Target motion state processing method and device, storage medium and electronic device

Abstract

The embodiment of the invention provides a target motion state processing method and device, a storage medium and an electronic device, and the method comprises the steps: determining the ground speed of a detection target detected by detection equipment based on the motion parameters of the detection equipment on a current vehicle in the operation process of the current vehicle; when the detection target is in the static state, the ground speed of the detection target is continuously detected, whether a first switching condition is met or not is judged, and the first switching condition is the switching condition that the detection target is switched from the static state to the moving state; under the condition that the first switching condition is met, the target state of the detection target is switched to a to-be-determined motion state, and the to-be-determined motion state is the state of the motion state of the current vehicle to be determined; based on the ground speed of the detection target, the target state of the detection target is switched from the undetermined motion state to one motion state in a preset motion state set, and the motion states in the motion state set are all non-static states.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of traffic control, and more specifically, to a method and device for processing target motion status, a storage medium, and an electronic device. Background Art

[0002] In the field of intelligent automobile driving, detection equipment can be used to detect targets and identify whether the detected targets are in motion or stationary state. Drivers can make driving predictions based on the target state of the detected targets, thereby improving the safety of vehicle operation. However, it takes a certain amount of time from detecting a target to making a driving prediction, and different drivers take different amounts of time to make a driving prediction based on the target state of the detected target, which reduces the safety of vehicle operation.

[0003] It can be seen that the target motion state processing method in the related art has the problem of low vehicle operation safety due to the extended time between target detection and driving prediction. Summary of the invention

[0004] The embodiments of the present application provide a method and device for processing the motion state of a target, a storage medium and an electronic device, so as to at least solve the problem of low vehicle operation safety caused by the extended time between detecting the target and predicting driving in the method for processing the motion state of a target in the related art.

[0005] According to one aspect of an embodiment of the present application, a method for processing a target motion state is provided, comprising: during the operation of a current vehicle, determining the ground speed of a detection target detected by the detection device based on motion parameters of the detection device on the current vehicle; when the detection target is in a stationary state, continuously detecting the ground speed of the detection target to determine whether a first switching condition is satisfied, wherein the first switching condition is a switching condition for switching the detection target from a stationary state to a moving state; when the first switching condition is satisfied, switching the target state of the detection target to a pending motion state, wherein the pending motion state is a state in which the motion state of the current vehicle is to be determined; based on the ground speed of the detection target, switching the target state of the detection target from the pending motion state to a motion state in a preset motion state set, wherein the motion states in the motion state set are all non-stationary states.

[0006] According to another aspect of an embodiment of the present application, a device for processing a target motion state is also provided, including: a determination unit, for determining, during the operation of a current vehicle, the ground speed of a detection target detected by the detection device based on the motion parameters of the detection device on the current vehicle; a first judgment unit, for continuously detecting the ground speed of the detection target when the detection target is in a stationary state, and judging whether a first switching condition is satisfied, wherein the first switching condition is a switching condition for switching the detection target from a stationary state to a moving state; a first switching unit, for switching the target state of the detection target to a pending motion state when the first switching condition is satisfied, wherein the pending motion state is a state in which the motion state of the current vehicle is to be determined; a second switching unit, for switching the target state of the detection target from the pending motion state to a motion state in a preset motion state set based on the ground speed of the detection target, wherein the motion states in the motion state set are all non-stationary states.

[0007] In an exemplary embodiment, the second switching unit includes: a first determination module, used to determine, based on the ground speed of the detection target, a motion state in the motion state set that satisfies the corresponding state switching condition; a switching module, used to switch the target state of the detection target from the pending motion state to the target motion state when the target state switching condition corresponding to the target motion state in the motion state set is satisfied and the number of times the target state switching condition is continuously satisfied reaches a first number threshold.

[0008] In an exemplary embodiment, the speed of the detected target relative to the ground includes the lateral speed of the detected target relative to the ground and the longitudinal speed of the detected target relative to the ground; the first determination module includes at least one of the following: a first determination subunit, used to determine that a state switching condition corresponding to the crossing state is satisfied when the absolute value of the lateral speed of the detected target relative to the ground is greater than the absolute value of the longitudinal speed of the detected target relative to the ground, and the absolute value of the lateral speed of the detected target relative to the ground is greater than or equal to a first speed threshold, when the motion state set includes a crossing state, wherein the crossing state is a motion state that crosses the road where the current vehicle is located; a second determination subunit, used to determine that a state switching condition corresponding to the crossing state is satisfied when the absolute value of the lateral speed of the detected target relative to the ground is greater than the absolute value of the longitudinal speed of the detected target relative to the ground, and the absolute value of the lateral speed of the detected target relative to the ground is greater than or equal to a first speed threshold. In the case where the motion state set includes an oncoming driving state, when the absolute value of the lateral speed of the detected target with respect to the ground is less than or equal to the absolute value of the longitudinal speed of the detected target with respect to the ground, the longitudinal speed of the detected target with respect to the ground is less than or equal to a second speed threshold, and the longitudinal distance between the detected target and the current vehicle is greater than or equal to a first distance threshold, it is determined that the state switching condition corresponding to the oncoming driving state is satisfied, wherein the oncoming driving state is a motion state of driving towards the current vehicle, the first distance threshold is greater than or equal to zero, and the longitudinal distance between the detected target and the current vehicle is the distance between the detected target and the current vehicle parallel to the current vehicle. The distance in the driving direction of the front vehicle, the second speed threshold is less than or equal to zero; a third determining subunit is used to determine that the state switching condition corresponding to the overtaking state is satisfied when the absolute value of the lateral speed of the detected target to the ground is less than or equal to the absolute value of the longitudinal speed of the detected target to the ground, the longitudinal speed of the detected target to the ground is greater than or equal to the third speed threshold, the absolute value of the longitudinal speed of the detected target to the vehicle is greater than or equal to the fourth speed threshold, the absolute value of the lateral distance of the detected target to the vehicle is less than the second distance threshold, and the absolute value of the longitudinal distance of the detected target to the vehicle is less than the third distance threshold, when the motion state set includes the overtaking state. , wherein the overtaking state is a motion state in which the detection target is overtaking the current vehicle or the current vehicle is overtaking the detection target, the longitudinal speed of the detection target relative to the vehicle is a speed component of the detection target relative to the current vehicle in a direction parallel to the driving direction of the current vehicle, the lateral distance of the detection target relative to the vehicle is a distance component of the detection target relative to the current vehicle in a direction perpendicular to the driving direction of the current vehicle, the longitudinal distance of the detection target relative to the vehicle is a distance component of the detection target relative to the current vehicle in a direction parallel to the driving direction of the current vehicle, and the third speed threshold is greater than or equal to zero;a fourth determination subunit, for determining, in the case where the motion state set includes a same-direction driving state, that a state switching condition corresponding to the same-direction driving state is satisfied when the absolute value of the lateral speed of the detected target relative to the ground is less than or equal to the absolute value of the longitudinal speed of the detected target relative to the ground, the longitudinal speed of the detected target relative to the ground is greater than or equal to a fifth speed threshold, and at least one of the following is satisfied: the absolute value of the longitudinal speed of the detected target relative to the vehicle is greater than or equal to a sixth speed threshold, the absolute value of the lateral distance of the detected target relative to the vehicle is greater than or equal to a fourth distance threshold, and the absolute value of the longitudinal distance of the detected target relative to the vehicle is greater than or equal to a fourth distance threshold. at a fifth distance threshold, wherein the same-direction driving state is a motion state of driving in the same direction as the current vehicle, the longitudinal speed of the detected target relative to the vehicle is the speed component of the detected target relative to the current vehicle in a direction parallel to the driving direction of the current vehicle, the lateral distance of the detected target relative to the vehicle is the distance component of the detected target relative to the current vehicle in a direction perpendicular to the driving direction of the current vehicle, the longitudinal distance of the detected target relative to the vehicle is the distance component of the detected target relative to the current vehicle in a direction parallel to the driving direction of the current vehicle, and the fifth speed threshold is greater than or equal to zero. ;

[0009] In an exemplary embodiment, the device includes: a second judgment unit, used to judge whether a target state exit condition corresponding to the target motion state is satisfied based on the ground speed of the detection target after the target state of the detection target is switched from the pending motion state to the target motion state; and a third switching unit, used to switch the target state of the detection target from the target motion state to the pending motion state when the target state exit condition is satisfied and the number of times the target state exit condition is continuously satisfied reaches a second number threshold.

[0010] In an exemplary embodiment, the speed of the detected target relative to the ground includes the lateral speed of the detected target relative to the ground and the longitudinal speed of the detected target relative to the ground; the second judgment unit includes at least one of the following: a second determination module, used to determine that the target state exit condition is satisfied when the absolute value of the lateral speed of the detected target relative to the ground is greater than the absolute value of the longitudinal speed of the detected target relative to the ground, or the absolute value of the lateral speed of the detected target relative to the ground is less than a seventh speed threshold, when the target motion state is a crossing state, wherein the crossing state is a motion state that crosses the road where the current vehicle is located; a third determination module, used to determine that the target state exit condition is satisfied when the target motion state is a crossing state. In the case where the target motion state is an oncoming driving state, when the absolute value of the lateral speed of the detected target to the ground is greater than the absolute value of the longitudinal speed of the detected target to the ground, or the longitudinal speed of the detected target to the ground is greater than or equal to an eighth speed threshold, or the longitudinal distance of the detected target to the vehicle is less than or equal to a sixth distance threshold, it is determined that the target state exit condition is met, wherein the oncoming driving state is a motion state heading toward the current vehicle, the longitudinal distance of the detected target to the vehicle is a distance component of the distance of the detected target relative to the current vehicle in a direction parallel to the driving direction of the current vehicle, and the eighth speed threshold is greater than or equal to an eighth speed threshold. the sixth distance threshold is less than or equal to zero; a fourth determination module is used to determine, when the target motion state is an overtaking state, that the target state is an overtaking state, when the absolute value of the lateral speed of the detected target to the ground is greater than the absolute value of the longitudinal speed of the detected target to the ground, or the longitudinal speed of the detected target to the ground is less than or equal to the ninth speed threshold, or the absolute value of the longitudinal speed of the detected target to the vehicle is less than or equal to the tenth speed threshold, or the absolute value of the lateral distance of the detected target to the vehicle is greater than or equal to the seventh distance threshold, and the absolute value of the longitudinal distance of the detected target to the vehicle is greater than or equal to the eighth distance threshold. The exit condition of the state is satisfied, wherein the overtaking state is a state of overtaking or being overtaken by the current vehicle relative to the current vehicle, the longitudinal speed of the detection target relative to the vehicle is the speed component of the detection target relative to the current vehicle in the driving direction parallel to the current vehicle, the lateral distance of the detection target relative to the vehicle is the distance component of the detection target relative to the current vehicle in the driving direction perpendicular to the current vehicle, the longitudinal distance of the detection target relative to the vehicle is the distance component of the detection target relative to the current vehicle in the driving direction parallel to the current vehicle, and the ninth speed threshold is less than or equal to zero;a fifth determination module, configured to determine that the target state exit condition is satisfied when, when the target motion state is a same-direction driving state, the absolute value of the lateral speed of the detected target relative to the ground is greater than the absolute value of the longitudinal speed of the detected target relative to the ground, or the longitudinal speed of the detected target relative to the ground is less than or equal to an eleventh speed threshold, or the absolute value of the longitudinal speed of the detected target relative to the vehicle is greater than or equal to a twelfth speed threshold, the absolute value of the lateral distance of the detected target relative to the vehicle is less than a ninth distance threshold, and the absolute value of the longitudinal distance of the detected target relative to the vehicle is less than a tenth distance threshold, wherein the same-direction driving state is a motion state of traveling in the same direction as the current vehicle, the longitudinal speed of the detected target relative to the vehicle is a speed component of the speed of the detected target relative to the current vehicle in a driving direction parallel to the current vehicle, the lateral distance of the detected target relative to the vehicle is a distance component of the distance of the detected target relative to the current vehicle in a driving direction perpendicular to the current vehicle, the longitudinal distance of the detected target relative to the vehicle is a distance component of the distance of the detected target relative to the current vehicle in a driving direction parallel to the current vehicle, and the eleventh speed threshold is less than or equal to zero. ;

[0011] In an exemplary embodiment, the determination unit includes: a sixth determination module, used to determine the motion parameters of the detection device based on the operating parameters of the current vehicle and the relative position of the detection device and the current vehicle, wherein the operating parameters of the current vehicle include the speed of the current vehicle and the angular velocity of the current vehicle, and the motion parameters of the detection device include the speed of the detection device and the motion angle of the detection device; a decomposition module, used to decompose the speed of the detection device and the motion angle of the detection device to obtain the lateral speed of the detection device relative to the ground and the longitudinal speed of the detection device relative to the ground; a seventh determination module, used to determine the lateral speed of the detection target relative to the ground based on the lateral speed of the detection device relative to the ground and the lateral speed of the detection target relative to the detection device, and to determine the longitudinal speed of the detection target relative to the ground based on the longitudinal speed of the detection device relative to the ground and the longitudinal speed of the detection target relative to the detection device, wherein the speed of the detection target relative to the ground includes the lateral speed of the detection target relative to the ground and the longitudinal speed of the detection target relative to the detection device.

[0012] In an exemplary embodiment, the detection device is a millimeter wave radar; the apparatus further includes: a broadcasting unit, for displaying the detection target in a navigation map displayed on a terminal device corresponding to the current vehicle based on the target state of the detection target, and broadcasting target prompt information through the terminal device, wherein the target prompt information is used to prompt at least one of the following: the target state of the detection target, a safety warning matching the detection target.

[0013] According to another aspect of the embodiments of the present application, a computer-readable storage medium is provided, in which a computer program is stored. When the computer program is executed by a processor, the steps in any one of the above method embodiments are implemented.

[0014] According to another aspect of the embodiments of the present application, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any of the above method embodiments when executing the computer program.

[0015] According to another aspect of the embodiments of the present application, a computer program product or a computer program is also provided, the computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the steps in any of the above method embodiments.

[0016] In an embodiment of the present application, a preset motion state set is adopted, and the motion state of the detection target in the motion state set is determined based on the ground speed of the detection target. During the operation of the current vehicle, the ground speed of the detection target detected by the detection device is determined based on the motion parameters of the detection device on the current vehicle; when the detection target is in a stationary state, based on the ground speed of the detection target, it is judged whether a first switching condition is satisfied, wherein the first switching condition is a switching condition for switching the detection target from a stationary state to a motion state; when the first switching condition is satisfied, the target state of the detection target is switched to a pending motion state, wherein the pending motion state is a state in which the motion state of the current vehicle is to be determined; based on the ground speed of the detection target, the target state of the detection target is switched from the pending motion state to a motion state in a preset motion state set, wherein the motion states in the motion state set are all non-stationary states. Since when the detection target is in a stationary state, the target state of the detection target is switched from the pending motion state to a motion state in a preset motion state set, wherein the motion states in the motion state set are all non-stationary states. In a stationary state, based on the speed of the detected target over the ground, the target state of the detected target is switched to a pending motion state, and then based on the speed of the detected target over the ground, a motion state matching the detected target is determined from a preset motion state set. Since the motion states are distinguished to match the different motion states of the detected target, the motion state of the detected target can be more intuitively prompted to the driver, thereby shortening the motion state judgment time and achieving the purpose of shortening the time delay between detecting the target and driving prediction. At the same time, by setting the pending motion state between the stationary state and the moving state, fluctuations in motion state judgment caused by detection errors can be avoided, the stability of motion state judgment can be improved, and driving misjudgments caused by frequent state switching can be avoided, thereby achieving the technical effect of improving the safety of vehicle operation, thereby solving the problem of low vehicle operation safety caused by the long time delay between detecting the target and driving prediction in the target motion state processing method in the related art. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0018] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0019] Figure 1 is a schematic diagram of an application scenario of an optional method for processing target motion state according to an embodiment of the present application;

[0020] Figure 2is a flowchart of an optional method for processing target motion state according to an embodiment of the present application;

[0021] Figure 3 is a schematic diagram of another optional method for processing target motion state according to an embodiment of the present application;

[0022] Figure 4 is a schematic diagram of an optional right front radar motion model according to an embodiment of the present application;

[0023] Figure 5 is a schematic diagram of another optional method for processing target motion state according to an embodiment of the present application;

[0024] Figure 6 is a schematic diagram of another optional method for processing target motion state according to an embodiment of the present application;

[0025] Figure 7 is a schematic diagram of another optional method for processing target motion state according to an embodiment of the present application;

[0026] Figure 8 is a schematic diagram of another optional method for processing target motion state according to an embodiment of the present application;

[0027] Fig. 9 is a schematic diagram of another optional method for processing target motion state according to an embodiment of the present application;

[0028] Fig.10 is a schematic diagram of another optional method for processing target motion state according to an embodiment of the present application;

[0029] Fig.11 is a schematic diagram of another optional method for processing target motion state according to an embodiment of the present application;

[0030] Fig.12 is a schematic diagram of another optional method for processing target motion state according to an embodiment of the present application;

[0031] Fig.13 is a flowchart of another optional method for processing target motion state according to an embodiment of the present application;

[0032] Fig.14 is a structural block diagram of an optional target motion state processing device according to an embodiment of the present application;

[0033] Fig.15 It is a block diagram of a computer system structure of an optional electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0034] In order to enable those skilled in the art to better understand the present application, the technical solutions 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 only embodiments of a part of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work (for example, feature splitting in the same embodiment and combining features in different embodiments, if there is no contradiction) shall fall within the scope of protection of the present application.

[0035] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application 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 application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0036] According to one aspect of an embodiment of the present application, a method for processing a target motion state is provided. Optionally, in this embodiment, the method for processing a target motion state can be applied to Figure 1 In the hardware environment including the current vehicle 102 and the detection device 104, the number of the detection device 104 can be one or more, and the detection device 104 can be set at any position of the current vehicle 102 where target detection can be performed. Different detection devices 104 can be set at the same or different positions of the current vehicle. The detection target can be other vehicles or other objects within the detection range of the detection device 104. Figure 1 As shown, the current vehicle 102 can obtain the motion parameters of the detection target through the detection device 104, and confirm the motion state of the detection target based on the obtained motion parameters.

[0037] In this embodiment, the above-mentioned detection device 104 may include but is not limited to at least one of the following: millimeter wave radar, laser radar, ultrasonic radar, camera, etc., and may also include other devices with detection functions. Here, at the same time, the detection targets that can be detected by different detection devices 104 may be the same or different, and the detection targets detected by the same detection device 104 at different detection times may be the same or different. The method for processing the target motion state in this embodiment can be executed for a detection target detected by the detection device 104, and the method for processing the target motion state in this embodiment is also applicable to different detection targets.

[0038] Optionally, the method for processing the target motion state in this embodiment may be executed by a vehicle-mounted terminal set on the current vehicle, or by a server, or by both the vehicle-mounted terminal and the server. Taking the vehicle-mounted terminal as an example, Figure 2 is a flow chart of an optional method for processing target motion state according to an embodiment of the present application, such as Figure 2 As shown, the above method includes steps S202 to S208.

[0039] Step S202, during the operation of the current vehicle, based on the motion parameters of the detection device on the current vehicle, determine the ground speed of the detection target detected by the detection device.

[0040] The method for processing the target motion state in this embodiment can be applied to the field of intelligent automobile driving, and can be applied to the scenario of processing the target state of the detection target detected by the detection device. In the field of intelligent automobile driving, accurately identifying the motion state of the target helps the driver make correct driving predictions. In the related art, it is usually through identifying whether the detection target is stationary or in motion, and providing the identified target state of the detection target to the driver. The driver can make driving predictions with reference to the target state of the identified detection target to improve the safety of vehicle operation. However, it takes a certain amount of time from detecting the target to making a driving prediction, and different drivers have different times required to make driving predictions based on the target state of the detection target, thereby reducing the safety of vehicle operation.

[0041] In order to at least solve the above technical problems, in this embodiment, a preset motion state set is used to distinguish the specific motion state of the target. Here, the specific motion state of the target has a great influence on the driving prediction of the vehicle. For example, whether the target is crossing or traveling in the same direction, whether it is overtaking and being overtaken or coming head-on, the different motion states will affect the driving prediction made by the driver; if the detected target is in a stationary state, it can be determined whether to switch its target state based on its speed over the ground. If switching is required, the target state of the detected target is first switched to a pending motion state, and then based on the speed of the detected target over the ground, the target state of the detected target is switched to a specific motion state. By distinguishing the specific motion state of the detected target, the motion state judgment time can be shortened, and the pending motion state as an intermediate state can improve the stability of the motion state judgment, thereby improving the safety of vehicle operation (that is, improving the safe predictive driving of the vehicle).

[0042] For the current vehicle, a detection device may be provided thereon, and the detection device may be any of the aforementioned detection devices, and its output information may include the target position of the detection target relative to the detection device (for example, the target coordinates in the detection device's own coordinate system), motion parameters (for example, the motion speed and motion angle of the detection target relative to the detection device, etc.), and may also include other information related to the detection target (for example, target size, target color, etc.). There are many scenarios for detection devices, and the motion state of the detection target can be determined from a preset motion state set in combination with the detection results of different detection devices. For the case where there is only one detection device, for example, only a millimeter wave radar (a millimeter wave radar is a radar operating in the millimeter wave band, with an operating frequency band of 30-300GHz, a corresponding wavelength of 1-10mm, and core functions including ranging, speed measurement, azimuth measurement, micro-motion detection and 4D imaging, etc.) without the aid of sensor recognition capabilities such as cameras, how to accurately determine the motion state of the target is a difficult task. In this regard, in this embodiment, the ground speed of the detection target can be determined based on the motion parameters of the detection device, and then based on the ground speed of the detection target, the motion state of the detection target can be determined with the help of different speed thresholds and coordinate thresholds to improve the accuracy of the target state determination switching. Here, the above-mentioned determination method of the target motion state is not only applicable to the case where there is only one detection device, but also to the case where there are multiple detection devices. In this embodiment, the device type of the detection device is not limited.

[0043] During the operation of the current vehicle, the ground speed of the detection target detected by the detection device can be determined based on the motion parameters of the detection device on the current vehicle, wherein the motion parameters of the detection device can be used to describe the motion state of the detection device, which can be the motion parameters of the detection device relative to the current vehicle or relative to the ground. The above-mentioned motion parameters can include one or more motion parameters, such as motion speed, motion angle, etc. Here, based on the motion parameters of the detection device, the motion state of the detection device relative to the ground can be determined, wherein, if the motion parameters of the detection device are its motion parameters relative to the current vehicle, they can be converted into the motion parameters of the detection device relative to the ground in combination with the motion model of the current vehicle. The detection target detected by the detection device is the target detected by the detection device in its own coordinate system. By converting the coordinate system, the ground speed of the detection target detected by the detection device can be determined based on the motion parameters of the detection device on the current vehicle.

[0044] Here, the ground speed of the detection target can be the speed of the detection target in a fixed coordinate system with the starting position of the current vehicle as the origin, which can be understood as the speed relative to the horizontal plane (the xy plane in the fixed coordinate system). In this case, the ground speed of the detection target can be adjusted without referring to the satellite positioning. For the scenario where the ground speed of the detection target is adjusted with reference to the satellite positioning, the ground speed of the detection target can be the speed of the detection target relative to the actual ground.

[0045] Step S204, when the detection target is in a stationary state, continuously detect the ground speed of the detection target to determine whether a first switching condition is satisfied, wherein the first switching condition is a switching condition for switching the detection target from a stationary state to a moving state.

[0046] The detection target may be in a stationary state or in a moving state. When the detection target is in a stationary state, the speed of the detection target over the ground may be continuously detected, and whether the first switching condition is satisfied is determined based on the speed of the detection target over the ground. Here, the first switching condition is a switching condition for switching the detection target from a stationary state to a moving state, which may be set according to the speed of the detection target over the ground. Correspondingly, whether the first switching condition is satisfied may be determined based on the speed of the detection target over the ground.

[0047] The correlation between the first switching condition and the ground speed of the detected target can be set based on experience. For example, the first switching condition can be set as follows: the modulus of the ground speed of the detected target is greater than 0 m / s, or the duration of the ground speed of the detected target being greater than 0 m / s reaches a specified duration threshold (for example, 1s, 2s, etc.). In order to avoid the influence of errors, the first switching condition can be set as follows: the modulus of the ground speed of the detected target is greater than a specified speed threshold (for example, 0.2m / s, 0.4m / s, 0.6m / s, etc.), or the duration of the ground speed of the detected target being greater than a specified speed threshold reaches a specified duration threshold. The first switching condition can also be other switching conditions related to the ground speed of the detected target, which is not limited in this embodiment.

[0048] Step S206, when the first switching condition is met, the target state of the detection target is switched to a pending motion state, wherein the pending motion state is a state in which the motion state of the current vehicle is to be determined.

[0049] If the first switching condition is met, the target state of the detected target can be switched to a specific motion state. Considering that the determination of the motion state requires a certain amount of time (the target state cannot usually be accurately determined based on the ground speed at a certain point in time), and frequent motion state switching will interfere with the driver's driving prediction, in this embodiment, an intermediate state from the static state to the motion state, that is, a pending motion state (or other motion state), can be set. By first switching to the pending motion state and then switching to a specific motion state, the frequency of motion state switching can be reduced, and the erroneous switching of the motion state can be reduced. In addition, the pending motion state can also be the target state to which the detected target switches after exiting a specific motion state.

[0050] For example, if the target is in a stationary state, the static-dynamic distinction algorithm process is entered. If the conditions are met, it switches to motion and is initialized to other motion states. If the conditions are not met, it remains in a stationary state.

[0051] Step S208, based on the ground speed of the detection target, the target state of the detection target is switched from the pending motion state to a motion state in a preset motion state set, wherein the motion states in the motion state set are all non-stationary states.

[0052] In order to distinguish different motion states, a motion state set can be preset, and the motion states in the motion state set are all non-stationary states. The motion states in the motion state set can be determined based on at least one of the following: the ground speed of the detection target, the relative speed of the detection target and the current vehicle, and the relative position of the detection target and the current vehicle. For different motion states, the parameters or parameter values ​​based on which the judgment is based are at least partially different. Optionally, the motion states in the motion state set may include but are not limited to at least one of the following: crossing (crossing state), oncoming (oncoming driving state), overtaking or being overtaken (overtaking state), and traveling in the same direction (traveling in the same direction). In addition, non-stationary motion states such as braking, reversing, and reverse driving may also be included. In this embodiment, the motion states in the motion state set are not limited.

[0053] For example, the target states required for motion recognition are stationary, crossing, oncoming, overtaking or being overtaken, and traveling in the same direction. Figure 3 Among them, except for the static state, all or part of the target states can be used as a preset motion state set.

[0054] In this embodiment, each motion state in the motion state set may have its corresponding switching condition. When the switching condition of any motion state in the motion state set is determined to be satisfied based on the ground speed of the detection target, the motion state of the detection target may be switched from the pending motion state to the corresponding motion state. In addition, each motion state in the motion state set may also have its corresponding exit condition. When the detection target is in a certain motion state in the motion state set, if the corresponding exit condition of the motion state is satisfied, the motion state of the detection target may be switched back to the pending motion state, and the motion state in the motion state set that satisfies the corresponding switching condition is re-determined.

[0055] Optionally, if the switching condition corresponding to the stationary state is satisfied, for example, the modulus of the ground speed of the detected target is 0 m / s, or the duration of the ground speed of the detected target being 0 m / s reaches a specified duration threshold (for example, 1 s, 2 s, etc.). In order to avoid the influence of errors, the switching condition corresponding to the stationary state can be set as: the modulus of the ground speed of the detected target is less than a specified speed threshold (for example, 0.2 m / s, 0.4 m / s, 0.6 m / s, etc.), or the duration of the ground speed of the detected target being less than a specified speed threshold reaches a specified duration threshold, which is not limited in this embodiment.

[0056] Through the embodiments provided by the present application, during the operation of the current vehicle, the ground speed of the detection target detected by the detection device is determined based on the motion parameters of the detection device on the current vehicle; when the detection target is in a stationary state, based on the ground speed of the detection target, it is determined whether the first switching condition is met, wherein the first switching condition is a switching condition for switching the detection target from a stationary state to a moving state; when the first switching condition is met, the target state of the detection target is switched to a pending moving state, wherein the pending moving state is a state in which the current vehicle is to be determined; based on the ground speed of the detection target, the target state of the detection target is switched from the pending moving state to a moving state in a preset moving state set, wherein the moving states in the moving state set are all non-stationary states, thereby solving the technical problem in the related technical problem that the target detection method has low safety of vehicle operation due to the extended time between detecting the target and driving prediction, thereby improving the safety of vehicle driving.

[0057] In an exemplary embodiment, the speed of a detection target detected by the detection device relative to the ground is determined based on the motion parameters of the detection device on the current vehicle, including: determining the motion parameters of the detection device based on the operating parameters of the current vehicle and the relative position of the detection device and the current vehicle; decomposing the speed of the detection device and the motion angle of the detection device to obtain the lateral speed of the detection device relative to the ground and the longitudinal speed of the detection device relative to the ground; determining the lateral speed of the detection target relative to the ground based on the lateral speed of the detection device relative to the ground and the lateral speed of the detection target relative to the detection device, and determining the longitudinal speed of the detection target relative to the ground based on the longitudinal speed of the detection device relative to the ground and the longitudinal speed of the detection target relative to the detection device.

[0058] The detection device is usually fixed on the current vehicle. Therefore, based on the motion parameters of the current vehicle and the relative position of the detection device and the current vehicle, the motion parameters of the detection device can be determined. Here, the operating parameters of the current vehicle may include the speed of the current vehicle and the angular velocity of the current vehicle, and the motion parameters of the detection device include the speed of the detection device and the motion angle of the detection device. By decomposing the speed of the detection device and the motion angle of the detection device, the lateral speed of the detection device relative to the ground and the longitudinal speed of the detection device relative to the ground can be obtained.

[0059] Based on the motion parameters of the detection device, combined with the motion parameters of the detection target relative to the detection device, the ground speed of the detection target can be determined. The above method for determining the ground speed of the detection target can be: based on the lateral speed of the detection device to the ground and the lateral speed of the detection target relative to the detection device, determine the lateral speed of the detection target to the ground (the lateral speed of the detection target to the ground can be the superposition of the lateral speed of the detection device to the ground and the lateral speed of the detection target relative to the detection device), and based on the longitudinal speed of the detection device to the ground and the longitudinal speed of the detection target relative to the detection device, determine the longitudinal speed of the detection target to the ground (the longitudinal speed of the detection target to the ground can be the superposition of the longitudinal speed of the detection device to the ground and the longitudinal speed of the detection target relative to the detection device). Here, the ground speed of the detection target includes the lateral speed of the detection target to the ground and the longitudinal speed of the detection target to the ground.

[0060] For example, when the detection device is a millimeter wave radar, the millimeter wave radar outputs the coordinates of the target relative to the radar (P x ,P y ) and the speed relative to the radar (V x ,V y In order to accurately determine the target's motion state, the target's ground speed (V gx ,V gy ) and other parameters, and combined with the vehicle status to determine. By accurately calculating the radar speed, the target's ground speed can be obtained.

[0061] Taking the right turn of the vehicle and the right front radar coordinate system as an example, the motion model of the vehicle under turning can be established, such as Figure 4 As shown, the vehicle turns right at a speed of V0, and the angular rate is w (zero for straight line, positive for right turn, and negative for left turn).

[0062] The radar velocity V can be calculated from the motion model a and the radar motion angle α, as shown in formula (1) and formula (2):

[0063] V a = rv (1)

[0064] α=atan (Lx / (R±Ly)) (2)

[0065] Based on the radar motion angle α, the radar velocity V a Decompose and obtain the velocity component (V rx ,V ry ), as shown in formula (3) and formula (4):

[0066] V rx =V a cosα (3)

[0067] V ry =V a sinα (4)

[0068] From this, the target's ground speed (V gx ,V gy ), as shown in formula (5) and formula (6):

[0069] V gx =V x +V rx (5)

[0070] V gy =V y +V ry (6)

[0071] Here, the above velocities are all vectors with positive and negative directions.

[0072] Through this embodiment, the motion parameters of the detection device are determined based on the operating parameters of the current vehicle and the relative position of the detection device and the current vehicle. The ground speed of the detection target is determined based on the motion parameters of the detection device and the motion parameters of the detection target relative to the detection device. This can improve the convenience and accuracy of information determination.

[0073] In an exemplary embodiment, based on the ground speed of the detection target, the target state of the detection target is switched from a pending motion state to a motion state in a preset motion state set, including: based on the ground speed of the detection target, determining a motion state in the motion state set for which a corresponding state switching condition is satisfied; when a target state switching condition corresponding to the target motion state in the motion state set is satisfied and the number of times the target state switching condition is continuously satisfied reaches a first number threshold, the target state of the detection target is switched from the pending motion state to the target motion state.

[0074] In this embodiment, for each motion state in the motion state set, a switching condition corresponding thereto can be set respectively, and the switching condition corresponding to each motion state is limited based on at least the ground speed of the detection target, and can also be limited based on at least one of the following: the relative speed between the detection target and the current vehicle, the relative position between the detection target and the current vehicle, wherein the switching conditions corresponding to different motion states are at least partially different. Correspondingly, the motion state in the motion state set that satisfies the corresponding state switching condition can be determined based on the ground speed of the detection target; when the target state switching condition corresponding to the target motion state in the motion state set is satisfied, the target state of the detection target is switched from the pending motion state to the target motion state.

[0075] Optionally, in order to prevent misjudgment, a threshold value of the number of times the switching condition corresponding to the motion state is continuously satisfied can be set, that is, the first count threshold. If the switching condition corresponding to a certain motion state is satisfied, the count is increased by 1, and when the count reaches the first count threshold, the motion state is switched. Here, judging whether the switching condition corresponding to a certain motion state is satisfied can be performed periodically, and different motion states can correspond to different counters. When the switching condition corresponding to a certain motion state is satisfied, the switching condition corresponding to another motion state is satisfied, then the counter corresponding to the previous motion state can be reset to zero, and the counter corresponding to the next motion state is increased by 1. Correspondingly, when the target state switching condition corresponding to the target motion state in the motion state set is satisfied, and the number of times the target state switching condition is continuously satisfied reaches the first count threshold, the target state of the detected target is switched from the pending motion state to the target motion state. Here, the first count threshold can be set based on experience, and the first count threshold can be 2, 3, 4 or other values, which is not limited in this embodiment.

[0076] Through this embodiment, the motion state to be switched to is determined by matching the ground speed of the detected target and the switching conditions corresponding to the motion state, and the motion state is switched only when the switching conditions corresponding to the motion state to be switched to are continuously met for a number of times reaching a set threshold number, thereby improving the accuracy of motion state switching and avoiding erroneous switching of motion states.

[0077] In an exemplary embodiment, the ground speed of the detected target includes the lateral speed of the detected target and the longitudinal speed of the detected target. The method for determining the ground speed of the detected target may be the same as or similar to that in the aforementioned embodiment and will not be described in detail herein.

[0078] Correspondingly, for the case where the motion state set includes a crossing state (i.e., a motion state that crosses the road where the current vehicle is located), based on the ground speed of the detection target, the motion state in the motion state set that satisfies the corresponding state switching condition may include: when the absolute value of the lateral speed of the detection target relative to the ground is greater than the absolute value of the longitudinal speed of the detection target relative to the ground, and the absolute value of the lateral speed of the detection target relative to the ground is greater than or equal to the first speed threshold, it is determined that the state switching condition corresponding to the crossing state is satisfied.

[0079] Here, if the detected target is crossing the road where the current vehicle is located, it satisfies the following conditions: the target motion posture is lateral, that is, the absolute value of the detected target's lateral speed to the ground is greater than the absolute value of the longitudinal speed to the ground; the absolute value of the detected target's lateral speed to the ground is not zero, and considering the measurement error, a minimum threshold of the absolute value of the detected target's lateral speed to the ground can be set, and the set minimum threshold is the first speed threshold, and the first speed threshold is greater than or equal to zero. Correspondingly, when the absolute value of the detected target's lateral speed to the ground is greater than the absolute value of the detected target's longitudinal speed to the ground, and the absolute value of the detected target's lateral speed to the ground is greater than or equal to the first speed threshold, it can be determined that the state switching condition corresponding to the crossing state is satisfied.

[0080] For example, combined with Figure 5 The target crossing condition shown in the figure, for the case where the target's motion state is the target crossing, taking the right front radar as an example, the determination process of the target entering the crossing state from other motion states is as follows:

[0081] Step S11, it is determined that the target is in motion, not static. If the condition is satisfied, the process proceeds to step S12. If not, the process remains in the original state.

[0082] Step S12, calculate the target's ground speed (V gx ,V gy ), the target motion posture is judged to be horizontal (i.e., |V gy |>|V gx |) whether it is satisfied, if it is satisfied, then go to step S13, if not, then keep the original state;

[0083] Step S13, determining that the target's lateral velocity relative to the ground is non-zero (i.e., |V gy |! = 0) is satisfied, taking into account the measurement error, the minimum threshold LimitVgyAcroos is set, and the condition for the target's lateral speed to the ground to be non-zero is changed to |V gy |>LimitVgyAcroos, if satisfied, go to step S14, if not satisfied, keep the original state;

[0084] Step S14, in order to prevent misjudgment, count cnt+1 after the above conditions are met. When the above conditions are met for multiple consecutive times (for example, cnt>2), it can be determined that the target is in a horizontal state. If not, the original state is maintained.

[0085] For the case where the motion state set includes an oncoming driving state (i.e., a motion state heading toward the current vehicle), based on the speed of the detection target over the ground, the motion state in the motion state set for which the corresponding state switching condition is satisfied may include: when the absolute value of the lateral speed of the detection target over the ground is less than or equal to the absolute value of the longitudinal speed of the detection target over the ground, the longitudinal speed of the detection target over the ground is less than or equal to the second speed threshold, and the longitudinal distance between the detection target and the current vehicle is greater than or equal to the first distance threshold, it is determined that the state switching condition corresponding to the oncoming driving state is satisfied.

[0086] Here, if the detection target is oncoming, it satisfies the following conditions: the target motion posture is non-lateral, that is, the absolute value of the lateral speed of the detection target relative to the ground is less than or equal to the absolute value of the longitudinal speed relative to the ground; the detection target is in the opposite direction of the current vehicle, that is, the longitudinal speed of the detection target relative to the ground is negative. Taking into account the measurement error, the minimum threshold of the longitudinal speed of the detection target relative to the ground can be set. The set minimum threshold is the second speed threshold, and the second speed threshold is less than or equal to zero; the detection target is in front of the current vehicle, that is, the longitudinal distance between the detection target and the current vehicle is greater than zero (which can be understood as the longitudinal coordinate of the detection target relative to the detection device, with the current vehicle's driving direction as the positive direction). Taking into account the measurement error, the minimum threshold of the longitudinal distance between the detection target and the current vehicle can be set. The set minimum threshold is the first distance threshold, and the first distance threshold is greater than or equal to zero. Correspondingly, when the absolute value of the lateral speed of the detected target relative to the ground is less than or equal to the absolute value of the longitudinal speed of the detected target relative to the ground, the longitudinal speed of the detected target relative to the ground is less than or equal to the second speed threshold, and the longitudinal distance between the detected target and the current vehicle is greater than or equal to the first distance threshold, it is determined that the state switching condition corresponding to the oncoming driving state is met.

[0087] For example, combined with Figure 6 The target oncoming condition shown in the figure, for the case where the target's motion state is the target oncoming (i.e., oncoming driving state), taking the right front radar as an example, the target enters the oncoming state from other motion states. The determination process is as follows:

[0088] Step S21, it is determined that the target is in motion, not static. If the condition is satisfied, the process proceeds to step S22. If not, the process remains in the original state.

[0089] Step S22, calculate the target ground speed (V gx ,V gy ), the target motion posture is non-lateral, that is, |V gy |≤|V gx |, if satisfied, proceed to step S23, if not satisfied, maintain the original state;

[0090] Step S23: Determine whether the target is moving in the opposite direction to the host vehicle (i.e., the longitudinal speed relative to the ground is negative, V gx <0). Considering measurement errors, set the minimum threshold LimitVgxOncoming. Then the condition changes to V gx <LimitVgxOncoming. If satisfied, proceed to Step S24; otherwise, maintain the original state.

[0091] Step S24: Determine whether the target is in front of the host vehicle (i.e., P x >0). Considering measurement errors, set the minimum threshold LimitPxOncoming. Then the condition changes to P x >LimitPxOncoming. If satisfied, proceed to Step S25; otherwise, maintain the original state.

[0092] Step S25: To prevent misjudgment, after the above conditions are met, increment the counter cnt by 1. When the above conditions are met continuously for multiple times (e.g., cnt > 2), it can be determined that the target is in the oncoming state; otherwise, maintain the original state.

[0093] For the case where the set of motion states includes an overtaking state (i.e., the motion state where the detected target overtakes the current vehicle or the current vehicle overtakes the detected target), based on the ground speed of the detected target, the motion states in the set of motion states for which the corresponding state transition conditions are satisfied can include: when the absolute value of the lateral speed of the detected target relative to the ground is less than or equal to the absolute value of the longitudinal speed of the detected target relative to the ground, the longitudinal speed of the detected target relative to the ground is greater than or equal to the third speed threshold, the absolute value of the longitudinal speed of the detected target relative to the vehicle is greater than or equal to the fourth speed threshold, the absolute value of the lateral distance of the detected target relative to the vehicle is less than the second distance threshold, and the absolute value of the longitudinal distance of the detected target relative to the vehicle is less than the third distance threshold, it is determined that the state transition conditions corresponding to the overtaking state are satisfied.

[0094] Here, if the detected target is overtaking or being overtaken, it satisfies the following conditions: the target motion posture is non-lateral, that is, the absolute value of the detected target's lateral speed relative to the ground is less than or equal to the absolute value of the detected target's longitudinal speed relative to the ground; the target is in the same direction as the vehicle, that is, the longitudinal speed relative to the ground is positive. Taking into account the measurement error, the lowest threshold of the detected target's longitudinal speed relative to the ground can be set. The set lowest threshold is the third speed threshold, and the third speed threshold is greater than or equal to zero; the detected target is not stationary relative to the current vehicle, that is, the absolute value of the detected target's longitudinal speed relative to the vehicle is greater than or equal to zero, and the detected target's longitudinal speed relative to the vehicle is the speed of the detected target relative to the current vehicle in a direction parallel to the current vehicle. For the upward velocity component, taking into account the measurement error, a minimum threshold of the absolute value of the longitudinal velocity of the detection target relative to the vehicle can be set, and the set minimum threshold is the fourth velocity threshold, and the fourth velocity threshold is greater than or equal to zero; the detection target is within a threshold range near the current vehicle, that is, the absolute value of the lateral distance of the detection target to the vehicle is less than the second distance threshold, and the absolute value of the longitudinal distance of the detection target to the vehicle is less than the third distance threshold, the lateral distance of the detection target to the vehicle is the distance component of the detection target relative to the current vehicle in the direction perpendicular to the driving direction of the current vehicle, and the longitudinal distance of the detection target to the vehicle is the distance component of the detection target relative to the current vehicle in the direction parallel to the driving direction of the current vehicle. Correspondingly, when the absolute value of the lateral speed of the detected target relative to the ground is less than or equal to the absolute value of the longitudinal speed of the detected target relative to the ground, the longitudinal speed of the detected target relative to the ground is greater than or equal to the third speed threshold, the absolute value of the longitudinal speed of the detected target relative to the vehicle is greater than or equal to the fourth speed threshold, the absolute value of the lateral distance of the detected target relative to the vehicle is less than the second distance threshold, and the absolute value of the longitudinal distance of the detected target relative to the vehicle is less than the third distance threshold, it is determined that the state switching condition corresponding to the overtaking state is met.

[0095] For example, combined with Figure 7 The target overtaking or being overtaken conditions shown in the figure, for the case where the target's motion state is the target (being) overtaken, taking the right front radar as an example, the target enters (being) overtaken from other motion states. The judgment process is as follows:

[0096] Step S31, it is determined that the target is in motion, not static. If the condition is satisfied, the process proceeds to step S32. If not, the process remains in the original state.

[0097] Step S32, calculate the target ground speed (V gx ,V gy ), the target motion posture is non-lateral, that is, |V gy |≤|V gx |, if satisfied, proceed to step S33, if not satisfied, maintain the original state;

[0098] Step S33: determine that the target and the vehicle are in the same direction (i.e., the longitudinal speed relative to the ground is positive, Vgx > 0) is satisfied. Considering measurement errors, a minimum threshold LimitVgxOver is set, and the condition is changed to V gx > LimitVgxOver. If satisfied, proceed to step S34; if not, maintain the original state.

[0099] In step S34, it is determined whether the target is non - stationary relative to the host vehicle (i.e., |V x | > 0) is satisfied. Considering measurement errors, a minimum threshold LimitVxOver is set, and the condition is changed to |V x | > LimitVxOver. If satisfied, proceed to step S35; if not, maintain the original state.

[0100] In step S35, it is determined whether the target is within a threshold range near the host vehicle (i.e., |P x | < LimitPxOver, |P y | < LimitPyOver) is satisfied. If satisfied, proceed to step S36; if not, maintain the original state.

[0101] In step S36, to prevent misjudgment, after the above conditions are satisfied, the count cnt is incremented by 1. When the above conditions are satisfied continuously for multiple times (e.g., cnt > 2), it can be determined that the target is in an (over)taking state; if not, maintain the original state.

[0102] For the case where the set of motion states includes a same - direction driving state (i.e., a motion state in the same direction as the current vehicle), based on the ground speed of the detected target, the motion states in the set of motion states that satisfy the corresponding state - switching conditions can include: when the absolute value of the lateral ground speed of the detected target is less than or equal to the absolute value of the longitudinal ground speed of the detected target, the longitudinal ground speed of the detected target is greater than or equal to the fifth speed threshold, and at least one of the following is satisfied: the absolute value of the longitudinal vehicle - to - vehicle speed of the detected target is greater than or equal to the sixth speed threshold, the absolute value of the lateral vehicle - to - vehicle distance of the detected target is greater than or equal to the fourth distance threshold, and the absolute value of the longitudinal vehicle - to - vehicle distance of the detected target is greater than or equal to the fifth distance threshold.

[0103] Here, if the detected target is traveling in the same direction as the current vehicle, it satisfies the following conditions: the target motion posture is non-lateral, that is, the absolute value of the detected target's lateral speed relative to the ground is less than or equal to the absolute value of the detected target's longitudinal speed relative to the ground; the target is in the same direction as the vehicle, that is, the longitudinal speed relative to the ground is positive. Taking into account the measurement error, the minimum threshold of the detected target's longitudinal speed relative to the ground can be set. The set minimum threshold is the fifth speed threshold, and the fifth speed threshold is greater than or equal to zero; the detected target is not (being) overtaken, that is, the absolute value of the detected target's longitudinal speed relative to the vehicle is greater than or equal to the sixth speed threshold, and the absolute value of the detected target's lateral distance relative to the vehicle is greater than or equal to the sixth speed threshold. The value is greater than or equal to the fourth distance threshold, and the absolute value of the longitudinal distance of the detection target to the vehicle is greater than or equal to the fifth distance threshold, where the longitudinal speed of the detection target to the vehicle is the speed component of the detection target relative to the speed of the current vehicle in the driving direction parallel to the current vehicle, the lateral distance of the detection target to the vehicle is the distance component of the detection target relative to the current vehicle in the driving direction perpendicular to the current vehicle, the longitudinal distance of the detection target to the vehicle is the distance component of the detection target relative to the current vehicle in the driving direction parallel to the current vehicle, and the sixth speed threshold, the fourth distance threshold and the fifth distance threshold are all greater than or equal to zero. Correspondingly, when the absolute value of the lateral speed of the detection target to the ground is less than or equal to the absolute value of the longitudinal speed of the detection target to the ground, the longitudinal speed of the detection target to the ground is greater than or equal to the fifth speed threshold, and at least one of the following is satisfied, it is determined that the state switching condition corresponding to the same-direction driving state is satisfied: the absolute value of the longitudinal speed of the detection target to the vehicle is greater than or equal to the sixth speed threshold, the absolute value of the lateral distance of the detection target to the vehicle is greater than or equal to the fourth distance threshold, and the absolute value of the longitudinal distance of the detection target to the vehicle is greater than or equal to the fifth distance threshold.

[0104] For example, combined with Figure 8 The target moving in the same direction condition shown in the figure, for the case where the target's motion state is the target moving in the same direction (i.e., the same-direction driving state), taking the right front radar as an example, the target moving in the same direction from other motion states determines the process as follows:

[0105] Step S41, it is determined that the target is in motion, not static. If the condition is satisfied, the process proceeds to step S42. If not, the process remains in the original state.

[0106] Step S42, calculate the target ground speed (V gx ,V gy ), the target motion posture is non-lateral, that is, |V gy |≤|V gx |, if satisfied, proceed to step S43, if not satisfied, maintain the original state;

[0107] Step S43: determine that the target and the vehicle are in the same direction (i.e., the longitudinal speed relative to the ground is positive, V gx>0) is satisfied, taking into account the measurement error, set the minimum threshold LimitVgxOver, then the condition changes to V gx >LimitVgxOver, if satisfied, go to step S44, if not satisfied, keep the original state;

[0108] Step S44, determine whether the target is not (or is) overtaken (ie, |V x |≤LimitVxOver|, or, |P x |≥LimitPxOver, or, |P y |≥LimitPyOver) is satisfied, if satisfied, proceed to step S45, if not satisfied, maintain the original state;

[0109] Step S45, in order to prevent misjudgment, after the above conditions are met, count cnt+1. When the above conditions are met for multiple consecutive times (for example, cnt>2), it can be determined that the target is moving in the same direction. If not, the original state is maintained.

[0110] Through this embodiment, different switching conditions are set for targets crossing, oncoming, (being) overtaken, and traveling in the same direction based on the target's ground speed, the relative speed of the target and the vehicle, the relative distance between the target and the vehicle, etc., which can improve the accuracy of motion state switching and adapt to a variety of motion state scenarios.

[0111] In an exemplary embodiment, after the target state of the detected target is switched from the pending motion state to the target motion state, the above method includes: judging whether a target state exit condition corresponding to the target motion state is satisfied based on the ground speed of the detected target; when the target state exit condition is satisfied and the number of times the target state exit condition is continuously satisfied reaches a second number threshold, switching the target state of the detected target from the target motion state to the pending motion state.

[0112] In this embodiment, for each motion state in the motion state set, a state exit condition corresponding to it can be set respectively, and the state exit condition corresponding to each motion state is limited based on at least the ground speed of the detection target, and can also be limited based on at least one of the following: the relative speed of the detection target and the current vehicle, the relative position of the detection target and the current vehicle, wherein the state exit conditions corresponding to different motion states are at least partially different. Correspondingly, it can be determined whether the target state exit condition corresponding to the target motion state is satisfied based on the ground speed of the detection target; if the target state exit condition is satisfied, the target state of the detection target is switched from the target motion state to the pending motion state.

[0113] Optionally, in order to prevent misjudgment, a threshold value of the number of times the state exit condition corresponding to the motion state is continuously satisfied can be set, that is, a second count threshold. If the state exit condition corresponding to the current motion state is satisfied, the count is increased by 1, and when the count reaches the second count threshold, the motion state is switched. Determining whether the state exit condition corresponding to the current motion state is satisfied can be performed periodically, and different motion states can correspond to different counters. Correspondingly, when the target state exit condition is satisfied and the number of times the target state exit condition is continuously satisfied reaches the second count threshold, the target state of the detected target is switched from the target motion state to the pending motion state.

[0114] Here, the second count threshold can be set based on experience, and the second count threshold can be 2, 3, 4 or other values, which is not limited in this embodiment. When the first count threshold and the second count threshold are the same value, the counter used to determine whether the switching condition corresponding to a certain motion state is satisfied and the counter used to determine whether the state exit condition corresponding to a certain motion state is satisfied can be the same counter. Correspondingly, after the state exit condition corresponding to the current motion state is satisfied, the count value of the counter can be reduced by 1. When the count value of the counter is zero, it can be determined that the number of times the state exit condition corresponding to the current motion state is continuously satisfied reaches the second count threshold.

[0115] Through this embodiment, whether to exit the current motion state is determined by matching the ground speed of the detected target with the state exit condition corresponding to the current motion state, and the motion state is switched only when the state exit condition corresponding to the current motion state is continuously met for a number of times reaching a set threshold number, thereby improving the accuracy of motion state switching and avoiding erroneous switching of motion states.

[0116] In an exemplary embodiment, the ground speed of the detected target includes the lateral speed of the detected target and the longitudinal speed of the detected target. The method for determining the ground speed of the detected target may be the same as or similar to that in the aforementioned embodiment and will not be described in detail herein.

[0117] Correspondingly, for the case where the target motion state is a crossing state (i.e., a motion state crossing the road where the current vehicle is located), based on the speed of the detected target relative to the ground, it is determined whether the target state exit condition corresponding to the target motion state is met, including: when the absolute value of the lateral speed of the detected target relative to the ground is greater than the absolute value of the longitudinal speed of the detected target relative to the ground, or the absolute value of the lateral speed of the detected target relative to the ground is less than the seventh speed threshold, it is determined that the target state exit condition is met.

[0118] Here, if the detected target exits the traversing state, it satisfies at least one of the following conditions: the target motion posture is non-lateral, that is, the absolute value of the lateral speed of the detected target to the ground is less than or equal to the absolute value of the longitudinal speed to the ground; the lateral speed of the detected target to the ground is less than the minimum threshold, the minimum threshold is the seventh speed threshold, and the seventh speed threshold is greater than or equal to zero. Correspondingly, when the absolute value of the lateral speed of the detected target to the ground is greater than the absolute value of the longitudinal speed of the detected target to the ground, or the absolute value of the lateral speed of the detected target to the ground is less than the seventh speed threshold, it is determined that the target state exit condition is met.

[0119] For example, combined with Fig. 9 The flow chart of the target switching between the crossing state and other states shown in FIG. 1 is taken as an example by the right front radar. When the target is in the crossing state, the determination process of exiting the crossing state is as follows, wherein, Fig. 9 In the above embodiment, the process of calculating the target ground speed and judging the target switching from other states to the crossing state is similar to that in the above embodiment:

[0120] Step S51, determine whether the target is in a traversing state, if yes, proceed to step S52, if not, maintain the original state;

[0121] Step S52, calculate the target ground speed (V gx ,V gy ), the target motion posture is judged to be non-lateral (i.e., |V gy |≤|V gx |) is satisfied, if satisfied, then cnt-1, go to step S54, if not satisfied, go to step S53;

[0122] Step S53: determine whether the target lateral speed relative to the ground is less than the minimum threshold LimitVgyAcroos (i.e., |V gy |≤LimitVgyAcroos) is satisfied, if satisfied, then cnt-1, proceed to step S54, if not satisfied, then maintain the original state;

[0123] Step S54, to prevent misjudgment, when cnt is equal to 0, it can be determined that the target exits the traversing state and enters other motion states, otherwise it remains in the original state.

[0124] For the case where the target motion state is an oncoming driving state (i.e., a motion state facing the current vehicle), based on the speed of the detected target relative to the ground, it is determined whether the target state exit condition corresponding to the target motion state is met, including: when the absolute value of the lateral speed of the detected target relative to the ground is greater than the absolute value of the longitudinal speed of the detected target relative to the ground, or the longitudinal speed of the detected target relative to the ground is greater than or equal to the eighth speed threshold, or the longitudinal distance of the detected target to the vehicle is less than or equal to the sixth distance threshold, it is determined that the target state exit condition is met.

[0125] Here, if the detected target exits the oncoming driving state, it satisfies at least one of the following conditions: the target motion posture is non-longitudinal, that is, the absolute value of the lateral speed of the detected target to the ground is greater than the absolute value of the longitudinal speed of the detected target to the ground; the detected target is in the same direction as the current vehicle, that is, the longitudinal speed of the detected target to the ground is greater than or equal to the eighth speed threshold, and the eighth speed threshold is greater than or equal to zero; the detected target is not located in front of the current vehicle, that is, the longitudinal distance of the detected target to the vehicle is less than or equal to the sixth distance threshold, and the longitudinal distance of the detected target to the vehicle is the distance component of the detected target relative to the current vehicle in the driving direction parallel to the current vehicle (the driving direction is the positive direction), and the sixth distance threshold is less than or equal to zero. Correspondingly, when the absolute value of the lateral speed of the detected target to the ground is greater than the absolute value of the longitudinal speed of the detected target to the ground, or the longitudinal speed of the detected target to the ground is greater than or equal to the eighth speed threshold, or the longitudinal distance of the detected target to the vehicle is less than or equal to the sixth distance threshold, it is determined that the target state exit condition is met.

[0126] For example, combined with Fig.10 The flow chart of the target switching between the oncoming driving state and other states is shown in FIG. Taking the right front radar as an example, when the target is already in the oncoming driving state, the determination process of exiting the oncoming driving state is as follows, wherein, Fig.10 In the above embodiment, the process of calculating the target ground speed and judging the target switching from other states to the oncoming driving state is similar to that in the above embodiment:

[0127] Step S61, determining whether the target is an oncoming driving state, if it is satisfied, proceeding to step S62, if not, maintaining the original state;

[0128] Step S62, calculate the target ground speed (V gx ,V gy ), the target motion posture is judged to be non-vertical (i.e., |V gy |>|V gx |) is satisfied, if yes, then cnt-1, go to step S65, if not, go to step S63;

[0129] Step S63: Determine that the target and the vehicle are in the same direction (i.e., the longitudinal speed relative to the ground is non-negative, V gx ≥LimitVgxOncoming) is satisfied, if yes, then cnt-1 and go to step S65, if not, then go to step S64;

[0130] Step S64: determine that the target is not in front of the vehicle (i.e., P x ≤LimitPxOncoming) is satisfied, if yes, then cnt-1, go to step S65, if not, keep the original state;

[0131] Step S65, in order to prevent misjudgment, when cnt is equal to 0, it can be determined that the target exits the oncoming driving state and enters other moving states, otherwise it still maintains the original state.

[0132] For the case where the target motion state is an overtaking state (i.e., a motion state in which the current vehicle is traveling toward the current vehicle relative to the state of overtaking or being overtaken by the current vehicle), based on the speed of the detected target relative to the ground, it is determined whether the target state exit condition corresponding to the target motion state is met, including: when the absolute value of the lateral speed of the detected target relative to the ground is greater than the absolute value of the longitudinal speed of the detected target relative to the ground, or the longitudinal speed of the detected target relative to the ground is less than or equal to the ninth speed threshold, or the absolute value of the longitudinal speed of the detected target relative to the vehicle is less than or equal to the tenth speed threshold, or the absolute value of the lateral distance of the detected target relative to the vehicle is greater than or equal to the sixth distance threshold and the absolute value of the longitudinal distance of the detected target relative to the vehicle is greater than or equal to the seventh distance threshold, it is determined that the target state exit condition is met.

[0133] Here, if the detected target exits the overtaking state, it satisfies at least one of the following conditions: the target motion posture is non-longitudinal, that is, the absolute value of the lateral speed of the detected target relative to the ground is greater than the absolute value of the longitudinal speed of the detected target relative to the ground; the detected target is in the opposite direction of the current vehicle, and the longitudinal speed of the detected target relative to the ground is less than or equal to the ninth speed threshold, and the ninth speed threshold is less than or equal to zero; the detected target is stationary relative to the current vehicle, that is, the absolute value of the longitudinal speed of the detected target relative to the vehicle is less than or equal to the tenth speed threshold, and the longitudinal speed of the detected target relative to the vehicle is the speed of the detected target relative to the current vehicle in the direction parallel to the driving direction of the current vehicle. The tenth speed threshold is greater than or equal to zero; the detected target is not within a threshold range near the current vehicle, that is, the absolute value of the lateral distance of the detected target to the vehicle is greater than or equal to the sixth distance threshold, and the absolute value of the longitudinal distance of the detected target to the vehicle is greater than or equal to the seventh distance threshold, the lateral distance of the detected target to the vehicle is the distance component of the distance of the detected target relative to the current vehicle in the direction perpendicular to the driving direction of the current vehicle, the longitudinal distance of the detected target to the vehicle is the distance component of the distance of the detected target relative to the current vehicle in the direction parallel to the driving direction of the current vehicle, and the sixth distance threshold and the seventh distance threshold are both greater than or equal to zero. Correspondingly, when the absolute value of the lateral speed of the detected target to the ground is greater than the absolute value of the longitudinal speed of the detected target to the ground, or the longitudinal speed of the detected target to the ground is less than or equal to the ninth speed threshold, or the absolute value of the longitudinal speed of the detected target to the vehicle is less than or equal to the tenth speed threshold, or the absolute value of the lateral distance of the detected target to the vehicle is greater than or equal to the sixth distance threshold, and the absolute value of the longitudinal distance of the detected target to the vehicle is greater than or equal to the seventh distance threshold, it is determined that the target state exit condition is met.

[0134] For example, combined with Fig.11 The flow chart of the target switching between the (being) overtaken state and other states shown in FIG. 1 is taken as an example by the right front radar. When the target is in the (being) overtaken state, the determination process of exiting the (being) overtaken state is as follows, wherein, Fig.11 In the above embodiment, the process of calculating the target ground speed and judging the target switching from other states to the (being) overtaken state is similar to that in the above embodiment:

[0135] Step S71, determining whether the target is in the (being) overtaken state, if it is satisfied, proceeding to step S72, if not, maintaining the original state;

[0136] Step S72, calculate the target ground speed (V gx ,V gy ), the target motion posture is judged to be non-vertical (i.e., |V gy |>|V gx |) is satisfied, if satisfied, then cnt-1, go to step S76, if not satisfied, go to step S73;

[0137] Step S73: determine that the target is in the opposite direction to the vehicle (i.e., the longitudinal speed relative to the ground is negative, V x ≤LimitVgxOver) is satisfied, if yes, then cnt-1 and go to step S76, if not, then go to step S74;

[0138] Step S74: determine whether the target is stationary relative to the vehicle (ie, |V x |≤LimitVxOver) is satisfied, if satisfied, then cnt-1, proceed to step S76, if not satisfied, proceed to step S75;

[0139] Step S75: determine that the target is not within a threshold range near the vehicle (i.e., |P x |≥LimitPxOver, or, |P y |≥LimitPyOver) is satisfied, if satisfied, then cnt-1, go to step S76, if not satisfied, keep the original state;

[0140] Step S76, in order to prevent misjudgment, when cnt is equal to 0, it can be determined that the target exits the (being) overtaken state and enters other motion states, otherwise it still maintains the original state.

[0141] For the case where the target motion state is a same-direction driving state (i.e., a motion state driving in the same direction as the current vehicle), based on the speed of the detected target relative to the ground, it is determined whether the target state exit condition corresponding to the target motion state is met, including: when the absolute value of the lateral speed of the detected target relative to the ground is greater than the absolute value of the longitudinal speed of the detected target relative to the ground, or the longitudinal speed of the detected target relative to the ground is less than or equal to the eleventh speed threshold, or the absolute value of the longitudinal speed of the detected target relative to the vehicle is greater than or equal to the twelfth speed threshold, the absolute value of the lateral distance of the detected target relative to the vehicle is less than the eighth distance threshold, and the absolute value of the longitudinal distance of the detected target relative to the vehicle is less than the ninth distance threshold, it is determined that the target state exit condition is met.

[0142] Here, if the detected target exits the same-direction driving state, it satisfies at least one of the following conditions: the target motion posture is non-longitudinal, that is, the absolute value of the lateral speed of the detected target relative to the ground is greater than the absolute value of the longitudinal speed of the detected target relative to the ground; the detected target is in the opposite direction of the current vehicle, that is, the longitudinal speed of the detected target relative to the ground is less than or equal to the eleventh speed threshold, and the eleventh speed threshold is less than or equal to zero; the detected target is being overtaken by the current vehicle or the detected target is overtaking the current vehicle, that is, the absolute value of the longitudinal speed of the detected target relative to the vehicle is greater than or equal to the twelfth speed threshold, the absolute value of the lateral distance of the detected target relative to the vehicle is greater than or equal to the twelfth speed threshold, The value is less than the eighth distance threshold, and the absolute value of the longitudinal distance of the detection target to the vehicle is less than the ninth distance threshold, the longitudinal speed of the detection target to the vehicle is the speed component of the detection target relative to the speed of the current vehicle in the driving direction parallel to the current vehicle, the lateral distance of the detection target to the vehicle is the distance component of the detection target relative to the current vehicle in the driving direction perpendicular to the current vehicle, the longitudinal distance of the detection target to the vehicle is the distance component of the detection target relative to the current vehicle in the driving direction parallel to the current vehicle, and the twelfth speed threshold, the eighth distance threshold and the ninth distance threshold are all greater than or equal to zero. Correspondingly, when the absolute value of the lateral speed of the detection target to the ground is greater than the absolute value of the longitudinal speed of the detection target to the ground, or the longitudinal speed of the detection target to the ground is less than or equal to the eleventh speed threshold, or the absolute value of the longitudinal speed of the detection target to the vehicle is greater than or equal to the twelfth speed threshold, the absolute value of the lateral distance of the detection target to the vehicle is less than the eighth distance threshold, and the absolute value of the longitudinal distance of the detection target to the vehicle is less than the ninth distance threshold, it is determined that the target state exit condition is met.

[0143] For example, combined with Fig.12 The flow chart of the target switching between the same-direction driving state and other states shown in FIG. 1 is taken as an example of the right front radar. When the target is already in the same-direction driving state (i.e., the target is traveling in the same direction), the determination process of exiting the same-direction driving state is as follows, wherein, Fig.12Among them, the process of calculating the target's ground speed and determining whether the target switches from other states to the same-direction driving state is similar to that in the foregoing embodiments:

[0144] Step S81, determine whether the target is in the same-direction driving state. If it is satisfied, go to step S82; if not, maintain the original state.

[0145] Step S82, calculate the target's ground speed (V gx , V gy ), and determine whether the target's motion attitude is non-longitudinal (i.e., |V gy | > |V gx |). If it is satisfied, cnt - 1, and go to step S85; if not, go to step S83.

[0146] Step S83, determine whether the target is moving in the opposite direction to the vehicle (i.e., the ground longitudinal speed is negative, V x ≤LimitVgxOver). If it is satisfied, cnt - 1, and go to step S85; if not, go to step S84.

[0147] Step S84, determine whether the target is being overtaken (i.e., |V x | > LimitVxOver|, |P x | < LimitPxOver, |P y | < LimitPyOver). If it is satisfied, cnt - 1, and go to step S85; if not, maintain the original state.

[0148] Step S85, to prevent misjudgment, when cnt is equal to 0, it can be determined that the target exits the same-direction driving state and enters other motion states; otherwise, still maintain the original state.

[0149] It should be noted that during the process of determining that the target enters a certain motion state, cnt will increase to a certain value (for example, 2); while during the process of determining that the target exits this motion state, cnt decreases from the increased value to 0, thereby determining that the target exits this motion state.

[0150] Through this embodiment, different exit conditions are set for the target to cross, come head-on, be overtaken, and travel in the same direction based on the target's ground speed, the relative speed between the target and the vehicle, the relative distance between the target and the vehicle, etc., which can improve the accuracy of motion state switching and adapt to rich motion state scenarios.

[0151] In an exemplary embodiment, in order to accurately determine the motion state of a target when only a millimeter-wave radar is used without the aid of sensor recognition capabilities such as cameras, a method for determining the motion state of a millimeter-wave radar target is provided in this embodiment, which is used for determining the specific motion state of a target detected by the millimeter-wave radar and for changing and switching, thereby improving the diversity of motion recognition functions and the accuracy of early warning functions. Here, the method for determining the target motion state of this embodiment can be used not only for millimeter-wave radars, but also for other types of radars such as laser radars and ultrasonic radars.

[0152] In the aforementioned embodiment, multiple speed thresholds and coordinate thresholds are designed according to actual engineering needs. In practice, each threshold can be dynamically adjusted according to different radar detection rules and detection quality to better optimize the determination process and improve the accuracy of target state determination switching.

[0153] Correspondingly, the above method also includes: based on the target state of the detection target, displaying the detection target in the navigation map displayed on the terminal device corresponding to the current vehicle, and broadcasting target prompt information through the terminal device, wherein the target prompt information is used to prompt at least one of the following: the target state of the detection target, and a safety warning matching the detection target.

[0154] In order to improve the safety of vehicle driving, relevant information can be provided to the driver through the terminal device corresponding to the current vehicle based on the target state of the detection target. Among them, the above-mentioned terminal device may include but is not limited to at least one of the following: a vehicle-mounted terminal, a portable terminal (for example, a mobile phone), etc., and may also include other devices that can provide information to the driver. In this embodiment, after the target state of the detection target is obtained, the detection target can be displayed in a navigation map displayed on the terminal device corresponding to the current vehicle; optionally, the target state of the detection target can be marked on the detection target displayed in the navigation map, so that the driver can adjust the driving strategy in time. In addition, after the target state of the detection target is obtained, the terminal device with a broadcast function can broadcast the target prompt information to the driver, and the target prompt information may include the target state of the detection target, a safety warning matching the detection target, etc.

[0155] Optionally, in order to avoid the influence of excessive voice broadcasts on the driver's driving judgment and facilitate the driver to respond in time to avoid collision risks, target prompt information can be broadcast through the terminal device when the target state of the detection target is obtained and the risk of collision with the detection target is detected. The target prompt information is used to prompt the target state of the detection target and the safety warning matching the detection target. In addition, based on the target state of the detection target, the target prompt information can be broadcast through the terminal device corresponding to the current vehicle, and displaying the detection target in the navigation map is an optional operation to adapt to different types of terminal devices (for example, terminal devices without display function), different usage requirements (for example, the driver only wants to broadcast prompt information), etc.

[0156] Through this embodiment, by combining the method of detecting the movement and stillness of the target with the millimeter-wave radar, based on the target state of the detected target, information is provided to the driver through the current vehicle terminal device, thereby improving the safety of vehicle driving.

[0157] The following is an explanation of the method for processing the target motion state in the embodiment of the present application in conjunction with an optional example. In this optional example, the detection device is a radar, such as a millimeter wave radar, a laser radar, an ultrasonic radar, and the like.

[0158] This optional example provides a solution for determining the motion state of a millimeter-wave radar target. In the target motion state determination and start-up process, multiple speed thresholds and coordinate thresholds are designed according to actual engineering needs. In practice, each threshold can be dynamically adjusted according to different radar detection rules and detection quality to better optimize the determination process and improve the accuracy of target state determination switching. Considering the vehicle (i.e., the current vehicle) turning left, turning right, different radar coordinate systems and different target positions, a wide range of target motion and static detection models are established. The process conversion is as follows: Fig.13 As shown, the process of the method includes steps S1302 to S1314.

[0159] Step S1302, obtaining the vehicle's motion speed V0, yaw angular velocity ψ, target motion state, and target coordinates (P x ,P y ), target relative speed (V x ,V y ), calculate the radar speed (V rx ,V ry ), and obtain the target ground speed (V gx ,V gy ), according to the target motion state, enter step S1304, step S1306, step S1308, step S1310, step S1312 or step S1314 respectively, wherein the method of calculating the target ground speed can be similar to that in the aforementioned embodiment.

[0160] Step S1304, if the target is in a stationary state, enter the static-dynamic distinction algorithm process to determine whether the switching condition of the motion state is met. If it is met, switch to the motion state and initialize to other motion states. If not, keep the stationary state.

[0161] Step S1306, if the target movement is in a crossing state, enter the process of switching from the crossing state to other movement states, and determine whether the switching conditions of other movement states are met. If they are met, switch; if the switching conditions are not met, maintain the crossing state. The method of determining whether the target exits the crossing state can be similar to that in the aforementioned embodiment.

[0162] Step S1308, if the target motion is in the oncoming driving state, enter the process of switching from the oncoming driving state to other motion states, and determine whether the switching conditions of other motion states are met. If they are met, switch; if the switching conditions are not met, maintain the oncoming driving state. The method of determining whether the target exits the oncoming driving state can be similar to that in the aforementioned embodiment.

[0163] Step S1310, if the target movement is in the (being) overtaken state, enter the (being) overtaken state switching process to other movement states, and determine whether the switching conditions of other movement states are met. If they are met, switch; if the switching conditions are not met, maintain the (being) overtaken state. Among them, the method of judging whether the target exits the (being) overtaken state can be similar to that in the aforementioned embodiment.

[0164] Step S1312, if the target movement is in the same-direction driving state, enter the same-direction driving switching to other movement state process, and determine whether the switching conditions of other movement states are met. If they are met, switch; if the switching conditions are not met, maintain the (being) overtaken state. Among them, the method of judging whether the target exits the same-direction driving can be similar to that in the aforementioned embodiment.

[0165] Step S1314, if the target motion is other motion states, enter the process of switching the other motion states to the crossing / oncoming driving / (being overtaken) / driving in the same direction, and judge whether the switching conditions of the crossing / oncoming driving / (being overtaken) / driving in the same direction are met. If they are met, switch; if the switching conditions are not met, maintain other motion states. Among them, the method of judging whether the target switches from other motion states to the crossing / oncoming driving / (being overtaken) / driving in the same direction can be similar to that in the aforementioned embodiment.

[0166] Through the above process, each motion state can achieve a switching closed loop as it changes over time, thereby achieving the purpose of accurately determining the motion state of the radar target.

[0167] Through this optional example, the actual situation of vehicle movement and multiple coordinate systems of the radar are fully considered, and a wide range of radar target motion state judgment and switching models are established. Accurate judgments are made on the crossing, oncoming, overtaking, traveling in the same direction and other motion states of the target track, and the closed loop of state switching is completed. Various motion states can be accurately judged to improve the driving safety of the vehicle.

[0168] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application can be essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a terminal device to execute the method described in each embodiment of the present application, and the above storage medium can be ROM (Read-Only Memory, Read-Only Memory) / RAM (Random Access Memory, Random Access Memory), a disk or an optical disk, etc., and the above terminal device can be a mobile phone, a computer, a server or a network device, etc.

[0169] According to another aspect of the embodiment of the present application, a processing device for a target motion state is also provided, and the device is used to implement the processing method for the target motion state provided in the above-mentioned embodiment, and the description thereof has been made no further details. As used below, the term "module" can implement a combination of software and / or hardware of a predetermined function. Although the device described in the following embodiments is preferably implemented with software, the implementation of hardware, or a combination of software and hardware is also possible and contemplated.

[0170] Fig.14 is a structural block diagram of an optional target motion state processing device according to an embodiment of the present application, such as Fig.14 As shown in , the device includes: a determining unit 1402 , a first judging unit 1404 , a first switching unit 1406 and a second switching unit 1408 .

[0171] The determination unit 1402 is used to determine the ground speed of the detection target detected by the detection device based on the motion parameters of the detection device on the current vehicle during the operation of the current vehicle. The determination unit 1402 can be used to execute step S202.

[0172] The first judgment unit 1404 is used to continuously detect the ground speed of the detection target when the detection target is in a stationary state, and judge whether a first switching condition is satisfied, wherein the first switching condition is a switching condition for the current vehicle to switch from a stationary state to a moving state. The first judgment unit 1404 can be used to execute step S204.

[0173] The first switching unit 1406 is used to switch the target state of the detection target to a pending motion state when the first switching condition is satisfied, wherein the pending motion state is a state in which the motion state of the current vehicle is to be determined. The first switching unit 1406 can be used to execute step S206.

[0174] The second switching unit 1408 is used to switch the target state of the detected target from the pending motion state to a motion state in a preset motion state set based on the ground speed of the detected target, wherein the motion states in the motion state set are all non-stationary states. The second switching unit 1408 can be used to execute step S208.

[0175] Through the embodiments provided by the present application, during the operation of the current vehicle, the ground speed of the detection target detected by the detection device is determined based on the motion parameters of the detection device on the current vehicle; when the detection target is in a stationary state, the ground speed of the detection target is continuously detected to determine whether the first switching condition is met, wherein the first switching condition is a switching condition for switching the detection target from a stationary state to a moving state; when the first switching condition is met, the target state of the detection target is switched to a pending moving state, wherein the pending moving state is a state in which the current vehicle is to be determined; based on the ground speed of the detection target, the target state of the detection target is switched from the pending moving state to a moving state in a preset moving state set, wherein the moving states in the moving state set are all non-stationary states, thereby solving the technical problem in the related technical problem that the target detection method has low safety of vehicle operation due to the extended time between detecting the target and driving prediction, thereby achieving the technical effect of improving the safety of vehicle driving.

[0176] In an exemplary embodiment, the second switching unit includes: a first determination module, used to determine, based on the ground speed of the detection target, a motion state in the motion state set that satisfies the corresponding state switching condition; a switching module, used to switch the target state of the detection target from a pending motion state to a target motion state when the target state switching condition corresponding to the target motion state in the motion state set is met and the number of times the target state switching condition is continuously met reaches a first number threshold.

[0177] In an exemplary embodiment, the speed of the detected target over the ground includes the lateral speed of the detected target over the ground and the longitudinal speed of the detected target over the ground; the first determination module includes at least one of the following: a first determination subunit, which is used to determine that the state switching condition corresponding to the crossing state is satisfied when the absolute value of the lateral speed of the detected target over the ground is greater than the absolute value of the longitudinal speed of the detected target over the ground, and the absolute value of the lateral speed of the detected target over the ground is greater than or equal to a first speed threshold when the motion state set includes a crossing state, wherein the crossing state is a motion state that crosses the road where the current vehicle is located; a second determination subunit, which is used to determine that the state switching condition corresponding to the oncoming driving state is satisfied when the absolute value of the lateral speed of the detected target over the ground is less than or equal to the absolute value of the longitudinal speed of the detected target over the ground, the longitudinal speed of the detected target over the ground is less than or equal to a second speed threshold, and the longitudinal distance between the detected target and the current vehicle is greater than or equal to a first distance threshold when the motion state set includes an oncoming driving state, wherein the oncoming driving state is a motion state that drives towards the current vehicle, the first distance threshold is greater than or equal to zero, and the longitudinal distance between the detected target and the current vehicle is the distance between the detected target and the current vehicle parallel to the road. the distance in the driving direction of the current vehicle, the second speed threshold is less than or equal to zero; the third determining subunit is used to determine the overtaking state when the absolute value of the lateral speed of the detected target to the ground is less than or equal to the absolute value of the longitudinal speed of the detected target to the ground, the longitudinal speed of the detected target to the ground is greater than or equal to the third speed threshold, the absolute value of the longitudinal speed of the detected target to the vehicle is greater than or equal to the fourth speed threshold, the absolute value of the lateral distance of the detected target to the vehicle is less than the second distance threshold, and the absolute value of the longitudinal distance of the detected target to the vehicle is less than the third distance threshold, when the motion state set includes the overtaking state. the corresponding state switching conditions are met, wherein the overtaking state is a motion state in which the detection target is overtaking the current vehicle or the current vehicle is overtaking the detection target, the detection target's longitudinal speed relative to the vehicle is a speed component of the detection target relative to the current vehicle in a driving direction parallel to the current vehicle, the detection target's lateral distance relative to the vehicle is a distance component of the detection target relative to the current vehicle in a driving direction perpendicular to the current vehicle, the detection target's longitudinal distance relative to the vehicle is a distance component of the detection target relative to the current vehicle in a driving direction parallel to the current vehicle, and the third speed threshold is greater than or equal to zero;The fourth determination subunit is used to determine that the state switching condition corresponding to the same-direction driving state is satisfied when the absolute value of the lateral speed of the detection target to the ground is less than or equal to the absolute value of the longitudinal speed of the detection target to the ground, the longitudinal speed of the detection target to the ground is greater than or equal to the fifth speed threshold, and at least one of the following is satisfied: the absolute value of the longitudinal speed of the detection target to the vehicle is greater than or equal to the sixth speed threshold, the absolute value of the lateral distance of the detection target to the vehicle is greater than or equal to the fourth distance threshold, and the absolute value of the longitudinal distance of the detection target to the vehicle is greater than or equal to the fifth distance threshold, wherein the same-direction driving state is a state of driving in the same direction as the current vehicle, the longitudinal speed of the detection target to the vehicle is the speed component of the speed of the detection target relative to the current vehicle in the driving direction parallel to the current vehicle, the lateral distance of the detection target to the vehicle is the distance component of the distance of the detection target relative to the current vehicle in the driving direction perpendicular to the current vehicle, the longitudinal distance of the detection target to the vehicle is the distance component of the distance of the detection target relative to the current vehicle in the driving direction parallel to the current vehicle, and the fifth speed threshold is greater than or equal to zero. ;

[0178] In an exemplary embodiment, the above-mentioned device includes: a second judgment unit, which is used to judge whether the target state exit condition corresponding to the target motion state is met based on the ground speed of the detected target after the target state of the detected target is switched from the pending motion state to the target motion state; and a third switching unit, which is used to switch the target state of the detected target from the target motion state to the pending motion state when the target state exit condition is met and the number of times the target state exit condition is continuously met reaches a second number threshold.

[0179] In an exemplary embodiment, the speed of the detected target relative to the ground includes the lateral speed of the detected target relative to the ground and the longitudinal speed of the detected target relative to the ground; the second judgment unit includes at least one of the following: a second determination module, which is used to determine that the target state exit condition is satisfied when the absolute value of the lateral speed of the detected target relative to the ground is greater than the absolute value of the longitudinal speed of the detected target relative to the ground, or the absolute value of the lateral speed of the detected target relative to the ground is less than the seventh speed threshold when the target motion state is a crossing state, wherein the crossing state is a motion state that crosses the road where the current vehicle is located; a third determination module, which is used to determine that the target state exit condition is satisfied when the absolute value of the lateral speed of the detected target relative to the ground is greater than the absolute value of the longitudinal speed of the detected target relative to the ground, or the longitudinal speed of the detected target relative to the ground is greater than or equal to the eighth speed threshold, or the longitudinal distance of the detected target relative to the vehicle is less than or equal to the sixth distance threshold when the target motion state is an oncoming driving state, wherein the oncoming driving state is a motion state that drives towards the current vehicle, the longitudinal distance of the detected target relative to the vehicle is the distance component of the distance of the detected target relative to the current vehicle in the driving direction parallel to the current vehicle, and the eighth speed threshold is greater than or equal to zero, and the sixth distance threshold is less than or equal to zero; a fourth determination module, for determining that the target state exit condition is satisfied when the absolute value of the lateral speed of the detected target to the ground is greater than the absolute value of the longitudinal speed of the detected target to the ground, or the longitudinal speed of the detected target to the ground is less than or equal to the ninth speed threshold, or the absolute value of the longitudinal speed of the detected target to the vehicle is less than or equal to the tenth speed threshold, or the absolute value of the lateral distance of the detected target to the vehicle is greater than or equal to the seventh distance threshold, and the absolute value of the longitudinal distance of the detected target to the vehicle is greater than or equal to the eighth distance threshold, when the target motion state is an overtaking state. The overtaking state is a state of overtaking or being overtaken by the current vehicle, the longitudinal speed of the detected target to the vehicle is a speed component of the speed of the detected target relative to the current vehicle in a driving direction parallel to the current vehicle, the lateral distance of the detected target to the vehicle is a distance component of the distance of the detected target relative to the current vehicle in a direction perpendicular to the current vehicle, the longitudinal distance of the detected target to the vehicle is a distance component of the distance of the detected target relative to the current vehicle in a direction parallel to the current vehicle, and the ninth speed threshold is less than or equal to zero;A fifth determination module is used to determine that the target state exit condition is satisfied when the absolute value of the lateral speed of the detected target to the ground is greater than the absolute value of the longitudinal speed of the detected target to the ground, or the longitudinal speed of the detected target to the ground is less than or equal to the eleventh speed threshold, or the absolute value of the longitudinal speed of the detected target to the vehicle is greater than or equal to the twelfth speed threshold, the absolute value of the lateral distance of the detected target to the vehicle is less than the ninth distance threshold, and the absolute value of the longitudinal distance of the detected target to the vehicle is less than the tenth distance threshold, wherein the same-direction driving state is a state of driving in the same direction as the current vehicle, the longitudinal speed of the detected target to the vehicle is the speed component of the speed of the detected target relative to the current vehicle in the driving direction parallel to the current vehicle, the lateral distance of the detected target to the vehicle is the distance component of the distance of the detected target relative to the current vehicle in the driving direction perpendicular to the current vehicle, the longitudinal distance of the detected target to the vehicle is the distance component of the distance of the detected target relative to the current vehicle in the driving direction parallel to the current vehicle, and the eleventh speed threshold is less than or equal to zero. ;

[0180] In an exemplary embodiment, the determination unit includes: a sixth determination module, used to determine the motion parameters of the detection device based on the operating parameters of the current vehicle and the relative position of the detection device and the current vehicle, wherein the operating parameters of the current vehicle include the speed of the current vehicle and the angular velocity of the current vehicle, and the motion parameters of the detection device include the speed of the detection device and the motion angle of the detection device; a decomposition module, used to decompose the speed of the detection device and the motion angle of the detection device to obtain the lateral speed of the detection device relative to the ground and the longitudinal speed of the detection device relative to the ground; a seventh determination module, used to determine the lateral speed of the detection target relative to the ground based on the lateral speed of the detection device relative to the ground and the lateral speed of the detection target relative to the detection device, and to determine the longitudinal speed of the detection target relative to the ground based on the longitudinal speed of the detection device relative to the ground and the longitudinal speed of the detection target relative to the detection device, wherein the speed of the detection target relative to the ground includes the lateral speed of the detection target relative to the ground and the longitudinal speed of the detection target relative to the detection device.

[0181] In an exemplary embodiment, the detection device is a millimeter wave radar; the above-mentioned device also includes: a broadcast unit, which is used to display the detection target in a navigation map displayed on a terminal device corresponding to the current vehicle based on the target state of the detection target, and broadcast target prompt information through the terminal device, wherein the target prompt information is used to prompt at least one of the following: the target state of the detection target, and a safety warning matching the detection target.

[0182] It should be noted that the above modules can be implemented by software or hardware. For the latter, it can be implemented in the following ways, but not limited to: the above modules are all located in the same processor; or the above modules are located in different processors in any combination.

[0183] According to another aspect of the embodiments of the present application, a computer-readable storage medium is provided. The computer-readable storage medium includes a stored program, wherein the program executes the steps of any of the above method embodiments when it is run.

[0184] In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as a USB flash drive, a ROM, a RAM, a mobile hard disk, a magnetic disk, or an optical disk.

[0185] According to another aspect of the embodiments of the present application, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor is configured to execute the steps in any of the above method embodiments through the computer program. In an exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0186] For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary implementation modes, and this embodiment will not be described in detail herein.

[0187] According to another aspect of the embodiment of the present application, a computer program product is also provided, which includes a computer program / instruction, and the computer program / instruction contains a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 1509, and / or installed from the removable medium 1511. When the computer program is executed by the central processing unit 1501, various functions provided by the embodiment of the present application are executed. The above-mentioned serial numbers of the embodiments of the present application are only for description and do not represent the advantages and disadvantages of the embodiments.

[0188] Fig.15 The computer system structure block diagram of the electronic device used to implement the embodiment of the present application is schematically shown. Fig.15 As shown, the computer system 1500 includes a CPU (Central Processing Unit) 1501, which can perform various appropriate actions and processes according to the program stored in the ROM 1502 or the program loaded from the storage part 1508 to the RAM 1503. Various programs and data required for system operation are also stored in the random access memory 1503. The central processing unit 1501, the read-only memory 1502 and the random access memory 1503 are connected to each other through a bus 1504. An I / O (Input / Output) interface 1505 is also connected to the bus 1504.

[0189] The following components are connected to the I / O interface 1505: an input section 1506 including a keyboard, a mouse, etc.; an output section 1507 including a CRT (Cathode Ray Tube), an LCD (Liquid Crystal Display), etc., and a speaker, etc.; a storage section 1508 including a hard disk, etc.; and a communication section 1509 including a network interface card such as a LAN card, a modem, etc. The communication section 1509 performs communication processing via a network such as the Internet. A drive 1510 is also connected to the input / output interface 1505 as needed. A removable medium 1511, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1510 as needed so that a computer program read therefrom is installed into the storage section 1508 as needed.

[0190] In particular, according to an embodiment of the present application, the process described in each method flow chart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer readable medium, and the computer program contains a program code for executing the method shown in the flow chart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 1509, and / or installed from the removable medium 1511. When the computer program is executed by the central processor 1501, various functions defined in the system of the present application are executed.

[0191] It should be noted that Fig.15 The computer system 1500 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0192] Obviously, those skilled in the art should understand that the above modules or steps of the present application can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order from that herein, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present application is not limited to any specific combination of hardware and software.

[0193] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for processing target motion state, characterized in that: include: During the operation of the current vehicle, determining the ground speed of the detection target detected by the detection device based on the motion parameters of the detection device on the current vehicle; When the detection target is in a stationary state, continuously detecting the ground speed of the detection target to determine whether a first switching condition is satisfied, wherein the first switching condition is a switching condition for the detection target to switch from a stationary state to a moving state; When the first switching condition is satisfied, the target state of the detection target is switched to a pending motion state, wherein the pending motion state is a state in which the motion state of the current vehicle is to be determined; Based on the ground speed of the detection target, the target state of the detection target is switched from the pending motion state to a motion state in a preset motion state set, wherein the motion states in the motion state set are all non-stationary states.

2. The method according to claim 1, characterized in that The step of switching the target state of the detected target from the pending motion state to a motion state in a preset motion state set based on the ground speed of the detected target includes: Based on the ground speed of the detected target, determining a motion state in the motion state set that satisfies a corresponding state switching condition; When a target state switching condition corresponding to a target motion state in the motion state set is satisfied and the number of times the target state switching condition is continuously satisfied reaches a first number threshold, the target state of the detected target is switched from the pending motion state to the target motion state.

3. The method according to claim 2, characterized in that The ground speed of the detected target includes the lateral speed of the detected target and the longitudinal speed of the detected target. The continuously detecting the ground speed of the detection target and determining the motion state in the motion state set that satisfies the corresponding state switching condition includes at least one of the following: In a case where the motion state set includes a crossing state, when an absolute value of the lateral speed of the detected target relative to the ground is greater than an absolute value of the longitudinal speed of the detected target relative to the ground, and the absolute value of the lateral speed of the detected target relative to the ground is greater than or equal to a first speed threshold, it is determined that a state switching condition corresponding to the crossing state is satisfied, wherein the crossing state is a motion state that crosses a road where the current vehicle is located; In the case where the motion state set includes an oncoming driving state, when the absolute value of the lateral speed of the detection target to the ground is less than or equal to the absolute value of the longitudinal speed of the detection target to the ground, the longitudinal speed of the detection target to the ground is less than or equal to a second speed threshold, and the longitudinal distance between the detection target and the current vehicle is greater than or equal to a first distance threshold, it is determined that the state switching condition corresponding to the oncoming driving state is satisfied, wherein the oncoming driving state is a motion state of driving towards the current vehicle, the first distance threshold is greater than or equal to zero, the longitudinal distance between the detection target and the current vehicle is the distance between the detection target and the current vehicle in a driving direction parallel to the current vehicle, and the second speed threshold is less than or equal to zero; In the case where the motion state set includes an overtaking state, when the absolute value of the lateral speed of the detected target relative to the ground is less than or equal to the absolute value of the longitudinal speed of the detected target relative to the ground, the longitudinal speed of the detected target relative to the ground is greater than or equal to a third speed threshold, the absolute value of the longitudinal speed of the detected target relative to the vehicle is greater than or equal to a fourth speed threshold, the absolute value of the lateral distance of the detected target relative to the vehicle is less than a second distance threshold, and the absolute value of the longitudinal distance of the detected target relative to the vehicle is less than a third distance threshold, it is determined that the state switching condition corresponding to the overtaking state is satisfied, wherein the overtaking state is the relative speed of the detected target relative to the vehicle. In a motion state where the current vehicle is overtaking or the current vehicle is overtaking relative to the detection target, the longitudinal speed of the detection target relative to the vehicle is a speed component of the speed of the detection target relative to the current vehicle in a direction parallel to the driving direction of the current vehicle, the lateral distance of the detection target relative to the vehicle is a distance component of the distance of the detection target relative to the current vehicle in a direction perpendicular to the driving direction of the current vehicle, the longitudinal distance of the detection target relative to the vehicle is a distance component of the distance of the detection target relative to the current vehicle in a direction parallel to the driving direction of the current vehicle, and the third speed threshold is greater than or equal to zero; In the case where the motion state set includes a same-direction driving state, when the absolute value of the lateral speed of the detected target with respect to the ground is less than or equal to the absolute value of the longitudinal speed of the detected target with respect to the ground, the longitudinal speed of the detected target with respect to the ground is greater than or equal to a fifth speed threshold, and at least one of the following is satisfied, it is determined that the state switching condition corresponding to the same-direction driving state is satisfied: the absolute value of the longitudinal speed of the detected target with respect to the vehicle is greater than or equal to a sixth speed threshold, the absolute value of the lateral distance of the detected target with respect to the vehicle is greater than or equal to a fourth distance threshold, and the absolute value of the longitudinal distance of the detected target with respect to the vehicle is greater than or equal to a fifth distance threshold. threshold, wherein the same-direction driving state is a motion state of driving in the same direction as the current vehicle, the longitudinal speed of the detection target relative to the vehicle is the speed component of the detection target relative to the current vehicle in a driving direction parallel to the current vehicle, the lateral distance of the detection target relative to the vehicle is the distance component of the detection target relative to the current vehicle in a direction perpendicular to the current vehicle, the longitudinal distance of the detection target relative to the vehicle is the distance component of the detection target relative to the current vehicle in a direction parallel to the current vehicle, and the fifth speed threshold is greater than or equal to zero.

4. The method according to claim 2, characterized in that: After switching the target state of the detection target from the pending motion state to the target motion state, the method includes: Based on the ground speed of the detected target, determining whether a target state exit condition corresponding to the target motion state is satisfied; When the target state exit condition is satisfied and the number of times the target state exit condition is continuously satisfied reaches a second numerical threshold, the target state of the detection target is switched from the target motion state to the pending motion state.

5. The method according to claim 4, characterized in that The ground speed of the detected target includes the lateral speed of the detected target and the longitudinal speed of the detected target. The continuously detecting the ground speed of the detection target and determining whether a target state exit condition corresponding to the target motion state is satisfied includes at least one of the following: In the case where the target motion state is a crossing state, when the absolute value of the lateral speed of the detected target relative to the ground is greater than the absolute value of the longitudinal speed of the detected target relative to the ground, or the absolute value of the lateral speed of the detected target relative to the ground is less than a seventh speed threshold, it is determined that the target state exit condition is satisfied, wherein the crossing state is a motion state that crosses the road where the current vehicle is located; In the case where the target motion state is an oncoming driving state, when the absolute value of the lateral speed of the detected target to the ground is greater than the absolute value of the longitudinal speed of the detected target to the ground, or the longitudinal speed of the detected target to the ground is greater than or equal to an eighth speed threshold, or the longitudinal distance of the detected target to the vehicle is less than or equal to a sixth distance threshold, it is determined that the target state exit condition is satisfied, wherein the oncoming driving state is a motion state heading toward the current vehicle, the longitudinal distance of the detected target to the vehicle is a distance component of the distance of the detected target relative to the current vehicle in a direction parallel to the driving direction of the current vehicle, the eighth speed threshold is greater than or equal to zero, and the sixth distance threshold is less than or equal to zero; In the case where the target motion state is an overtaking state, when the absolute value of the lateral speed of the detected target to the ground is greater than the absolute value of the longitudinal speed of the detected target to the ground, or the longitudinal speed of the detected target to the ground is less than or equal to the ninth speed threshold, or the absolute value of the longitudinal speed of the detected target to the vehicle is less than or equal to the tenth speed threshold, or the absolute value of the lateral distance of the detected target to the vehicle is greater than or equal to the seventh distance threshold, and the absolute value of the longitudinal distance of the detected target to the vehicle is greater than or equal to the eighth distance threshold, it is determined that the target state exit condition is satisfied, wherein the overtaking state is a state of overtaking or being overtaken by the current vehicle, the longitudinal speed of the detected target to the vehicle is a speed component of the speed of the detected target relative to the current vehicle in a driving direction parallel to the current vehicle, the lateral distance of the detected target to the vehicle is a distance component of the distance of the detected target relative to the current vehicle in a direction perpendicular to the current vehicle, the longitudinal distance of the detected target to the vehicle is a distance component of the distance of the detected target relative to the current vehicle in a direction parallel to the current vehicle, and the ninth speed threshold is less than or equal to zero; In the case where the target motion state is a same-direction driving state, when the absolute value of the lateral speed of the detected target to the ground is greater than the absolute value of the longitudinal speed of the detected target to the ground, or the longitudinal speed of the detected target to the ground is less than or equal to an eleventh speed threshold, or the absolute value of the longitudinal speed of the detected target to the vehicle is greater than or equal to a twelfth speed threshold, the absolute value of the lateral distance of the detected target to the vehicle is less than a ninth distance threshold, and the absolute value of the longitudinal distance of the detected target to the vehicle is less than a tenth distance threshold, it is determined that the target state exit condition is satisfied, wherein the same-direction driving state is a motion state traveling in the same direction as the current vehicle, the longitudinal speed of the detected target to the vehicle is a speed component of the speed of the detected target relative to the current vehicle in a driving direction parallel to the current vehicle, the lateral distance of the detected target to the vehicle is a distance component of the distance of the detected target relative to the current vehicle in a driving direction perpendicular to the current vehicle, the longitudinal distance of the detected target to the vehicle is a distance component of the distance of the detected target relative to the current vehicle in a driving direction parallel to the current vehicle, and the eleventh speed threshold is less than or equal to zero.

6. The method according to claim 1, characterized in that The determining, based on the motion parameters of the detection device on the current vehicle, the ground speed of the detection target detected by the detection device comprises: Determine the motion parameters of the detection device based on the operating parameters of the current vehicle and the relative position between the detection device and the current vehicle, wherein the operating parameters of the current vehicle include the speed of the current vehicle and the angular velocity of the current vehicle, and the motion parameters of the detection device include the speed of the detection device and the motion angle of the detection device; Decomposing the speed of the detection device and the movement angle of the detection device to obtain a lateral speed of the detection device relative to the ground and a longitudinal speed of the detection device relative to the ground; The lateral speed of the detection target relative to the ground is determined based on the lateral speed of the detection device relative to the ground and the lateral speed of the detection target relative to the detection device, and the longitudinal speed of the detection target relative to the ground is determined based on the longitudinal speed of the detection device relative to the ground and the longitudinal speed of the detection target relative to the detection device, wherein the speed of the detection target relative to the ground includes the lateral speed of the detection target relative to the ground and the longitudinal speed of the detection target relative to the ground.

7. The method according to any one of claims 1 to 6, characterized in that The detection device is a millimeter wave radar; the method further includes: Based on the target state of the detection target, the detection target is displayed in a navigation map displayed on a terminal device corresponding to the current vehicle, and target prompt information is broadcast through the terminal device, wherein the target prompt information is used to prompt at least one of the following: the target state of the detection target, and a safety warning matching the detection target.

8. A device for processing target motion state, characterized in that: include: a determination unit, configured to determine, during the operation of the current vehicle, a ground speed of a detection target detected by the detection device based on a motion parameter of the detection device on the current vehicle; A first judgment unit is used for continuously detecting the ground speed of the detection target when the detection target is in a stationary state, and judging whether a first switching condition is satisfied, wherein the first switching condition is a switching condition for the detection target to switch from a stationary state to a moving state; A first switching unit, configured to switch the target state of the detection target to a pending motion state when the first switching condition is satisfied, wherein the pending motion state is a state in which the motion state of the current vehicle is to be determined; The second switching unit is used to switch the target state of the detection target from the pending motion state to a motion state in a preset motion state set based on the ground speed of the detection target, wherein the motion states in the motion state set are all non-stationary states.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program implements the steps of any one of the methods of claims 1 to 7 when executed by a processor.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

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