Collision risk determination method and device, equipment and storage medium

Abstract

The invention discloses a collision risk determination method, device and equipment and a storage medium, and belongs to the technical field of automatic driving, and the method comprises the steps: obtaining the vehicle related data of a target vehicle and the vertex position information of an obstacle rectangular envelope corresponding to a target obstacle; wherein the vehicle related data comprises a vehicle planning track and a vehicle driving range; according to the vertex position information, whether the vertex of the rectangular envelope of the obstacle falls into a vehicle driving range is detected; when it is detected that the vertexes of the rectangular envelope of the obstacle fall into the vehicle driving range, determining the number of intrusion vertexes falling into the vehicle driving range; determining an actual obstacle envelope corresponding to the target obstacle according to the number of the intrusion vertexes and the obstacle rectangular envelope; and determining whether a collision risk exists between the target vehicle and the target obstacle according to the actual obstacle envelope and the vehicle planning trajectory. According to the invention, the accuracy of collision risk determination is improved, and the driving safety is ensured.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a collision risk determination method, device, equipment and storage medium. Background Art

[0002] Path planning is one of the key technologies of intelligent driving technology. In path planning, the collision risk of the planned path (i.e., planned trajectory) needs to be calculated.

[0003] The existing collision risk determination technology is to set sampling points on the planned trajectory, each sampling point uses a rectangular envelope, and the obstacle also uses a rectangular envelope, and then detect whether the two envelopes interfere with each other. If there is interference, it is considered that there is a collision risk. However, this collision risk determination technology involves a large amount of calculation, and the data obtained by the vehicle's environmental perception module has certain errors, so it cannot guarantee the accuracy of collision risk determination. Summary of the invention

[0004] The present invention provides a collision risk determination method, device, equipment and storage medium to improve the accuracy of collision risk determination and ensure driving safety.

[0005] According to one aspect of the present invention, a collision risk determination method is provided, the method comprising:

[0006] Obtaining vehicle-related data of the target vehicle and vertex position information of the obstacle rectangular envelope corresponding to the target obstacle; wherein the vehicle-related data includes the vehicle planning trajectory and the vehicle driving range;

[0007] According to the vertex position information, detect whether the vertex of the obstacle rectangular envelope falls within the vehicle's driving range;

[0008] In the case where it is detected that the vertices of the obstacle rectangular envelope fall within the vehicle driving range, determining the number of intrusion vertices falling within the vehicle driving range;

[0009] According to the number of intrusion vertices and the obstacle rectangular envelope, the actual obstacle envelope corresponding to the target obstacle is determined;

[0010] Based on the actual obstacle envelope and the vehicle's planned trajectory, determine whether the target vehicle has a collision risk with the target obstacle.

[0011] According to another aspect of the present invention, there is provided a collision risk determination device, the device comprising:

[0012] A data acquisition module is used to acquire vehicle-related data of the target vehicle and vertex position information of the obstacle rectangular envelope corresponding to the target obstacle; wherein the vehicle-related data includes the vehicle planning trajectory and the vehicle driving range;

[0013] A vertex detection module is used to detect whether the vertices of the obstacle rectangular envelope fall within the vehicle driving range based on the vertex position information;

[0014] An intrusion vertex number determination module is used to determine the number of intrusion vertices falling within the vehicle's driving range when it is detected that the vertices of the obstacle's rectangular envelope fall within the vehicle's driving range;

[0015] An actual obstacle envelope determination module is used to determine the actual obstacle envelope corresponding to the target obstacle according to the number of intrusion vertices and the obstacle rectangular envelope;

[0016] The first collision risk determination module is used to determine whether there is a collision risk between the target vehicle and the target obstacle according to the actual obstacle envelope and the vehicle planning trajectory.

[0017] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0018] at least one processor; and

[0019] a memory communicatively connected to at least one processor; wherein,

[0020] The memory stores a computer program that can be executed by at least one processor. The computer program is executed by the at least one processor so that the at least one processor can execute the collision risk determination method according to any embodiment of the present invention.

[0021] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the collision risk determination method of any embodiment of the present invention when executed.

[0022] According to another aspect of the present invention, a computer program product is provided, comprising a computer program, and when the computer program is executed by a processor, the collision risk determination method according to any embodiment of the present invention is implemented.

[0023] The technical solution of the embodiment of the present invention obtains the vehicle-related data of the target vehicle and the vertex position information of the obstacle rectangular envelope corresponding to the target obstacle; wherein the vehicle-related data includes the vehicle planning trajectory and the vehicle driving range; according to the vertex position information, detects whether the vertices of the obstacle rectangular envelope fall within the vehicle driving range; in the case where it is detected that the vertices of the obstacle rectangular envelope fall within the vehicle driving range, determines the number of intrusion vertices falling within the vehicle driving range; determines the actual obstacle envelope corresponding to the target obstacle according to the number of intrusion vertices and the obstacle rectangular envelope; determines whether the target vehicle has a collision risk with the target obstacle according to the actual obstacle envelope and the vehicle planning trajectory. The above technical solution, in the case where it is detected that the vertices of the obstacle rectangular envelope fall within the vehicle driving range, determines the actual obstacle envelope corresponding to the target obstacle according to the number of intrusion vertices of the obstacle rectangular envelope that fall within the vehicle driving range, takes into account the situation that the data acquired by the environment perception module of the target vehicle has certain errors, and alleviates the risks caused by the inaccurate acquired data by expanding the obstacle envelope of the obstacle, thereby improving the accuracy of collision risk determination, so that the target vehicle can avoid the target obstacle in time and ensure driving safety.

[0024] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0026] Figure 1A is a flowchart of a collision risk determination method provided according to Embodiment 1 of the present invention;

[0027] Figure 1B is a schematic diagram of determining an extended vertex corresponding to an intrusion vertex provided by Embodiment 1 of the present invention;

[0028] Figure 1C is a schematic diagram of determining an actual obstacle envelope according to Embodiment 1 of the present invention;

[0029] Figure 1D is a schematic diagram of determining an actual obstacle envelope according to Embodiment 1 of the present invention;

[0030] Figure 1Eis a schematic diagram of determining an actual obstacle envelope according to Embodiment 1 of the present invention;

[0031] Figure 2 is a flowchart of a collision risk determination method provided according to Embodiment 2 of the present invention;

[0032] Figure 3 is a schematic structural diagram of a collision risk determination device provided according to Embodiment 3 of the present invention;

[0033] Figure 4 It is a schematic diagram of the structure of an electronic device for implementing the collision risk determination method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0034] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0035] It should be noted that the terms "target", "candidate", "first" and "second" in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0036] In addition, it should be noted that in the technical solution of the present invention, the collection, storage, use, processing, transmission, provision and disclosure of vehicle-related data, vertex position information of the obstacle rectangular envelope, preset extension length, extended position information of the extended vertex, first threshold, second threshold and distance threshold, etc., all comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0037] Embodiment 1

[0038] Figure 1AThis is a flowchart of a collision risk determination method provided in Embodiment 1 of the present invention. This embodiment can be applied to determine whether a planned trajectory of an unmanned vehicle or an autonomous driving vehicle has a collision risk. The method can be executed by a collision risk determination device, which can be implemented in the form of hardware and / or software and can be configured in an electronic device. Figure 1A As shown, the method includes:

[0039] S101, obtaining vehicle-related data of a target vehicle and vertex position information of an obstacle rectangular envelope corresponding to a target obstacle; wherein the vehicle-related data includes a planned vehicle trajectory and a vehicle driving range.

[0040] Among them, the target vehicle refers to an unmanned vehicle or an autonomous driving vehicle whose vehicle planning trajectory needs to be determined whether there is a collision risk. The target obstacle refers to an obstacle located near the vehicle planning trajectory of the target vehicle. The obstacle rectangular envelope refers to a minimum rectangle that can completely contain the projection of the target obstacle obtained by calculation on a two-dimensional plane. The obstacle rectangular envelope is used to characterize the space occupied by the target obstacle on the two-dimensional plane. It should be noted that the obstacle rectangular envelope includes four vertices. The vehicle planning trajectory refers to the vehicle driving path planned in advance. The vehicle driving range refers to the driving range of the target vehicle on the road. It should be noted that the vehicle driving range is determined by the nearest left lane line and the nearest right lane line closest to the target vehicle, that is, the range between the nearest left lane line and the nearest right lane line is determined as the vehicle driving range. It should be noted that the vertex position information refers to the coordinate position information of the vertices of the obstacle rectangular envelope in the vehicle coordinate system.

[0041] Specifically, the vehicle planning trajectory of the target vehicle can be obtained through the trajectory planning module on the target vehicle, and the nearest left lane line and the nearest right lane line of the target vehicle, as well as the vertex position information of the obstacle rectangular envelope corresponding to the target obstacle can be obtained through the environment perception module on the target vehicle; then, the range between the nearest left lane line and the nearest right lane line is determined as the vehicle driving range of the target vehicle.

[0042] S102: Detect, based on vertex position information, whether the vertices of the obstacle's rectangular envelope fall within the vehicle's driving range.

[0043] Specifically, in the vehicle coordinate system, according to the vertex position information of the four vertices of the obstacle rectangular envelope, it is detected whether the vertices of the obstacle rectangular envelope fall within the vehicle driving range.

[0044] S103 . When it is detected that the vertices of the obstacle rectangular envelope fall within the vehicle driving range, determine the number of intrusion vertices that fall within the vehicle driving range.

[0045] The number of intrusion vertices refers to the total number of vertices in the four vertices of the obstacle rectangular envelope that fall within the vehicle's driving range.

[0046] Specifically, when it is detected that the vertices of the obstacle's rectangular envelope fall within the vehicle's driving range, that is, when it is detected that the vertices of the obstacle's rectangular envelope are between the nearest left lane line and the nearest right lane line, the number of vertices of the obstacle's rectangular envelope that fall within the vehicle's driving range is counted by a counter, and the final counted number is used as the number of intrusion vertices that fall within the vehicle's driving range.

[0047] S104: Determine the actual obstacle envelope corresponding to the target obstacle according to the number of intrusion vertices and the obstacle rectangular envelope.

[0048] Among them, the actual obstacle envelope is used to represent the actual occupied space of the target obstacle in the vehicle coordinate system.

[0049] Specifically, if the number of invading vertices is greater than two, the obstacle rectangular envelope is used as the actual obstacle envelope corresponding to the target obstacle; if the number of invading vertices is less than or equal to two, the envelope edge where the invading vertex is located is extended according to a preset extension length to obtain the extended vertex corresponding to the invading vertex; the target lane line is determined according to the y-axis coordinate value of the invading vertex; the actual obstacle envelope corresponding to the target obstacle is determined according to the intersection position information of the obstacle rectangular envelope, the envelope edge where the invading vertex is located and the target lane line, and the extended position information of the extended vertex.

[0050] Among them, the preset extension length can be preset based on the experience of technical personnel in this field. For example, the preset extension length can be 0.15 meters, and the embodiment of the present invention does not specifically limit it. The intrusion vertex refers to the vertex that falls within the driving range of the vehicle among the four vertices of the obstacle rectangular envelope. The extended vertex refers to the vertex determined based on the intrusion vertex and the preset extension length. The target lane line refers to the lane line required to determine the actual obstacle envelope. The intersection position information refers to the coordinate position information of the intersection of the envelope edge where the intrusion vertex is located and the target lane line in the vehicle coordinate system. The extended position information refers to the coordinate position information of the extended vertex in the vehicle coordinate system.

[0051] If the number of intrusion vertices is less than or equal to two, the envelope edge where the intrusion vertex is located is expanded according to the preset expansion length to obtain the expansion vertex corresponding to the intrusion vertex, which can be: Figure 1B , if the number of intrusion vertices is one, for example, the intrusion vertex is Figure 1B If the vertex p1 in the rectangular envelope of the obstacle is the intrusion vertex p1, then take the intrusion vertex p1 as the starting point and follow the envelope edge where the intrusion vertex p1 is located (i.e. Figure 1BThe edge p1p2 of the obstacle rectangle envelope is extended outward by a preset extension length, thereby obtaining the extended vertex p corresponding to the intrusion vertex p1. 1 If the number of intrusion vertices is two, the first enveloping edge of the first intrusion vertex and the second enveloping edge of the second intrusion vertex are respectively extended according to the preset extension length to obtain a first extended vertex corresponding to the first intrusion vertex and a second extended vertex corresponding to the second intrusion vertex. Figure 1B , the first invasion vertex is Figure 1B The vertex p1 in the obstacle rectangular envelope is the second intrusion vertex. Figure 1B The vertex p4 in the rectangular envelope of the obstacle is taken as the starting point, and the first intrusion vertex p1 is extended outward along the first envelope edge p1p2 where the first intrusion vertex p1 is located, thereby obtaining the first extended vertex p corresponding to the first intrusion vertex p1. 1 ; Taking the second intrusion vertex p4 as the starting point, the second enveloping edge p3p4 where the second intrusion vertex p4 is located is extended outward by a preset extension length, thereby obtaining the second extension vertex p4 corresponding to the second intrusion vertex p 4 For example, see Figure 1B , the first invasion vertex is Figure 1B The vertex p1 in the obstacle rectangular envelope is the second intrusion vertex. Figure 1B The vertex p2 in the rectangular envelope of the obstacle is taken as the starting point, and the first intrusion vertex p1 is extended outward along the first envelope edge p1p2 where the first intrusion vertex p1 is located, thereby obtaining the first extended vertex p corresponding to the first intrusion vertex p1. 1 ; Taking the second intrusion vertex p2 as the starting point, the preset extension length is extended outward along the second envelope edge p1p2 where the second intrusion vertex p2 is located, so as to obtain the second extension vertex p corresponding to the second intrusion vertex p2 2 .

[0052] Among them, the target lane line is determined according to the y-axis coordinate value of the invading vertex, which can be: if the y-axis coordinate value of the invading vertex is less than zero, the nearest left lane line of the target vehicle is determined as the target lane line; if the y-axis coordinate value of the invading vertex is greater than zero, the nearest right lane line of the target vehicle is determined as the target lane line.

[0053] According to the obstacle rectangular envelope, the intersection position information of the envelope edge where the intrusion vertex is located and the target lane line, and the extended position information of the extended vertex, the actual obstacle envelope corresponding to the target obstacle is determined, which can be: If the number of intrusion vertices is one, refer to Figure 1C , for example, the invasion vertex is Figure 1C p1 in the figure, the extended vertex corresponding to the intrusion vertex is p 1, the intersection point of the envelope edge p1p2 where the intrusion vertex p1 is located and the target lane line is Q1, and the intersection point of the envelope edge p1p4 where the intrusion vertex p1 is located and the target lane line is Q2. Based on the circle solving algorithm, according to the coordinate position of Q1, the coordinate position of Q2 and p 1 The coordinate position of Figure 1C The reference circle in ; then, determine the overlapping area between the obstacle rectangular envelope and the reference circle; determine the area consisting of the remaining envelope of the obstacle rectangular envelope except the overlapping area and the arc of the reference circle except the overlapping area as the actual obstacle envelope corresponding to the target obstacle, that is, Figure 1C The area consisting of red lines.

[0054] Optionally, if the number of invading vertices is two, the first reference circle is determined based on the first intersection position information of the envelope edge where the first invading vertex is located and the target lane line, the first extended position information of the first extended vertex, and the second extended position information of the second extended vertex; the second reference circle is determined based on the second intersection position information of the envelope edge where the second invading vertex is located and the target lane line, the second extended position information, and the third intersection position information of the first reference circle and the target lane line; and the actual obstacle envelope corresponding to the target obstacle is determined based on the obstacle rectangular envelope, the first reference circle and the second reference circle.

[0055] For example, see Figure 1D , the first invasion vertex is Figure 1D The vertex p1 in the obstacle rectangular envelope is the second intrusion vertex. Figure 1D The vertex p4 in the obstacle rectangular envelope, the first extended vertex corresponding to the first intrusion vertex p1 is p 1 , the second extended vertex p corresponding to the second intrusion vertex 4 , the first intersection point of the envelope edge p1p2 where the first intrusion vertex p1 is located and the target lane line is Q1, and the second intersection point of the envelope edge p3p4 where the second intrusion vertex p4 is located and the target lane line is Q2. Based on the circle-based solution algorithm, according to the coordinate position of Q1, p 1 The coordinate position and p 4 The coordinate position of the first reference circle is determined, that is, Figure 1D The third intersection point between the first reference circle and the target lane line is Figure 1D In Q3, the circle-based solution algorithm is based on the coordinate position of Q2, p 4 The coordinate position of and the coordinate position of Q3 determine the second reference circle, that is, Figure 1D Then, the largest area (i.e. Figure 1D The filled area composed of three fill colors in the figure is used as the actual obstacle envelope corresponding to the target obstacle.

[0056] For example, see Figure 1E , the first invasion vertex is Figure 1E The vertex p1 in the obstacle rectangular envelope is the second intrusion vertex. Figure 1E The vertex p2 in the obstacle rectangular envelope, the first extended vertex corresponding to the first intrusion vertex p1 is p 1 , the second extended vertex p corresponding to the second intrusion vertex 2 , the first intersection point of the envelope edge p1p4 where the first intrusion vertex p1 is located and the target lane line is Q1, and the second intersection point of the envelope edge p2p3 where the second intrusion vertex p2 is located and the target lane line is Q2. Based on the circle-based solution algorithm, according to the coordinate position of Q1, p 1 The coordinate position and p 2 The coordinate position of the first reference circle is determined, that is, Figure 1E The third intersection point between the first reference circle and the target lane line is Figure 1E In Q3, the circle-based solution algorithm is based on the coordinate position of Q2, p 2 The coordinate position of and the coordinate position of Q3 determine the second reference circle, that is, Figure 1E Then, the largest area (i.e. Figure 1E The filled area composed of three fill colors in the figure is used as the actual obstacle envelope corresponding to the target obstacle.

[0057] S105: Determine whether there is a collision risk between the target vehicle and the target obstacle based on the actual obstacle envelope and the planned vehicle trajectory.

[0058] Specifically, it is detected whether the actual obstacle envelope overlaps with the vehicle planning trajectory. If so, it is determined that there is a collision risk between the target vehicle and the target obstacle; otherwise, it is determined that there is no collision risk between the target vehicle and the target obstacle.

[0059] The technical solution of the embodiment of the present invention obtains the vehicle-related data of the target vehicle and the vertex position information of the obstacle rectangular envelope corresponding to the target obstacle; wherein the vehicle-related data includes the vehicle planning trajectory and the vehicle driving range; according to the vertex position information, detects whether the vertices of the obstacle rectangular envelope fall within the vehicle driving range; in the case where it is detected that the vertices of the obstacle rectangular envelope fall within the vehicle driving range, determines the number of intrusion vertices falling within the vehicle driving range; determines the actual obstacle envelope corresponding to the target obstacle according to the number of intrusion vertices and the obstacle rectangular envelope; determines whether the target vehicle has a collision risk with the target obstacle according to the actual obstacle envelope and the vehicle planning trajectory. The above technical solution, in the case where it is detected that the vertices of the obstacle rectangular envelope fall within the vehicle driving range, determines the actual obstacle envelope corresponding to the target obstacle according to the number of intrusion vertices of the obstacle rectangular envelope that fall within the vehicle driving range, taking into account the situation that the data acquired by the environment perception module of the target vehicle has certain errors, and alleviates the risks caused by the inaccurate acquired data by expanding the obstacle envelope of the obstacle, thereby improving the accuracy of collision risk determination, so that the target vehicle can avoid the target obstacle in time and ensure driving safety.

[0060] Embodiment 2

[0061] Figure 2 This is a flowchart of a collision risk determination method provided in Example 2 of the present invention. This example provides an optional implementation scheme based on the above example. It should be noted that for the parts not described in detail in the example of the present invention, reference can be made to the relevant descriptions of other examples. Figure 2 As shown, the method includes:

[0062] S201, obtaining vehicle-related data of a target vehicle and vertex position information of an obstacle rectangular envelope corresponding to a target obstacle; wherein the vehicle-related data includes a planned vehicle trajectory and a vehicle driving range.

[0063] S202: Detect, based on vertex position information, whether the vertices of the obstacle rectangular envelope fall within the vehicle driving range.

[0064] S203: When it is detected that the vertices of the obstacle rectangular envelope do not fall within the vehicle driving range, determine the target lane line and the set of candidate points on the target lane line according to the vertex position information of the vertices in the obstacle rectangular envelope, the first threshold and the second threshold.

[0065] The vertex position information includes an x-axis coordinate value and a y-axis coordinate value.

[0066] Specifically, when it is detected that the vertices of the obstacle rectangular envelope do not fall within the vehicle driving range, that is, when it is detected that the vertices of the obstacle rectangular envelope are not between the nearest left lane line and the nearest right lane line, in order to more accurately determine the closest distance from each vertex in the obstacle rectangular envelope to the target lane line, the target lane line can be determined according to the y-axis coordinate value of the vertex in the obstacle rectangular envelope; and the set of candidate points on the target lane line can be determined according to the x-axis coordinate value of the vertex, the first threshold and the second threshold.

[0067] Among them, the first threshold refers to the numerical value required to determine the range of the candidate point set on the target lane line; optionally, the first threshold can be pre-set according to the experience of those skilled in the art, or can be pre-set according to experimental experience, for example, the first threshold can be 5 meters, and the embodiment of the present invention does not specifically limit it. The second threshold refers to the numerical value required to determine the candidate point in the candidate point set; optionally, the second threshold can be pre-set according to the experience of those skilled in the art, or can be pre-set according to experimental experience, for example, the second threshold can be 0.5 meters, and the embodiment of the present invention does not specifically limit it. The candidate point set refers to a set consisting of multiple candidate points; wherein the candidate point refers to the selected point on the target lane line.

[0068] More specifically, when it is detected that the vertex of the obstacle rectangular envelope does not fall within the vehicle driving range, that is, when it is detected that the vertex of the obstacle rectangular envelope is not between the nearest left lane line and the nearest right lane line, for the first vertex (x1, y1) in the obstacle rectangular envelope, if the y-axis coordinate value y1 of the first vertex (x1, y1) is less than zero, the target lane line is determined to be the nearest left lane line, and if the y-axis coordinate value y1 of the first vertex (x1, y1) is greater than zero, the target lane line is determined to be the rightmost lane line; [x1-α, x1+α] is used as the selection range of the x-axis coordinate value of the candidate point on the target lane line; wherein α represents the first threshold value; according to the second threshold value, multiple candidate x-axis coordinate values ​​are determined from [x1-α, x1+α], and each candidate x-axis coordinate value is substituted into the lane line equation of the target lane line to obtain multiple candidate points on the target lane line, and a candidate point set composed of multiple candidate points is obtained. Among them, β represents the second threshold; n is a positive integer, which represents the total number of candidate points. Similarly, we can obtain the target lane line determined by the vertex position information of the second vertex (x2, y2) in the obstacle rectangular envelope, the first threshold and the second threshold, and the set of candidate points on the target lane line. The vertex position information of the third vertex (x3, y3) in the obstacle rectangular envelope, the target lane line determined by the first threshold and the second threshold, and the set of candidate points on the target lane line can be obtained. The vertex position information of the fourth vertex (x4, y4) in the obstacle rectangular envelope, the target lane line determined by the first threshold and the second threshold, and the set of candidate points on the target lane line can be obtained.

[0069] S204: Determine the shortest distance between the vertex and the target lane line according to the Euclidean distance between each candidate point in the candidate point set and the vertex.

[0070] Specifically, for the first vertex (x1, y1) in the obstacle rectangular envelope, calculate the first vertex and the candidate point set in turn The Euclidean distance of each candidate point in , thus obtaining {Dist1, Dist2,…, Dist n}; where n is a positive integer, indicating the total number of candidate points; then, {Dist1, Dist2,…, Dist n} is taken as the shortest distance between the first vertex (x1, y1) in the obstacle rectangular envelope and the target lane line, denoted as Similarly, the shortest distance between the second vertex (x2, y2) in the obstacle rectangular envelope and the target lane line can be obtained, which is recorded as The shortest distance between the third vertex (x3, y3) in the obstacle rectangular envelope and the target lane line is denoted as The shortest distance between the fourth vertex (x4, y4) in the obstacle rectangular envelope and the target lane line is denoted as

[0071] It can be understood that the shortest distance between each vertex in the obstacle rectangular envelope and the target lane line is determined based on the distance between each vertex in the obstacle rectangular envelope and the target lane line, rather than based on any point on the target lane line. This unifies the criteria for determining the shortest distance between each vertex in the obstacle rectangular envelope and the target lane line, making the subsequently determined shortest vertex more accurate.

[0072] S205 . Determine the nearest vertex closest to the target lane line and the target distance between the nearest vertex and the target lane line according to the nearest distance between each vertex in the obstacle rectangular envelope and the target lane line.

[0073] Specifically, calculate and The minimum value among them, and the vertex corresponding to the minimum value is taken as the nearest vertex, and the shortest distance between the nearest vertex and the target lane line is taken as the target distance. For example, if and The minimum value in The first vertex (x1, y1) in the obstacle rectangular envelope is taken as the closest vertex, and the closest distance between the first vertex (x1, y1) and the target lane line is taken as as the target distance.

[0074] It can be understood that by determining the shortest distance between the obstacle rectangular envelope and the target lane line (i.e., the target distance), the intelligent driving system on the target vehicle can be helped to determine whether the obstacle is about to or has already invaded the lane where the target vehicle is located, thereby facilitating timely determination of the collision risk.

[0075] S206: Determine whether there is a collision risk between the target vehicle and the target obstacle based on the planned vehicle trajectory, the target distance, and the distance threshold.

[0076] The distance threshold may be preset based on the experience of those skilled in the art, or may be preset based on experimental experience. For example, the distance threshold may be 0.15 meters, and the embodiment of the present invention does not make any specific setting for it.

[0077] Specifically, if the target distance is greater than the distance threshold, it is determined that there is no collision risk between the target vehicle and the target obstacle; if the target distance is less than or equal to the distance threshold, the envelope length of the obstacle rectangular envelope is obtained; according to the position information of the nearest vertex and the envelope length, a reference line segment is determined; if the reference line segment overlaps with the vehicle planned trajectory, it is determined that there is a collision risk between the target vehicle and the target obstacle; otherwise, it is determined that there is no collision risk between the target vehicle and the target obstacle.

[0078] Among them, the reference line segment is determined according to the position information of the nearest vertex and the envelope length, which can be: if the coordinate position of the nearest vertex is recorded as (x0, y0); the envelope length is recorded as L; then the coordinate position of the reference point is determined according to the coordinate position of the nearest vertex (x0, y0) and the envelope length L (x0-L, y0); the reference line segment is determined according to the coordinate position of the nearest vertex (x0, y0) and the coordinate position of the reference point (x0-L, y0).

[0079] The technical solution of the embodiment of the present invention is to obtain vehicle-related data of the target vehicle and vertex position information of the obstacle rectangular envelope corresponding to the target obstacle; wherein the vehicle-related data includes the vehicle planning trajectory and the vehicle driving range; according to the vertex position information, detect whether the vertices of the obstacle rectangular envelope fall within the vehicle driving range; when it is detected that the vertices of the obstacle rectangular envelope do not fall within the vehicle driving range, determine the target lane line and the candidate point set on the target lane line according to the vertex position information of the vertices in the obstacle rectangular envelope, a first threshold and a second threshold; determine the closest distance between the vertex and the target lane line according to the Euclidean distance between each candidate point in the candidate point set and the vertex; determine the nearest vertex closest to the target lane line and the target distance between the nearest vertex and the target lane line according to the nearest distance between each vertex in the obstacle rectangular envelope and the target lane line; determine whether the target vehicle has a collision risk with the target obstacle according to the vehicle planning trajectory, the target distance and the distance threshold. The above technical solution determines whether there is a collision risk between the target vehicle and the target obstacle based on the shortest distance between the obstacle rectangular envelope and the target lane line (i.e., the target distance) and the distance threshold when it is detected that the vertices of the obstacle rectangular envelope do not fall within the vehicle's driving range. There is no need to calculate in sequence whether each vertex in the obstacle rectangular envelope has a collision risk with the target vehicle, which reduces the amount of calculation, saves computing power, and speeds up the collision risk determination, thereby ensuring the real-time nature of the collision risk determination.

[0080] On the basis of the above embodiment, as an optional method of the embodiment of the present invention, after determining that there is a risk of collision between the target vehicle and the target obstacle, the trajectory planning module on the target vehicle can re-plan the vehicle planning trajectory of the target vehicle to avoid the target obstacle and ensure the driving safety of the target vehicle.

[0081] Embodiment 3

[0082] Figure 3 This is a schematic diagram of the structure of a collision risk determination device provided in the third embodiment of the present invention. This embodiment can be used to determine whether there is a collision risk in the planned trajectory of an unmanned vehicle or an automatic driving vehicle. The device can be implemented in the form of hardware and / or software and can be configured in an electronic device. Figure 3 As shown, the device comprises:

[0083] The data acquisition module 301 is used to acquire vehicle-related data of the target vehicle and vertex position information of the obstacle rectangular envelope corresponding to the target obstacle; wherein the vehicle-related data includes the vehicle planning trajectory and the vehicle driving range;

[0084] The vertex detection module 302 is used to detect whether the vertex of the obstacle rectangular envelope falls within the vehicle driving range according to the vertex position information;

[0085] The intrusion vertex number determination module 303 is used to determine the number of intrusion vertices falling within the vehicle driving range when it is detected that the vertices of the obstacle rectangular envelope fall within the vehicle driving range;

[0086] The actual obstacle envelope determination module 304 is used to determine the actual obstacle envelope corresponding to the target obstacle according to the number of intrusion vertices and the obstacle rectangular envelope;

[0087] The first collision risk determination module 305 is used to determine whether there is a collision risk between the target vehicle and the target obstacle according to the actual obstacle envelope and the planned trajectory of the vehicle.

[0088] The technical solution of the embodiment of the present invention obtains the vehicle-related data of the target vehicle and the vertex position information of the obstacle rectangular envelope corresponding to the target obstacle; wherein the vehicle-related data includes the vehicle planning trajectory and the vehicle driving range; according to the vertex position information, detects whether the vertices of the obstacle rectangular envelope fall within the vehicle driving range; in the case where it is detected that the vertices of the obstacle rectangular envelope fall within the vehicle driving range, determines the number of intrusion vertices falling within the vehicle driving range; determines the actual obstacle envelope corresponding to the target obstacle according to the number of intrusion vertices and the obstacle rectangular envelope; determines whether the target vehicle has a collision risk with the target obstacle according to the actual obstacle envelope and the vehicle planning trajectory. The above technical solution, in the case where it is detected that the vertices of the obstacle rectangular envelope fall within the vehicle driving range, determines the actual obstacle envelope corresponding to the target obstacle according to the number of intrusion vertices of the obstacle rectangular envelope that fall within the vehicle driving range, takes into account the situation that the data acquired by the environment perception module of the target vehicle has certain errors, and alleviates the risks caused by the inaccurate acquired data by expanding the obstacle envelope of the obstacle, thereby improving the accuracy of collision risk determination, so that the target vehicle can avoid the target obstacle in time and ensure driving safety.

[0089] Optionally, the actual obstacle envelope determination module 304 includes:

[0090] An extended vertex determination unit, configured to, if the number of intrusion vertices is less than or equal to two, expand the envelope edge where the intrusion vertex is located according to a preset expansion length to obtain an extended vertex corresponding to the intrusion vertex;

[0091] A target lane line determination unit, used for determining the target lane line according to the y-axis coordinate value of the intrusion vertex;

[0092] The actual obstacle envelope determination unit is used to determine the actual obstacle envelope corresponding to the target obstacle according to the obstacle rectangular envelope, the intersection position information of the envelope edge where the intrusion vertex is located and the target lane line, and the extended position information of the extended vertex.

[0093] Optionally, an extended vertex determination unit is specifically used to:

[0094] If the number of intrusion vertices is two, the first envelope edge where the first intrusion vertex is located and the second envelope edge where the second intrusion vertex is located are respectively expanded according to the preset extension length to obtain a first extended vertex corresponding to the first intrusion vertex and a second extended vertex corresponding to the second intrusion vertex.

[0095] Optionally, the actual obstacle envelope determination unit is specifically used to:

[0096] If the number of intrusion vertices is two, determine a first reference circle according to first intersection position information of an envelope edge where a first intrusion vertex is located and a target lane line, first extended position information of a first extended vertex, and second extended position information of a second extended vertex;

[0097] Determine a second reference circle according to the second intersection position information of the envelope edge where the second intrusion vertex is located and the target lane line, the second extended position information, and the third intersection position information of the first reference circle and the target lane line;

[0098] An actual obstacle envelope corresponding to the target obstacle is determined according to the obstacle rectangular envelope, the first reference circle, and the second reference circle.

[0099] Optionally, the device further comprises:

[0100] A candidate point set determination module is used to determine a target lane line and a candidate point set on the target lane line according to vertex position information of vertices in the obstacle rectangular envelope, a first threshold value and a second threshold value when it is detected that the vertices of the obstacle rectangular envelope do not fall within the vehicle driving range;

[0101] A shortest distance determination module, used to determine the shortest distance between a vertex and a target lane line according to the Euclidean distance between each candidate point in the candidate point set and the vertex;

[0102] A target distance determination module is used to determine the nearest vertex closest to the target lane line and the target distance between the nearest vertex and the target lane line according to the nearest distance between each vertex in the obstacle rectangular envelope and the target lane line;

[0103] The second collision risk determination module is used to determine whether there is a collision risk between the target vehicle and the target obstacle according to the vehicle planning trajectory, the target distance and the distance threshold.

[0104] Optionally, the vertex position information includes an x-axis coordinate value and a y-axis coordinate value; the candidate point set determination module is specifically used to:

[0105] Determine the target lane line according to the y-axis coordinate value of the vertex in the obstacle rectangular envelope;

[0106] A set of candidate points on the target lane line is determined according to the x-axis coordinate value of the vertex, the first threshold and the second threshold.

[0107] Optionally, the second collision risk determination module is specifically configured to:

[0108] If the target distance is greater than the distance threshold, it is determined that there is no collision risk between the target vehicle and the target obstacle;

[0109] If the target distance is less than or equal to the distance threshold, the envelope length of the obstacle rectangular envelope is obtained;

[0110] Determine the reference line segment according to the position information of the nearest vertex and the envelope length;

[0111] If the reference line segment overlaps with the planned trajectory of the vehicle, it is determined that there is a risk of collision between the target vehicle and the target obstacle;

[0112] Otherwise, it is determined that there is no collision risk between the target vehicle and the target obstacle.

[0113] The collision risk determination device provided in the embodiment of the present invention can execute the collision risk determination method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing each collision risk determination method.

[0114] According to an embodiment of the present invention, the present invention also provides an electronic device, a readable storage medium and a computer program product.

[0115] Embodiment 4

[0116] Figure 4 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0117] like Figure 4As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, ROM 12 and RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0118] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0119] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a collision risk determination method.

[0120] In some embodiments, the collision risk determination method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the collision risk determination method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the collision risk determination method in any other appropriate manner (e.g., by means of firmware).

[0121] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0122] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0123] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0124] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0125] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0126] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0127] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0128] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A collision risk determination method, characterized in that: include: Acquire vehicle-related data of the target vehicle and vertex position information of the obstacle rectangular envelope corresponding to the target obstacle; wherein the vehicle-related data includes the vehicle planning trajectory and the vehicle driving range; According to the vertex position information, detecting whether the vertices of the obstacle rectangular envelope fall within the vehicle driving range; In the case where it is detected that the vertices of the obstacle rectangular envelope fall within the vehicle driving range, determining the number of intrusion vertices falling within the vehicle driving range; Determining an actual obstacle envelope corresponding to the target obstacle according to the number of intrusion vertices and the obstacle rectangular envelope; Determine whether there is a collision risk between the target vehicle and the target obstacle according to the actual obstacle envelope and the planned vehicle trajectory.

2. The method according to claim 1, characterized in that The determining, according to the number of intrusion vertices and the obstacle rectangular envelope, an actual obstacle envelope corresponding to the target obstacle includes: If the number of the intrusion vertices is less than or equal to two, the envelope edge where the intrusion vertex is located is extended according to a preset extension length to obtain an extended vertex corresponding to the intrusion vertex; Determine the target lane line according to the y-axis coordinate value of the intrusion vertex; The actual obstacle envelope corresponding to the target obstacle is determined according to the obstacle rectangular envelope, the intersection position information of the envelope edge where the intrusion vertex is located and the target lane line, and the extended position information of the extended vertex.

3. The method according to claim 2, characterized in that If the number of the intrusion vertices is less than or equal to two, the envelope edge where the intrusion vertex is located is extended according to a preset extension length to obtain an extended vertex corresponding to the intrusion vertex, including: If the number of the intrusion vertices is two, the first envelope edge where the first intrusion vertex is located and the second envelope edge where the second intrusion vertex is located are expanded respectively according to the preset extension length to obtain a first extended vertex corresponding to the first intrusion vertex and a second extended vertex corresponding to the second intrusion vertex.

4. The method according to claim 3, characterized in that The determining, according to the obstacle rectangular envelope, the intersection position information of the envelope edge where the intrusion vertex is located and the target lane line, and the extended position information of the extended vertex, the actual obstacle envelope corresponding to the target obstacle includes: If the number of the intruding vertices is two, determining a first reference circle according to first intersection position information of an envelope edge where the first intruding vertex is located and the target lane line, first extended position information of the first extended vertex, and second extended position information of the second extended vertex; Determine a second reference circle according to the second intersection position information of the envelope edge where the second intrusion vertex is located and the target lane line, the second extended position information, and the third intersection position information of the first reference circle and the target lane line; An actual obstacle envelope corresponding to the target obstacle is determined according to the obstacle rectangular envelope, the first reference circle, and the second reference circle.

5. The method according to claim 1, characterized in that The method further comprises: When it is detected that the vertices of the obstacle rectangular envelope do not fall within the vehicle driving range, determining a target lane line and a set of candidate points on the target lane line according to vertex position information of the vertices in the obstacle rectangular envelope, a first threshold and a second threshold; Determine the shortest distance between the vertex and the target lane line according to the Euclidean distance between each candidate point in the candidate point set and the vertex; Determine the nearest vertex closest to the target lane line and the target distance between the nearest vertex and the target lane line according to the nearest distance between each vertex in the obstacle rectangular envelope and the target lane line; Whether there is a collision risk between the target vehicle and the target obstacle is determined according to the planned vehicle trajectory, the target distance and the distance threshold.

6. The method according to claim 5, characterized in that The vertex position information includes an x-axis coordinate value and a y-axis coordinate value; Determining a target lane line and a set of candidate points on the target lane line according to vertex position information of vertices in the obstacle rectangular envelope, a first threshold, and a second threshold, including: Determine the target lane line according to the y-axis coordinate values ​​of the vertices in the obstacle rectangular envelope; A set of candidate points on the target lane line is determined according to the x-axis coordinate value of the vertex, a first threshold and a second threshold.

7. The method according to claim 5, characterized in that The determining, based on the planned vehicle trajectory, the target distance and the distance threshold, whether the target vehicle has a collision risk with the target obstacle includes: If the target distance is greater than the distance threshold, it is determined that there is no collision risk between the target vehicle and the target obstacle; If the target distance is less than or equal to the distance threshold, obtaining the envelope length of the obstacle rectangular envelope; Determine a reference line segment according to the position information of the nearest vertex and the envelope length; If the reference line segment overlaps with the planned trajectory of the vehicle, it is determined that there is a risk of collision between the target vehicle and the target obstacle; Otherwise, it is determined that there is no collision risk between the target vehicle and the target obstacle.

8. A collision risk determination device, characterized in that: include: A data acquisition module, used to acquire vehicle-related data of the target vehicle and vertex position information of the obstacle rectangular envelope corresponding to the target obstacle; wherein the vehicle-related data includes the vehicle planning trajectory and the vehicle driving range; A vertex detection module, used to detect whether the vertices of the obstacle rectangular envelope fall within the vehicle driving range according to the vertex position information; An intrusion vertex number determination module, used to determine the number of intrusion vertices falling within the vehicle driving range when it is detected that the vertices of the obstacle rectangular envelope fall within the vehicle driving range; An actual obstacle envelope determination module, used to determine the actual obstacle envelope corresponding to the target obstacle according to the number of intrusion vertices and the obstacle rectangular envelope; The first collision risk determination module is used to determine whether there is a collision risk between the target vehicle and the target obstacle according to the actual obstacle envelope and the vehicle planned trajectory.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the collision risk determination method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the collision risk determination method according to any one of claims 1 to 7 when executed.

11. A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the collision risk determination method according to any one of claims 1 to 7 is implemented.

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