Detection method and device for traffic retrograde event, medium and product

Abstract

The embodiment of the invention relates to the technical field of vehicle information, and discloses a detection method and device for a traffic retrograde event, a medium and a product. The method comprises the following steps: acquiring current position information and current course angle information of a target vehicle; determining lane course angle information of a lane where the target vehicle is located currently according to the current position information; and according to the current course angle information and the lane course angle information, determining whether the target vehicle triggers a traffic retrogradation event. The method and the device at least can be used for solving the problems that in related technologies, how to comprehensively judge whether the vehicle runs in the reverse direction or not by using driving data acquired by various sensors, no universal solution exists in the market, and overall analysis cannot be directly performed according to the driving data; therefore, whether the vehicle triggers the traffic retrogradation event or not can be accurately and reliably judged.

Description

Technical Field

[0001] The present application relates to the field of vehicle information technology, and in particular to a method for detecting a traffic reverse event. Background Art

[0002] In the autonomous driving industry, it is usually necessary to collect vehicle driving data, such as speed, direction, and position, through cameras and radar sensors installed beside the road, so as to detect traffic events based on the driving data.

[0003] However, the inventors have found that there are at least the following technical problems in the related art: there is no universal solution on the market for how to use the driving data obtained by multiple sensors to comprehensively determine whether the vehicle is driving against traffic. Moreover, in the related art, it is also impossible to directly perform an overall analysis based on the driving data to accurately and reliably determine whether the vehicle has triggered a traffic against traffic event. Summary of the invention

[0004] One purpose of the present application is to provide a method, device, medium and product for detecting traffic reverse events, at least to solve the technical problem in the related art that there is no universal solution on the market on how to use driving data obtained by multiple sensors to comprehensively judge whether a vehicle is driving in the wrong direction, and it is also impossible to directly perform an overall analysis based on these driving data to accurately and reliably judge whether the vehicle has triggered a traffic reverse event.

[0005] To achieve the above objectives, some embodiments of the present application provide the following aspects:

[0006] In a first aspect, some embodiments of the present application also provide a method for detecting a traffic reverse event, characterized in that the method includes: obtaining current position information and current heading angle information of a target vehicle; determining the lane heading angle information of the lane in which the target vehicle is currently located based on the current position information; and determining whether the target vehicle triggers a traffic reverse event based on the current heading angle information and the lane heading angle information.

[0007] In a second aspect, some embodiments of the present application further provide an electronic device, comprising: one or more processors; and a memory storing computer program instructions, wherein the computer program instructions, when executed, cause the processor to perform the steps of the method described above.

[0008] In a third aspect, some embodiments of the present application further provide a computer-readable medium having computer program instructions stored thereon, wherein the computer program instructions can be executed by a processor to implement the method as described above.

[0009] In a fourth aspect, some embodiments of the present application further provide a computer program product, comprising a computer program / instruction, which implements the steps of the method described above when executed by a processor.

[0010] Compared with the related art, in the solution provided in the embodiment of the present application, by acquiring the current position information and the current heading angle information of the target vehicle, and determining the lane heading angle information of the lane where the target vehicle is currently located based on the current position information, and then determining whether the target vehicle has triggered a traffic reverse event based on the current heading angle information and the lane heading angle information, a solution is provided for comprehensively judging whether a vehicle is reversed by using driving data obtained by multiple sensors, which can achieve the purpose of accurately and reliably judging whether the vehicle has triggered a traffic reverse event. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0012] Figure 1 An exemplary flow chart of a method for detecting a traffic reverse event provided according to some embodiments of the present application;

[0013] Figure 2 This is an exemplary flow chart of step S102 in a method for detecting a traffic reverse event provided according to some embodiments of the present application;

[0014] Figure 3 Another exemplary flow chart of step S102 in a method for detecting a traffic reverse event provided according to some embodiments of the present application;

[0015] Figure 4 This is an exemplary flow chart of step S10232′ in a method for detecting a traffic reverse event according to some embodiments of the present application;

[0016] Figure 5 This is an exemplary structural diagram of an electronic device provided according to some embodiments of the present application. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0018] First embodiment

[0019] The first embodiment of the present application relates to a method for detecting a traffic reverse event. Figure 1 As shown, the method may include the following steps:

[0020] Step S101, obtaining the current position information and current heading angle information of the target vehicle;

[0021] Step S102, determining the lane heading angle information of the lane where the target vehicle is currently located according to the current position information;

[0022] Step S103: determining whether the target vehicle triggers a traffic reverse event based on the current heading angle information and the lane heading angle information.

[0023] The following is a detailed description of each of the above steps.

[0024] For step S101, specifically, in some examples, the current position information and current heading angle information of the target vehicle during driving can be collected by radar and camera sensors. The target vehicle can be any vehicle, such as an automatic driving vehicle, a manually driven vehicle, etc., and the embodiments of the present application do not specifically limit this. The current position information is used to indicate the specific position of the target vehicle on the road at the current moment, for example, the position information can be represented by (X, Y) coordinates; the current heading angle information is used to indicate the driving direction of the target vehicle at the current moment.

[0025] With respect to step S102, specifically, in some examples, the lane information of the lane where the target vehicle is currently located can be determined based on the current position information, and the lane heading angle information can be determined based on the lane information. Exemplarily, the lane information corresponding to the current position information can be queried in a high-precision map based on the current position information, and the lane heading angle information can be obtained based on the lane information. Exemplarily, in actual applications, a visualization image can be generated based on the current position information and the high-precision map, and the visualization image is used to display the lane information, so that relevant personnel can intuitively detect traffic reverse events, and it is conducive to rapid identification and response when the target vehicle triggers a traffic reverse event.

[0026] For step S103, specifically, in some examples, if the directions represented by the current heading angle information and the lane heading angle information are the same, it can be determined that the target vehicle has not triggered a traffic reverse event, and conversely, if the directions represented by the current heading angle information and the lane heading angle information are opposite, it can be determined that the target vehicle has triggered a traffic reverse event. The traffic reverse event is used to represent an event in which the target vehicle violates the expected driving direction indicated by traffic regulations.

[0027] It is not difficult to find that compared with the related art, in the solution provided in the embodiment of the present application, by obtaining the current position information and the current heading angle information of the target vehicle, and determining the lane heading angle information of the lane where the target vehicle is currently located based on the current position information, and then determining whether the target vehicle has triggered a traffic reverse event based on the current heading angle information and the lane heading angle information, a solution is provided for comprehensively judging whether a vehicle is reversed by using driving data obtained by multiple sensors, which can achieve the purpose of accurately and reliably judging whether the vehicle has triggered a traffic reverse event.

[0028] Second embodiment

[0029] The second embodiment of the present application relates to a method for detecting a traffic reverse event. The second embodiment is an improvement on the first embodiment, and the specific improvement is: in the second embodiment of the present application, a specific implementation method is provided for determining whether the target vehicle triggers a traffic reverse event based on the current heading angle information and the lane heading angle information.

[0030] Specifically, in some embodiments, determining whether the target vehicle triggers a traffic reverse event based on the current heading angle information and the lane heading angle information, that is, step S102, may further include the following steps: Figure 2 As shown:

[0031] Step S1021, determining a first direction vector according to the current heading angle information;

[0032] Step S1022, determining a second direction vector according to the lane heading angle information;

[0033] Step S1023: Determine whether the target vehicle triggers a traffic reverse event according to the first direction vector and the second direction vector.

[0034] Exemplarily, the first direction vector may be determined by the following formula:

[0035] vec1 = [cosθ1, sinθ1];

[0036] Among them, vec1 represents the first direction vector, and θ1 represents the current heading angle information.

[0037] Exemplarily, the second direction vector may be determined by the following formula:

[0038] vec2=[cosθ2,sinθ2];

[0039] Among them, vec2 represents the second direction vector, and θ2 represents the lane heading angle information.

[0040] Exemplarily, the units of θ1 and θ2 may both be radians.

[0041] Optionally, in some embodiments, determining whether the target vehicle triggers a traffic reverse event according to the first direction vector and the second direction vector, that is, step S1023 may further include the following steps:

[0042] Step S10231, determining a similarity for characterizing the similarity between the first direction vector and the second direction vector according to the first direction vector and the second direction vector;

[0043] Step S10232: Determine whether the target vehicle triggers a traffic reverse event based on the similarity.

[0044] Optionally, in some embodiments, the similarity used to characterize the similarity between the first direction vector and the second direction vector is determined according to the first direction vector and the second direction vector, and is specifically determined by the following formula:

[0045] value=vec1[X1]*vec2[X2]*vec1[Y1]*vec2[Y2];

[0046] Among them, the value represents the similarity, the vec1 represents the first direction vector, the vec2 represents the second direction vector, the X1 represents the X component of the first direction vector, the X2 represents the X component of the second direction vector, the Y1 represents the Y component of the first direction vector, and the Y2 represents the Y component of the second direction vector.

[0047] Exemplarily, the similarity is used to determine the directions of vec1 and vec2. When value < 0, it indicates that the directions of the first direction vector and the second direction vector are opposite, and when value > 0, it indicates that the directions of the first direction vector and the second direction vector are the same. It can be seen that if value < 0, it can be determined that the target vehicle has triggered a traffic reverse event, otherwise, if value > 0, it can be determined that the target vehicle has not triggered a traffic reverse event.

[0048] It is not difficult to find that in the embodiment of the present application, by determining the first direction vector according to the current heading angle information, and determining the second direction vector according to the lane heading angle information, and then determining whether the target vehicle triggers a traffic reverse event according to the first direction vector and the second direction vector, a specific implementation method is provided for determining whether the target vehicle triggers a traffic reverse event according to the current heading angle information and the lane heading angle information.

[0049] Third embodiment

[0050] The third embodiment of the present application relates to a method for detecting a traffic reverse event. The third embodiment is an improvement on the first embodiment, and the specific improvement is: in the third embodiment of the present application, in order to improve the accuracy of the judgment on whether the target vehicle triggers a traffic reverse event, another specific implementation method is provided for determining whether the target vehicle triggers a traffic reverse event based on the current heading angle information and the lane heading angle information.

[0051] Specifically, in some embodiments, determining whether the target vehicle triggers a traffic reverse event based on the current heading angle information and the lane heading angle information, that is, step S102, may further include the following steps: Figure 3 As shown:

[0052] Step S1021', obtaining the historical location information of the target vehicle;

[0053] Step S1022', determining the track displacement of the target vehicle according to the current position information and the historical position information of the target vehicle;

[0054] Step S1023', determining track heading angle information according to the track displacement of the target vehicle;

[0055] Step S1024': determining whether the target vehicle triggers a traffic reverse event based on the trajectory heading angle information and the lane heading angle information.

[0056] Exemplarily, the driving data of the target vehicle may be collected in real time or at preset time intervals to generate a historical database based on the driving data of the target vehicle. Thus, the historical location information of the target vehicle may be obtained through the historical database.

[0057] Exemplarily, the historical location information may refer to location information corresponding to a time within a preset range before the current time. For example, the historical location information is location information corresponding to the time one second or two seconds before the time corresponding to the current location information.

[0058] Exemplarily, before determining the trajectory displacement of the target vehicle based on the current position information and the historical position information of the target vehicle, that is, before executing step S1022', a cleaning operation may be performed on the data in the historical database. Specifically, the cleaning operation may include, but is not limited to: removing noise, removing abnormal data, etc., which are not specifically limited in the embodiments of the present application. Among them, by removing noise, interference factors in the historical database can be eliminated; the abnormal data may further include duplicate data and missing data. By removing duplicate data in the historical database, it is helpful to ensure the uniqueness of the data in the historical database. By removing incomplete missing data in the historical database, it is helpful to ensure the accuracy of the data in the historical database.

[0059] Optionally, in some embodiments, the historical database may be in the form of a dictionary, and the driving data of the target vehicle may be stored in the form of a list. In this way, it is convenient to query the historical location information. Exemplarily, the driving data of the target vehicle in the historical database may include, in addition to the historical location information, but may also include, but is not limited to: historical heading angle information, historical lane information, tracking identification information (tracking ID), etc., which is not specifically limited in the embodiments of the present application. Among them, the tracking identification information is used to uniquely identify the target vehicle. Exemplarily, in the dictionary form, the tracking identification information can be set as a keyword (key), and the list can be set as a value. Among them, the driving data of the target vehicle stored in the list can be arranged in ascending order of time. In this way, in some examples, the list can be traversed in reverse order, and the location information corresponding to the first data after the reverse order is used as the current location information.

[0060] Optionally, in some embodiments, the step of determining the trajectory heading angle information according to the trajectory displacement of the target vehicle, that is, step S1023', may further include the following steps:

[0061] Step S10231', obtaining a first distance in the X direction and a second distance in the Y direction between the current position information and the historical position information;

[0062] Step S10232': determining the trajectory heading angle information according to the first distance and the second distance.

[0063] Exemplarily, the first distance between the current location information and the historical location information in the X direction may be determined by the following formula:

[0064] diffX=X end -X tmp ;

[0065] Wherein, diffX represents the first distance, and X end represents the data of the current position information in the X direction, the X tmp The data representing the historical position information in the X direction.

[0066] Exemplarily, the second distance between the current position information and the historical position information in the Y direction may be determined by the following formula:

[0067] diffY=Y end -Y tmp ;

[0068] Wherein, diffY represents the second distance, the Y end represents the data of the current position information in the Y direction, the Y tmp The data representing the historical position information in the Y direction.

[0069] Optionally, in some embodiments, the determining the trajectory heading angle information according to the first distance and the second distance, that is, step S10232′, can be determined by the following formula:

[0070] headingTra=tan -1 diffYdiffX;

[0071] Among them, the headingTra represents the trajectory heading angle information, diffX represents the first distance, and diffY represents the second distance.

[0072] In summary, it can also be understood as: (X tmp ,Y tmp) represents the historical location information; (X end ,Y end ) represents the current position information; (diffX, diffY) represents the coordinate difference between the current position information and the historical position information.

[0073] Further, it should be noted that in step S1024', the specific implementation method of determining whether the target vehicle triggers a traffic reverse event based on the trajectory heading angle information and the lane heading angle information is roughly the same as the specific implementation method of determining whether the target vehicle triggers a traffic reverse event based on the current heading angle information and the lane heading angle information described in the second embodiment of the present application, the only difference being that in the embodiment of the present application, the current heading angle information in the second embodiment is replaced by the trajectory heading angle information. To avoid redundancy, it will not be repeated here.

[0074] That is, the third direction vector can be determined according to the trajectory heading angle information; and whether the target vehicle triggers a traffic reverse event can be determined according to the third direction vector and the second direction vector. If the directions of the third direction vector and the second direction vector are opposite, it can be determined that the target vehicle triggers a traffic reverse event; otherwise, if the directions of the third direction vector and the second direction vector are the same, it can be determined that the target vehicle does not trigger a traffic reverse event.

[0075] It should be noted that the third embodiment of the present application may also be an improvement based on the second embodiment.

[0076] It can be understood that in the first embodiment of the present application, determining whether the target vehicle triggers a traffic reverse event based solely on the current heading angle information and the lane heading angle information will lead to misjudgment to a certain extent. For example, if the current heading angle information is not accurately obtained, it will directly affect the detection result of whether the target vehicle triggers a traffic reverse event. In order to improve the accuracy of the judgment of whether the target vehicle triggers a traffic reverse event, in the embodiment of the present application, the track heading angle information is specifically used as a supplementary judgment condition. By obtaining the historical position information of the target vehicle; determining the track displacement of the target vehicle according to the current position information and the historical position information of the target vehicle; determining the track heading angle information according to the track displacement of the target vehicle; determining whether the target vehicle triggers a traffic reverse event according to the track heading angle information and the lane heading angle information, a specific implementation method for determining whether the target vehicle triggers a traffic reverse event based on the current heading angle information and the lane heading angle information is provided. In this way, the accuracy and reliability of judging whether the target vehicle has triggered a traffic reverse event can be further improved.

[0077] Fourth embodiment

[0078] The fourth embodiment of the present application relates to a method for detecting a traffic reverse event. The fourth embodiment is an improvement on the third embodiment, and the specific improvement is: in the fourth embodiment of the present application, a specific implementation method for determining the trajectory heading angle information according to the first distance and the second distance is provided.

[0079] Specifically, in some embodiments, determining the trajectory heading angle information according to the first distance and the second distance, that is, step S10232′, may further include the following steps: Figure 4 As shown:

[0080] Step S102321′, determining distance information between the current location information and the historical location information according to the first distance and the second distance;

[0081] Step S102322': determining the trajectory heading angle information according to the distance information and a preset distance threshold.

[0082] Regarding step S102321′, specifically, in some examples, the distance information between the current location information and the historical location information may be determined by the following formula:

[0083]

[0084] Wherein, dis represents the distance information; diffX represents the first distance; and diffY represents the second distance.

[0085] Regarding step S102322′, specifically, in some examples, the preset distance threshold may be D thr When the distance information dis is greater than the preset distance threshold D thr When the preset distance threshold is set, the calculated track heading angle information can be determined to be relatively reliable. This is because there is generally a positioning error of the target vehicle. By setting the preset distance threshold, the stability and authenticity of the calculated track heading angle information can be ensured to a large extent.

[0086] It should be noted that the preset distance threshold D can be flexibly set according to actual needs. thrThe specific value of is not specifically limited in the embodiments of the present application. However, it should be noted that if the preset distance threshold is too small, the trajectory heading angle information will be greatly affected by the abnormal position, which is prone to large deviations; if the preset distance threshold is too large, then when, for example, the target vehicle turns, the calculated trajectory heading angle information will have a certain delay and cannot truly reflect the current trajectory heading angle information of the target vehicle. Therefore, the preset distance threshold can be taken at a moderate value, neither too large nor too small.

[0087] It should be noted that the fourth embodiment of the present application may also be an improvement based on the first embodiment and / or the second embodiment.

[0088] It is not difficult to find that in an embodiment of the present application, by determining the distance information between the current position information and the historical position information based on the first distance and the second distance, and determining the trajectory heading angle information based on the distance information and a preset distance threshold, a specific implementation method for determining the trajectory heading angle information based on the first distance and the second distance is provided.

[0089] The step division of the above methods is only for the purpose of clear description. When implemented, they can be combined into one step or some steps can be split and decomposed into multiple steps. As long as they include the same logical relationship, they are all within the scope of protection of this patent; adding insignificant modifications to the algorithm or process or introducing insignificant designs without changing the core design of the algorithm and process are all within the scope of protection of this patent.

[0090] Fifth embodiment

[0091] Some embodiments of the present application also provide an electronic device. The electronic device may be a digital computer in various forms, such as a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, etc. The electronic device may also be a mobile device in various forms, such as a personal digital processing, a cellular phone, a smart phone, a wearable device, and other similar computing devices.

[0092] The electronic device includes: one or more processors; and a memory storing computer program instructions, wherein when the computer program instructions are executed, the processor executes the steps of the method provided in any one or more of the above embodiments. Figure 5 An exemplary structural diagram of the electronic device is disclosed. Figure 5As shown, the electronic device includes: one or more processors 1101, memory 1102, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. The various components are connected to each other using different buses, and can be installed on a common mainboard or installed in other ways as needed. The processor can process instructions executed in the electronic device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some other embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple electronic devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Among them, the components shown in this article, their connections and relationships, and their functions are only used as examples, and are not intended to limit the implementation of the present application described and / or required herein.

[0093] The electronic device may further include: an input device 1103 and an output device 1104. The processor 1101, the memory 1102, the input device 1103 and the output device 1104 may be connected via a bus or other means. Figure 5 The example of connecting through bus is taken in the following.

[0094] The input device 1103 can receive input digital or character information, and generate key signal input related to the user settings and function control of the electronic device, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, an indicator rod, one or more mouse buttons, a track ball, a joystick and other input devices. The output device 1104 may include a display device, an auxiliary lighting device (e.g., an LED) and a tactile feedback device (e.g., a vibration motor), etc. The display device may include, but is not limited to, a liquid crystal display (LCD), a light emitting diode (LED) display and a plasma display. In some embodiments, the display device may be a touch screen.

[0095] To provide interaction with a user, the electronic device may be a computer. The computer has: 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 a trackball), through which the user can provide input to the computer. 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).

[0096] In the embodiments of the present application, a computer program / instruction is stored on a computer-readable medium, and when the computer program / instruction is executed by a processor, the steps of the method provided by any one or more of the above embodiments are implemented. The computer-readable medium may be included in the electronic device described in the above embodiments; or it may exist independently without being assembled into the device. The above computer-readable medium carries one or more computer-readable instructions.

[0097] The memory 1102 can be used as a non-transient computer-readable storage medium, which can be used to store non-transient software programs, non-transient computer executable programs and modules. The processor 1101 executes various functional applications and data processing of the server by running the non-transient software programs, instructions and modules stored in the memory 1102, so as to implement the program instructions / modules corresponding to the method provided by any one or more embodiments in the embodiments of the present application.

[0098] The memory 1102 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the electronic device, etc. In addition, the memory 1102 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory 1102 may optionally include a memory remotely arranged relative to the processor 1101, and these remote memories may be connected to the electronic device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0099] It should be noted that the computer-readable medium described in the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, 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 above. In the present application, a computer-readable medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device.

[0100] Computer readable media include permanent and non-permanent, removable and non-removable media, and can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, modules of programs or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

[0101] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet).

[0102] In the above-described embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. For example, it can be implemented by using an application specific integrated circuit (ASIC), a general-purpose computer or any other similar hardware device. In certain embodiments, the software program of the present application can be executed by a processor to implement the above steps or functions. Similarly, the software program of the present application (including relevant data structures) can be stored in a computer-readable recording medium, for example, a RAM memory, a magnetic or optical drive or a floppy disk and similar devices. In addition, some steps or functions of the present application can be implemented by hardware, for example, as a circuit that cooperates with a processor to perform each step or function.

[0103] The computer program product provided in the embodiment of the present application includes one or more computer programs / instructions, and when the computer program / instructions are executed by the processor, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or a data center that includes one or more available media integrations. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive so lid state di sk (SSD)), etc.

[0104] The flow chart or block diagram in the accompanying drawings shows the possible architecture, function and operation of the equipment, method and computer program product according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated system for hardware that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0105] The scope of the present application is defined by the appended claims rather than the above description, and it is intended that all changes that fall within the meaning and scope of the equivalent elements of the claims are included in the present application. Any figure mark in the claims should not be regarded as limiting the claims involved. In addition, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices stated in the device claim may also be implemented by one unit or device through software or hardware. The words "first", "second", etc. are only used to distinguish the description, and do not indicate any particular order, nor can they be understood as indicating or implying relative importance.

[0106] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily mention changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims, and the above embodiments should be regarded as exemplary and non-restrictive.

Claims

1. A method for detecting a traffic reverse event, characterized in that: The method comprises: Obtain the current position information and current heading angle information of the target vehicle; Determine the lane heading angle information of the lane where the target vehicle is currently located according to the current position information; Determine whether the target vehicle triggers a traffic reverse event according to the current heading angle information and the lane heading angle information.

2. The method according to claim 1, characterized in that The determining, according to the current heading angle information and the lane heading angle information, whether the target vehicle triggers a traffic reverse event comprises: Determine a first direction vector according to the current heading angle information; Determining a second direction vector according to the lane heading angle information; It is determined whether the target vehicle triggers a traffic reverse event according to the first direction vector and the second direction vector.

3. The method according to claim 2, characterized in that The determining, according to the first direction vector and the second direction vector, whether the target vehicle triggers a traffic reverse event comprises: Determining, according to the first direction vector and the second direction vector, a similarity for characterizing the similarity between the first direction vector and the second direction vector; According to the similarity, it is determined whether the target vehicle triggers a traffic reverse event.

4. The method according to claim 3, characterized in that The determining, based on the first direction vector and the second direction vector, of a similarity for characterizing the similarity between the first direction vector and the second direction vector is specifically determined by the following formula: value=vec1[X1]*vec2[X2]*vec1[Y1]*vec2[Y2]; Among them, the value represents the similarity, the vec1 represents the first direction vector, the vec2 represents the second direction vector, the X1 represents the X component of the first direction vector, the X2 represents the X component of the second direction vector, the Y1 represents the Y component of the first direction vector, and the Y2 represents the Y component of the second direction vector.

5. The method according to any one of claims 1 to 4, characterized in that: The determining, according to the current heading angle information and the lane heading angle information, whether the target vehicle triggers a traffic reverse event comprises: Obtaining historical location information of the target vehicle; Determining the trajectory displacement of the target vehicle according to the current position information of the target vehicle and the historical position information; Determining trajectory heading angle information according to the trajectory displacement of the target vehicle; Determine whether the target vehicle triggers a traffic reverse event according to the trajectory heading angle information and the lane heading angle information.

6. The method according to claim 5, characterized in that Determining the trajectory heading angle information according to the trajectory displacement of the target vehicle includes: Acquire a first distance in the X direction and a second distance in the Y direction between the current position information and the historical position information; The trajectory heading angle information is determined according to the first distance and the second distance.

7. The method according to claim 6, characterized in that Determining the trajectory heading angle information according to the first distance and the second distance includes: Determine distance information between the current location information and the historical location information according to the first distance and the second distance; The trajectory heading angle information is determined according to the distance information and a preset distance threshold.

8. An electronic device, characterized in that: The electronic device comprises: one or more processors; and A memory storing computer program instructions, which, when executed, cause the processor to perform the steps of the method as claimed in any one of claims 1 to 7.

9. A computer readable medium having a computer program / instructions stored thereon, characterized in that: When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

Images