information of the candidate gate, and obtains the filtered target gate and the characteristic information of the target gate.

[0145] The display screen display controller 62 is used to generate and display the position and status of the target gate and the target gate on the environment reconstruction display interface of the vehicle display screen according to the target gate and the characteristic information of the target gate.

[0146] Among them, the display screen display controller 62 can generate and render the target gate on the environmental reconstruction display interface of the vehicle display screen according to the target gate and the characteristic information of the target gate, and display the position and status of the rendered target gate and the target gate.

[0147] The system provided by the present application can analyze and process the initial information of the gate and the gate after acquiring the gate and the gate's initial information identified by the vehicle's sensing device, and determine the characteristic information of the target gate and the target gate, wherein the characteristic information of the target gate includes the position and status of the target gate; then, based on the characteristic information of the target gate and the target gate, the position and status of the target gate and the target gate are generated and displayed on the environmental reconstruction display interface of the vehicle display screen. By displaying the position and status of the target gate on the environmental reconstruction display interface of the vehicle display screen, the user can make corresponding driving judgments based on the gate's position and status, thereby improving the user's perception of the entire vehicle and the trust and experience of the navigation-assisted driving system.

[0148] Figure 8 It is a second structural schematic diagram of the vehicle traffic processing system shown in an embodiment of the present application.

[0149] See also Figure 8 The present application provides a vehicle traffic processing system 60, including: an autonomous driving domain controller 61 and a display screen controller 62.

[0150] Among them, the autonomous driving domain controller 61 includes: a perception fusion module 610, a first data processing module 611, and a second data processing module 612.

[0151] The perception fusion module 610 is used to obtain the gate recognized by the perception device of the vehicle and the initial information of the gate. The initial information of the gate may include the target ID of the gate, the position coordinates of four points, and the timestamp. The four points of the gate recognized may include: the logical point of the gate column, the two end points of the gate rod; if it is a gate that folds in the middle, the fourth point is the folding center point.

[0152] The first data processing module 611 is used to filter and screen the gate machine and the initial information of the gate machine by using the preset screening rules to obtain the screened candidate gate machines and the characteristic information of the candidate gate machines.

[0153] The first data processing module 611 can find and delete duplicate gates in the gates and their initial information according to the rule of deleting duplicates, and obtain the screened candidate gates and their characteristic information; and / or,

[0154] According to the rule of deleting false detection, falsely detected gates are identified and deleted from the gates and their initial information, and the screened candidate gates and their characteristic information are obtained.

[0155] Among them, the characteristic information of the candidate gate may include one of the following items or a combination thereof: the target ID of the candidate gate, the gate opening and closing angle, the gate grounding point, the gate status, and the gate rod length.

[0156] Among them, the first data processing module 611 can also retain the gate as a candidate gate when it is detected in the gate and the initial information of the gate that the gate rod length is greater than a preset length threshold according to the rule of over-length retention.

[0157] The second data processing module 612 is used to display and filter the candidate gates and their characteristic information by using preset display rules to obtain the filtered target gates and their characteristic information.

[0158] Wherein, the second data processing module 612 may determine the candidate gate as a target gate for screening display according to the long-distance non-display rule, when it is determined that the distance between the candidate gate and the vehicle is less than or equal to the first distance threshold, otherwise the candidate gate is determined not to be a target gate for screening display; or,

[0159] According to the non-first vehicle non-display rule, when it is determined that the vehicle itself is not the first vehicle closest to the candidate gate, the candidate gate is determined not to be the target gate for screening display; when it is determined that the vehicle itself is the first vehicle closest to the candidate gate, the candidate gate is determined to be the target gate for screening display; or,

[0160] According to the gate lever deemed to be open rule, when it is determined that the distance between the candidate gate and the vehicle is less than or equal to the second distance threshold and the vehicle speed is greater than or equal to the preset speed threshold, it is determined that the gate lever of the candidate gate has been opened, and the candidate gate is determined as the target gate for screening and display; or,

[0161] According to the exit gate disappearance rule, when it is determined that the distance between the candidate gate and the vehicle is less than the third distance threshold, the candidate gate is determined not to be the target gate for screening display; or,

[0162] According to the rule of only displaying the gates of the target lane, when it is determined that the candidate gate belongs to the gate of the vehicle's target lane, the candidate gate is determined as the target gate for screening and display; when it is determined that the candidate gate does not belong to the gate of the vehicle's target lane or when it is determined that the candidate gate is a gate at a sharp turn, it is determined that the candidate gate is not used as the target gate for screening and display.

[0163] In one implementation, the display screen controller 62 includes: an SR display rendering module 620 .

[0164] The SR display rendering module 620 is used to generate and render the target gate in the environment reconstruction display interface of the vehicle display screen according to the target gate and its characteristic information, and display the rendered target gate and its position and status.

[0165] The system of the present application can display the gate and its status on the vehicle display screen, such as the environment reconstruction display interface of the vehicle large screen, namely the SR interface. By displaying the position and status of the gate of the self-driving lane on the environment reconstruction display interface of the vehicle large screen, the user's perception ability of the whole vehicle and the trust and experience of the navigation assisted driving system are improved.

[0166] Fig. 9 It is a schematic diagram of the structure of a car shown in an embodiment of the present application.

[0167] See also Fig. 9 , the car 800 includes a memory 801 and a processor 802 .

[0168] The processor 802 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 the processor may be any conventional processor, etc.

[0169] The memory 801 may include various types of storage units, such as system memory, read-only memory (ROM) and permanent storage devices. Among them, ROM can store static data or instructions required by the processor 802 or other modules of the computer. The permanent storage device can be a readable and writable storage device. The permanent storage device can be a non-volatile storage device that will not lose the stored instructions and data even if the computer is powered off. In some embodiments, the permanent storage device uses a large-capacity storage device (such as a magnetic or optical disk, flash memory) as a permanent storage device. In some other embodiments, the permanent storage device can be a removable storage device (such as a floppy disk, optical drive). The system memory can be a readable and writable storage device or a volatile readable and writable storage device, such as a dynamic random access memory. The system memory can store some or all instructions and data required by the processor at runtime.

[0170] In addition, the memory 801 may include any combination of computer-readable storage media, including various types of semiconductor memory chips (e.g., DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and magnetic disks and / or optical disks may also be used. In some embodiments, the memory 801 may include a removable storage device that can be read and / or written, such as a laser disc (CD), a read-only digital versatile disk (e.g., DVD-ROM, double-layer DVD-ROM), a read-only Blu-ray disk, an ultra-density optical disk, a flash memory card (e.g., SD card, min SD card, Micro-SD card, etc.), a magnetic floppy disk, etc. The computer-readable storage medium does not include carrier waves and instantaneous electronic signals transmitted wirelessly or wired.

[0171] The memory 801 stores executable codes. When the executable codes are processed by the processor 802 , the processor 802 can execute part or all of the above-mentioned methods.

[0172] In addition, the method according to the present application may also be implemented as a computer program or a computer program product, which includes computer program code instructions for executing some or all of the steps in the above method of the present application.

[0173] Alternatively, the present application can also be implemented as a computer-readable storage medium (or non-temporary machine-readable storage medium or machine-readable storage medium) on which executable code (or computer program or computer instruction code) is stored. When the executable code (or computer program or computer instruction code) is executed by a processor of a car (or server, etc.), the processor executes part or all of the steps of the above-mentioned method according to the present application.

[0174] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A vehicle traffic processing method, characterized in that: The method comprises: Obtaining the gate and initial information of the gate identified by the vehicle's sensing device; Analyze and process the gate machine and the initial information of the gate machine to determine the target gate machine and the characteristic information of the target gate machine, wherein the characteristic information of the target gate machine includes the position and state of the target gate machine; According to the target gate and the characteristic information of the target gate, the target gate and the position and status of the target gate are generated and displayed on the environment reconstruction display interface of the vehicle display screen.

2. The method according to claim 1, characterized in that The step of generating and displaying the target gate and the position and state of the target gate on the environment reconstruction display interface of the vehicle display screen according to the target gate and the characteristic information of the target gate includes: According to the target gate and the characteristic information of the target gate, the target gate is generated and rendered on the environment reconstruction display interface of the vehicle display screen, and the rendered target gate and the position and status of the target gate are displayed.

3. The method according to claim 1, characterized in that The analyzing and processing of the gate machine and the initial information of the gate machine to determine the target gate machine and the characteristic information of the target gate machine includes: Using preset screening rules, the gate machine and the initial information of the gate machine are filtered and screened to obtain the screened candidate gate machines and the characteristic information of the candidate gate machines; The candidate gates and the characteristic information of the candidate gates are displayed and filtered by using the preset display rules to obtain the filtered target gates and the characteristic information of the target gates.

4. The method according to claim 3, characterized in that The preset screening rules are used to filter and screen the gate machine and the initial information of the gate machine to obtain the screened candidate gate machine and the characteristic information of the candidate gate machine, including: According to the rule of deleting duplicates, duplicate gates are found in the gates and the initial information of the gates and deleted to obtain the screened candidate gates and the characteristic information of the candidate gates; and / or, According to the rule for deleting false detections, falsely detected gates are identified and deleted from the gates and the initial information of the gates, thereby obtaining screened candidate gates and characteristic information of the candidate gates.

5. The method according to claim 3, characterized in that: The method of filtering the gate machine and the initial information of the gate machine by using the preset screening rules includes: According to the rule of over-length retention, when it is detected in the gate and the initial information of the gate that the gate rod length is greater than a preset length threshold, the gate is retained as a candidate gate.

6. The method according to claim 4, characterized in that The characteristic information of the candidate gate includes one or a combination of the following: The target ID of the candidate gate, gate opening and closing angle, gate grounding point, gate status, and gate rod length.

7. The method according to claim 3, characterized in that The method of displaying and screening the candidate gates and the characteristic information of the candidate gates by using the preset display rules includes: According to the long-distance non-display rule, when it is determined that the distance between the candidate gate and the vehicle is less than or equal to the first distance threshold, the candidate gate is determined as the target gate for screening display, otherwise the candidate gate is determined not to be the target gate for screening display; or, According to the non-first vehicle non-display rule, when it is determined that the vehicle itself is not the first vehicle closest to the candidate gate, the candidate gate is determined not to be the target gate for screening display; when it is determined that the vehicle itself is the first vehicle closest to the candidate gate, the candidate gate is determined to be the target gate for screening display; or, According to the gate lever deemed to be open rule, when it is determined that the distance between the candidate gate and the vehicle is less than or equal to the second distance threshold and the vehicle speed is greater than or equal to the preset speed threshold, it is determined that the gate lever of the candidate gate has been opened, and the candidate gate is determined as the target gate for screening and display; or, According to the exit gate disappearance rule, when it is determined that the distance between the candidate gate and the vehicle is less than a third distance threshold, it is determined that the candidate gate is not used as a target gate for screening and display.

8. The method according to claim 3, characterized in that The method of displaying and screening the candidate gates and the characteristic information of the candidate gates by using the preset display rules includes: According to the rule of only displaying the gates of the target lane, when it is determined that the candidate gate belongs to the gate of the vehicle's target lane, the candidate gate is determined as the target gate for screening and display; when it is determined that the candidate gate does not belong to the gate of the vehicle's target lane or when it is determined that the candidate gate is a gate at a sharp turn, it is determined that the candidate gate is not used as the target gate for screening and display.

9. A vehicle traffic processing system, characterized in that: The system comprises: The autonomous driving domain controller is used to obtain the gate and initial information of the gate identified by the vehicle's sensing device; analyze and process the gate and initial information of the gate to determine the target gate and characteristic information of the target gate, wherein the characteristic information of the target gate includes the position and status of the target gate; A display screen display controller is used to generate and display the target gate and the position and status of the target gate on the environment reconstruction display interface of the vehicle display screen according to the target gate and the characteristic information of the target gate.

10. The system according to claim 9, characterized in that The autonomous driving domain controller comprises: A perception fusion module is used to obtain the gate and the initial information of the gate recognized by the vehicle's perception device; A first data processing module is used to filter and screen the gate machine and the initial information of the gate machine by using a preset screening rule to obtain the screened candidate gate machines and the characteristic information of the candidate gate machines; The second data processing module is used to display and filter the candidate gates and the characteristic information of the candidate gates by using preset display rules to obtain the filtered target gates and the characteristic information of the target gates.

11. The system according to claim 9 or 10, characterized in that: The display screen display controller comprises: The SR display rendering module is used to generate and render the target gate on the environmental reconstruction display interface of the vehicle display screen according to the target gate and its characteristic information, and display the rendered target gate and its position and status.

12. A car, characterized in that: include: processor; as well as A memory having executable codes stored thereon, which, when executed by the processor, causes the processor to execute the method according to any one of claims 1 to 8.

13. A computer-readable storage medium, characterized in that: An executable code is stored thereon, and when the executable code is executed by a processor of an electronic device, the processor is caused to execute the method according to any one of claims 1 to 8.

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