Obstacle orientation acquisition method and device, electronic equipment and storage medium

Abstract

The disclosure provides an obstacle direction acquisition method and device, electronic equipment and storage medium, and relates to the fields of artificial intelligence such as automatic driving, computer vision and deep learning. The method can include: for any obstacle detected in the driving process of a vehicle, acquiring a predicted moving track of the obstacle within a predetermined time in the future, the moving track being composed of a starting track point and non-starting track points, the starting track point being a position point where the obstacle is currently located; determining a target direction of the obstacle at the starting track point according to a predicted direction of the obstacle at the starting track point and a speed direction; and for each non-starting track point, determining a target direction of the obstacle at the non-starting track point according to a speed direction of the obstacle at the non-starting track point, a correction coefficient and an initial correction amount corresponding to the non-starting track point. The application of the scheme can improve the accuracy of the determined direction.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of artificial intelligence, in particular to an obstacle orientation acquisition method and device, an electronic device and a storage medium in the fields of automatic driving, computer vision and deep learning. BACKGROUND

[0002] In an automatic driving scenario, obstacle detection can be performed in real time during the driving of a vehicle, and for any detected obstacle, a deep learning model can be used to predict the moving trajectory of the obstacle within a predetermined time in the future, which is composed of multiple trajectory points. Generally, the deep learning model only outputs the coordinate information of each trajectory point, but the downstream planning module needs to use both the orientation and coordinate information of the obstacle when projecting the obstacle for trajectory planning. SUMMARY

[0003] The present disclosure provides an obstacle orientation acquisition method and device, an electronic device and a storage medium.

[0004] An obstacle orientation acquisition method comprises:

[0005] For any obstacle detected during the driving of a vehicle, a moving trajectory of the obstacle within a predetermined time in the future is acquired, which is composed of a starting trajectory point and non-starting trajectory points, and the starting trajectory point is the position point where the obstacle is currently located;

[0006] The speed direction of the obstacle at the starting trajectory point is acquired as a first reference direction, and the predicted orientation of the obstacle at the starting trajectory point is acquired, and according to the first deviation angle between the predicted orientation and the first reference direction, the target orientation of the obstacle at the starting trajectory point is determined, which is the determined orientation as the required result;

[0007] For each non-starting trajectory point, the speed direction of the obstacle at the non-starting trajectory point is acquired as a second reference direction, and an initial correction amount corresponding to the non-starting trajectory point is determined, and according to the initial correction amount, a correction coefficient and the second reference direction, the target orientation of the obstacle at the non-starting trajectory point is determined, wherein the correction coefficient is determined according to the target orientation at the starting trajectory point.

[0008] An obstacle orientation acquisition device comprises a trajectory acquisition module, a first determination module and a second determination module.

[0009] The trajectory obtaining module is configured to, for any obstacle detected in the process of vehicle driving, obtain a predicted moving trajectory of the obstacle within a predetermined future time length, the moving trajectory being composed of a starting trajectory point and non-starting trajectory points, the starting trajectory point being a position point where the obstacle is currently located;

[0010] The first determining module is configured to obtain a speed direction of the obstacle at the starting trajectory point as a first reference direction, and obtain a predicted orientation of the obstacle at the starting trajectory point, determine a target orientation of the obstacle at the starting trajectory point according to a first deviation angle between the predicted orientation and the first reference direction, the target orientation being a determined orientation as a required result.

[0011] The second determining module is configured to, for each non-starting trajectory point, obtain a speed direction of the obstacle at the non-starting trajectory point as a second reference direction, and determine an initial correction amount corresponding to the non-starting trajectory point, determine a target orientation of the obstacle at the non-starting trajectory point according to the initial correction amount, a correction coefficient and the second reference direction, wherein the correction coefficient is determined according to the target orientation at the starting trajectory point.

[0012] An electronic device comprises:

[0013] at least one processor; and

[0014] a memory connected with the at least one processor; wherein

[0015] The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method as described above.

[0016] A non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the method as described above.

[0017] A computer program product comprising computer programs / instructions, which, when executed by a processor, implement the method as described above.

[0018] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present disclosure, nor to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0019] The accompanying drawings are used to better understand the present scheme, and do not constitute a limitation on the present disclosure. Among them:

[0020] Figure 1 a flowchart of an embodiment of the method for acquiring the orientation of the obstacle according to the present disclosure;

[0021] Figure 2 a schematic diagram of the relationship between the orientation of the vehicle body and the direction of the speed during the steering of the vehicle according to the present disclosure;

[0022] Figure 3 a schematic diagram of the relationship between the angle between the orientation of the vehicle body and the direction of the speed and the radius of the steering curvature during the steering of the vehicle according to the present disclosure;

[0023] Figure 4 a schematic diagram of the composition structure of an embodiment 400 of the device for acquiring the orientation of the obstacle according to the present disclosure;

[0024] Figure 5 A schematic block diagram of an electronic device 500 that can be used to implement embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0025] Exemplary embodiments of the present disclosure are described herein with reference to the accompanying drawings, which include various details of the embodiments of the present disclosure to assist in the understanding thereof. These should be considered in a descriptive sense only and not for purposes of limiting the scope of the present disclosure. It will thus be appreciated that those skilled in the art will be able to devise various arrangements that, although not explicitly described or shown herein, embody the principles of the present disclosure and thus, within the scope of the present disclosure.

[0026] In addition, it should be understood that the term "and / or" as used herein merely describes associated objects in an associated manner, and can represent three relationships, for example, A and / or B can represent three cases of A alone, A and B together, and B alone. In addition, the character " / " herein generally represents an "or" relationship between the front and rear associated objects.

[0027] Figure 1 a flowchart of an embodiment of the method for acquiring the orientation of the obstacle according to the present disclosure. As shown in Figure 1 the following specific implementation is included.

[0028] In step 101, for any obstacle detected during the driving of the vehicle, a predicted moving trajectory of the obstacle within a predetermined time in the future is acquired, the moving trajectory is composed of a starting trajectory point and a non-starting trajectory point, and the starting trajectory point is the position point where the obstacle is currently located.

[0029] In step 102, the speed direction of the obstacle at the starting trajectory point is acquired as a first reference direction, and the predicted orientation of the obstacle at the starting trajectory point is acquired, according to the first deviation angle between the predicted orientation and the first reference direction, the target orientation of the obstacle at the starting trajectory point is determined, and the target orientation is the determined orientation as the required result.

[0030] In step 103, for each non-starting trajectory point, the speed direction of the obstacle at the non-starting trajectory point is obtained as a second reference direction, and an initial correction amount corresponding to the non-starting trajectory point is determined, and the target orientation of the obstacle at the non-starting trajectory point is determined according to the initial correction amount, a correction coefficient, and the second reference direction, wherein the correction coefficient is determined according to the target orientation at the starting trajectory point.

[0031] The obstacle in the present disclosure generally refers to a dynamic obstacle, so there is a moving trajectory.

[0032] In the conventional manner, the speed direction (i.e., the displacement direction) of the obstacle at each trajectory point is usually directly taken as the orientation of the obstacle at each trajectory point. However, in many cases, there is a certain difference between the speed direction and the orientation of the obstacle. For example, for obstacles such as motor vehicles, due to the long body, there is a certain difference between the speed direction and the orientation (i.e., the body orientation) of the obstacle during the steering process, especially when the steering curvature is large, the difference is particularly obvious. Accordingly, if the speed direction is used as the orientation of the obstacle, it may cause errors in the projection during planning, which may in turn cause unreasonable planning trajectories, thereby causing collision risks or dangerous behaviors such as sudden braking, and reducing the safety of vehicle driving, etc.

[0033] The scheme of the method embodiment described above can determine the orientation of the obstacle in different ways for the starting trajectory point and the non-starting trajectory point. For the starting trajectory point, the orientation of the obstacle can be determined based on the predicted orientation and the speed direction, etc. For each non-starting trajectory point, the orientation of the obstacle can be determined in combination with the speed direction and the correction coefficient, etc. Thus, the accuracy of the determined orientation is improved, and the accuracy of the subsequent processing results is improved, and accordingly, the safety of vehicle driving is improved, etc.

[0034] For any detected obstacle, the moving trajectory of the predicted obstacle within a predetermined time in the future can be obtained. The specific value of the predetermined time can be determined according to actual needs, such as 6 seconds.

[0035] The moving trajectory can include a series of consecutive trajectory points, the first trajectory point of which can be referred to as a starting trajectory point, i.e., the current position point of the obstacle, and each of the other trajectory points is a non-starting trajectory point.

[0036] For the starting trajectory point, the predicted orientation and the speed direction of the obstacle at the starting trajectory point can be obtained, and the target orientation of the obstacle at the starting trajectory point can be determined according to the obtained information.

[0037] Preferably, the vehicle can be an autonomous vehicle, and accordingly, the orientation information of the obstacle at the starting trajectory point generated by a perception module in the autonomous vehicle can be acquired as the predicted orientation.

[0038] In a conventional manner, the perception module in the autonomous vehicle can give the current orientation of each obstacle and the current speed direction, i.e., the orientation information of each obstacle at the location point (the starting trajectory point) where each obstacle is currently located and the speed direction of each obstacle at the location point where each obstacle is currently located, and the orientation information can be taken as the predicted orientation, and in addition, for ease of description, the speed direction can be referred to as a first reference direction.

[0039] That is, the required predicted orientation and speed direction can be simply and conveniently acquired by means of the perception module, thereby laying a good foundation for subsequent processing.

[0040] The predicted orientation and the first reference direction can be inconsistent, for example, taking the obstacle as the vehicle, and the reasons causing the inconsistency can include: 1, the perception module cannot distinguish the front and rear of the vehicle, and thus the orientation information of the obstacle given is reversed; 2, the vehicle is in the process of turning, and due to the length of the vehicle body, the vehicle is controlled to turn by the front wheels, and thus the change in the orientation of the vehicle (i.e., the change in the orientation of the vehicle body) lags behind the change in the speed direction; 3, perception error. Figure 2 For the schematic diagram of the relationship between the orientation of the vehicle body and the speed direction of the vehicle during the turning of the vehicle according to the present disclosure, it can be seen that the change in the orientation of the vehicle body usually lags behind the change in the speed direction.

[0041] Preferably, a first deviation angle between the predicted orientation and the first reference direction can be acquired, in response to the first deviation angle being less than or equal to a first threshold value, the target orientation of the obstacle at the starting trajectory point can be determined according to the first deviation angle, in response to the first deviation angle being greater than the first threshold value, the predicted orientation can be corrected in a predetermined manner, and a second deviation angle between the corrected predicted orientation and the first reference direction can be acquired, and then the target orientation of the obstacle at the starting trajectory point can be determined according to the second deviation angle.

[0042] In addition, preferably, the first threshold value can be 90 degrees, and the manner of correcting the predicted orientation in a predetermined manner can include adding a correction amount of 180 degrees to the predicted orientation. If the first deviation angle is greater than 90 degrees, it usually indicates that the orientation of the vehicle body is opposite to the speed direction, and accordingly, the correction amount of 180 degrees can be added to the predicted orientation, thereby restoring the orientation of the vehicle body to be positive.

[0043] That is, if the deviation angle between the predicted heading and the first reference direction (referred to as the first deviation angle for the sake of distinction) is less than or equal to 90 degrees, the target heading of the obstacle at the starting trajectory point can be determined directly according to the first deviation angle, and if the first deviation angle is greater than 90 degrees, a correction of 180 degrees can be added to the predicted heading to calculate a second deviation angle, and then the target heading of the obstacle at the starting trajectory point can be determined according to the second deviation angle.

[0044] It can be seen that in the above processing manner, the first deviation angle can be compared with the first threshold value, and it can be determined according to the comparison result whether the predicted heading needs to be corrected, thereby improving the accuracy of the predicted heading, and further improving the accuracy of the subsequently determined target heading, etc.

[0045] Preferably, the manner of determining the target heading of the obstacle at the starting trajectory point according to the first deviation angle can include: in response to the first deviation angle being greater than a second threshold value, taking the first reference direction as the target heading of the obstacle at the starting trajectory point, and in response to the first deviation angle being less than or equal to the second threshold value, taking the predicted heading as the target heading of the obstacle at the starting trajectory point, the second threshold value being less than the first threshold value; similarly, the manner of determining the target heading of the obstacle at the starting trajectory point according to the second deviation angle can include: in response to the second deviation angle being greater than the second threshold value, taking the first reference direction as the target heading of the obstacle at the starting trajectory point, and in response to the second deviation angle being less than or equal to the second threshold value, taking the corrected predicted heading as the target heading of the obstacle at the starting trajectory point.

[0046] The specific value of the second threshold value can be determined according to actual needs, for example, it can be 36 degrees.

[0047] No matter the first deviation angle or the second deviation angle, if it is less than or equal to 36 degrees, the predicted heading or the corrected predicted heading can be considered as reliable, so that the predicted heading or the corrected predicted heading can be taken as the target heading of the obstacle at the starting trajectory point, otherwise, if it is greater than 36 degrees, the predicted heading can be considered as unreliable, and accordingly the first reference direction can be taken as the target heading of the obstacle at the starting trajectory point.

[0048] In the above processing manner, it can be judged whether the predicted heading is reliable, and then the target heading of the obstacle at the starting trajectory point can be determined according to the different judgment results, thereby improving the accuracy of the determined target heading, etc.

[0049] In addition to determining the target heading at the starting trajectory point, a correction coefficient of the heading can also be determined.

[0050] Preferably, the obstacle comprises a vehicle; and the manner of determining the correction coefficient comprises: setting the correction coefficient to 1 in response to the first reference direction being the target orientation of the obstacle at the starting trajectory point; obtaining a turning curvature radius at the starting trajectory point in response to the predicted orientation or the corrected predicted orientation being the target orientation of the obstacle at the starting trajectory point; determining a first estimated deviation angle between the estimated target orientation of the obstacle at the starting trajectory point and the first reference direction according to the turning curvature radius, a vehicle length of the obstacle, and a kinematic model; and determining the correction coefficient according to the first estimated deviation angle.

[0051] Preferably, the manner of determining the correction coefficient according to the first estimated deviation angle comprises: obtaining a ratio of the first deviation angle to the first estimated deviation angle in response to the predicted orientation not being corrected; obtaining a ratio of the second deviation angle to the first estimated deviation angle in response to the predicted orientation being corrected, and taking the ratio of the first deviation angle to the first estimated deviation angle or the ratio of the second deviation angle to the first estimated deviation angle as a reference ratio; setting the correction coefficient to 0 in response to the reference ratio being negative; and performing the following processing in response to the reference ratio being positive: setting the correction coefficient to a third threshold in response to the reference ratio being less than a fourth threshold; setting the correction coefficient to the fourth threshold in response to the reference ratio being greater than the fourth threshold; and setting the correction coefficient to the reference ratio in response to the reference ratio being greater than or equal to the third threshold and less than or equal to the fourth threshold, the fourth threshold being greater than the third threshold.

[0052] The specific values of the third threshold and the fourth threshold can be determined according to actual conditions. For example, the third threshold can be 0.3, and the fourth threshold can be 2.0.

[0053] If the first reference direction is the target direction of the obstacle at the starting trajectory point, i.e., if the predicted direction is not reliable, the correction coefficient can be set to 1, i.e., completely relying on the initial correction amount described later, otherwise, the first estimated deviation angle can be determined, and the ratio of the first deviation angle or the second deviation angle to the first estimated deviation angle can be obtained, wherein if the predicted direction is not corrected, the ratio of the first deviation angle to the first estimated deviation angle is obtained, and if the predicted direction is corrected, the ratio of the second deviation angle to the first estimated deviation angle is obtained, i.e., the reference ratio = first deviation angle or second deviation angle / first estimated deviation angle, if the reference ratio is negative, it means that the estimated vehicle body direction and the actual vehicle body direction are opposite, which is wrong, so it is not necessary to use the initial correction amount described later, accordingly, the correction coefficient can be set to 0, if the reference ratio is positive and less than 0.3, the correction coefficient can be set to 0.3, if it is greater than 2.0, the correction coefficient can be set to 2.0, otherwise, the correction coefficient can be directly set to the reference ratio, i.e., the correction coefficient is limited between 0.3 and 2.0, thereby improving the rationality of the correction.

[0054] As described previously, when the obstacle is a vehicle, the turning curvature radius at the starting trajectory point can be obtained, and the first estimated deviation angle can be determined according to the turning curvature radius, the length of the vehicle and the kinematic model. The length of the vehicle can be obtained by perception.

[0055] Preferably, the ratio of the length of the vehicle to the turning curvature radius can be obtained, and the product of the ratio and a predetermined coefficient can be obtained, and then the arctangent operation result of the product can be obtained, and the arctangent operation result is taken as the required first estimated deviation angle. The specific value of the predetermined coefficient can be determined according to actual needs, such as 0.5.

[0056] Correspondingly, i.e.:

[0057] The first estimated deviation angle = arctan(0.5*length of vehicle / turning curvature radius); (1)

[0058] The above first estimated deviation angle is not necessarily completely accurate, and the reasons can include: 1, the perceived length of the vehicle is not accurate, especially for some partially blocked large vehicles; 2, the obtained turning curvature radius can have errors.

[0059] Taking the obstacle as a vehicle for example, Figure 3 is a schematic diagram of the relationship between the angle between the vehicle body direction and the speed direction and the turning curvature radius during the vehicle turning process according to the present disclosure. As shown in Figure 3 L represents the length of the vehicle, R represents the turning curvature radius, and θ represents the first estimated deviation angle.

[0060] In the above processing mode, the first estimated deviation angle can be determined efficiently and quickly by means of the kinematic model, thereby laying a good foundation for subsequent processing.

[0061] Preferably, the steering curvature radius can be obtained by determining the steering curvature at the starting trajectory point by means of the three-point method and determining the steering curvature radius according to the steering curvature.

[0062] For example, the steering curvature at the starting trajectory point can be determined by means of the three-point method according to the starting trajectory point and two trajectory points after the starting trajectory point, and the reciprocal of the steering curvature can be taken as the steering curvature radius. The three-point method is a mature method and is simple to implement and has good accuracy.

[0063] After the target orientation of the obstacle at the starting trajectory point and the correction coefficient are determined, the target orientation of the obstacle at each non-starting trajectory point can also be determined respectively, i.e., the speed direction of the obstacle at the non-starting trajectory point can be obtained as the second reference direction, and the initial correction amount corresponding to the non-starting trajectory point can be determined, and the target orientation of the obstacle at the non-starting trajectory point can be determined according to the initial correction amount, the correction coefficient and the second reference direction. In order to distinguish, the speed direction of the obstacle at the non-starting trajectory point is referred to as the second reference direction.

[0064] Preferably, the obstacle is a vehicle, and accordingly, the steering curvature radius at the non-starting trajectory point can be obtained, the second estimated deviation angle can be determined as the initial correction amount according to the steering curvature radius, the vehicle length of the obstacle and the kinematic model, the second estimated deviation angle being an estimated deviation angle between the target orientation of the obstacle at the non-starting trajectory point and the second reference direction, and the target orientation of the obstacle at the non-starting trajectory point can be determined according to the initial correction amount, the correction coefficient and the second reference direction.

[0065] Preferably, the target orientation of the obstacle at the non-starting trajectory point can be determined according to the initial correction amount, the correction coefficient and the second reference direction by obtaining the product of the initial correction amount and the correction coefficient as the target correction amount, and adding the second reference direction and the target correction amount to obtain the target orientation of the obstacle at the non-starting trajectory point.

[0066] That is:

[0067] Target correction amount = initial correction amount * correction coefficient

[0068] Target orientation = second reference direction + target correction amount (2)

[0069] The target orientation refers to the target orientation of the obstacle at the non-starting trajectory point, and the correction coefficient can be 1, 0 or any value between 0.3 and 2.0.

[0070] In the above processing manner, the initial correction amount can be determined according to the steering curvature radius, the length of the obstacle, and the kinematic model, etc., and the initial correction amount can be further corrected by using the correction coefficient to obtain the target correction amount, and then the final required target orientation can be determined in combination with the speed direction of the obstacle at the non-starting trajectory point and the target correction amount, thereby improving the accuracy of the determined target orientation.

[0071] When the obstacle is a vehicle, preferably, for any non-starting trajectory point, a ratio of the length of the vehicle to the steering curvature radius at the non-starting trajectory point can be obtained, and a product of the ratio and 0.5 can be obtained, and then an inverse tangent operation result of the product can be obtained, and the inverse tangent operation result is taken as the required second estimated deviation angle, which can be specifically referred to formula (1).

[0072] In addition, preferably, for any non-starting trajectory point, the steering curvature radius can be obtained by determining the steering curvature at the non-starting trajectory point by using the three-point method, and determining the steering curvature radius according to the steering curvature.

[0073] For example, for any non-starting trajectory point, the steering curvature at the non-starting trajectory point can be determined by using the three-point method according to the non-starting trajectory point and the two adjacent trajectory points before and after the non-starting trajectory point, and then the inverse of the steering curvature can be taken as the steering curvature radius. In particular, if the non-starting trajectory point is the last non-starting trajectory point, the steering curvature at the non-starting trajectory point can be determined by using the three-point method in combination with the non-starting trajectory point and the two trajectory points before the non-starting trajectory point.

[0074] In actual application, after the steering curvatures at the trajectory points (including the starting trajectory point and the non-starting trajectory points) are respectively determined by using the three-point method, a curvature sequence can be formed by using the steering curvatures in time sequence, and then the steering curvatures in the curvature sequence can be subjected to smoothing filtering processing, and then the processed steering curvatures can be taken as the steering curvatures at the trajectory points, that is, the steering curvatures at the trajectory points can be optimized to improve the quality of the steering curvatures and avoid sudden changes, etc. The specific smoothing filtering method can be mean filtering, etc.

[0075] Preferably, for any non-starting trajectory point, after the target orientation of the obstacle at the non-starting trajectory point is determined according to the second reference direction and the correction coefficient, the non-starting trajectory point can be taken as a to-be-processed trajectory point, and the target orientation at the previous trajectory point adjacent to the to-be-processed trajectory point can be taken as a reference orientation, and the target orientation of the obstacle at the to-be-processed trajectory point is corrected according to the reference orientation.

[0076] Preferably, in response to the target orientation of the obstacle at the trajectory point to be processed being less than a difference between the reference orientation and the fifth threshold value, the difference is taken as the target orientation of the obstacle at the trajectory point to be processed; in response to the target orientation of the obstacle at the trajectory point to be processed being greater than a sum of the reference orientation and the fifth threshold value, the sum is taken as the target orientation of the obstacle at the trajectory point to be processed; and in response to the target orientation of the obstacle at the trajectory point to be processed being greater than or equal to the difference and less than or equal to the sum, the target orientation of the obstacle at the trajectory point to be processed is maintained unchanged.

[0077] The specific value of the fifth threshold value can be determined according to actual needs.

[0078] Through the above processing, the target orientation of the obstacle at the trajectory point to be processed is limited to [reference orientation-fifth threshold value, reference orientation+ fifth threshold value], thereby limiting the change rate of the target orientation, avoiding the target orientation mutation as much as possible, and further reducing the planning phase obstacle projection error and other problems caused by the orientation mutation.

[0079] It should be noted that, for the foregoing method embodiments, in order to simply describe, they are expressed as a series of action combinations, but those skilled in the art should know that the disclosure is not limited by the action sequence described, because according to the disclosure, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to the disclosure.

[0080] The above is the introduction of the method embodiment, and the following will further illustrate the scheme of the disclosure through the device embodiment.

[0081] Figure 4 The constituent structure schematic diagram of the obstacle orientation acquisition device embodiment 400 of the disclosure is shown in FIG. 4. As shown in the figure, it includes a trajectory acquisition module 401, a first determination module 402, and a second determination module 403. Figure 4

[0082] The trajectory acquisition module 401 is configured to acquire, for any obstacle detected in the vehicle driving process, a predicted moving trajectory of the obstacle within a future predetermined time length, the moving trajectory being composed of a starting trajectory point and non-starting trajectory points, and the starting trajectory point being a position point where the obstacle is currently located.

[0083] The first determination module 402 is configured to acquire a speed direction of the obstacle at the starting trajectory point as a first reference direction, and acquire a predicted orientation of the obstacle at the starting trajectory point, and determine a target orientation of the obstacle at the starting trajectory point according to a first deviation angle between the predicted orientation and the first reference direction, the target orientation being the determined orientation as the required result.​

[0084] The second determining module 403 is configured to obtain, for each non-starting trajectory point, a speed direction of the obstacle at the non-starting trajectory point as a second reference direction, and determine an initial correction amount corresponding to the non-starting trajectory point, and determine a target orientation of the obstacle at the non-starting trajectory point according to the initial correction amount, a correction coefficient, and the second reference direction, wherein the correction coefficient is determined according to the target orientation at the starting trajectory point.

[0085] By using the above-mentioned device embodiments, the orientation of the obstacle can be determined in different ways for the starting trajectory point and the non-starting trajectory point. For the starting trajectory point, the orientation of the obstacle can be determined based on the predicted orientation and the speed direction. For each non-starting trajectory point, the orientation of the obstacle can be determined in combination with the speed direction and the correction coefficient. Therefore, the accuracy of the determined orientation is improved, and the accuracy of the subsequent processing result is improved, and accordingly, the safety of the vehicle driving is improved.

[0086] Preferably, the vehicle can be an autonomous vehicle, and accordingly, the first determining module 402 can obtain the orientation information of the obstacle at the starting trajectory point generated by a perception module in the autonomous vehicle as the predicted orientation.

[0087] Preferably, after obtaining the first deviation angle between the predicted orientation and the first reference direction, the first determining module 402 is configured to, in response to the first deviation angle being less than or equal to a first threshold, determine the target orientation of the obstacle at the starting trajectory point according to the first deviation angle, and in response to the first deviation angle being greater than the first threshold, correct the predicted orientation in a predetermined manner, obtain a second deviation angle between the corrected predicted orientation and the first reference direction, and determine the target orientation of the obstacle at the starting trajectory point according to the second deviation angle.

[0088] In addition, preferably, the first threshold can be 90 degrees, and the predetermined manner can include adding a correction amount of 180 degrees to the predicted orientation.

[0089] Preferably, the first determining module 402 determines the target orientation of the obstacle at the starting trajectory point according to the first deviation angle in the following manner: in response to the first deviation angle being greater than a second threshold, the first reference direction is taken as the target orientation of the obstacle at the starting trajectory point; in response to the first deviation angle being less than or equal to the second threshold, the predicted orientation is taken as the target orientation of the obstacle at the starting trajectory point, the second threshold being less than the first threshold; similarly, the second determining module 402 determines the target orientation of the obstacle at the starting trajectory point according to the second deviation angle in the following manner: in response to the second deviation angle being greater than the second threshold, the first reference direction is taken as the target orientation of the obstacle at the starting trajectory point; in response to the second deviation angle being less than or equal to the second threshold, the corrected predicted orientation is taken as the target orientation of the obstacle at the starting trajectory point.

[0090] Preferably, the second threshold can be 36 degrees. Regardless of the first deviation angle or the second deviation angle, if it is less than or equal to 36 degrees, the predicted orientation or the corrected predicted orientation is considered to be reliable, so that the predicted orientation or the corrected predicted orientation can be taken as the target orientation of the obstacle at the starting trajectory point; otherwise, if it is greater than 36 degrees, the predicted orientation is considered to be unreliable, and accordingly, the first reference direction can be taken as the target orientation of the obstacle at the starting trajectory point.

[0091] In addition to determining the target orientation at the starting trajectory point, a correction coefficient of the orientation can also be determined.

[0092] Preferably, the obstacle includes a vehicle, and the first determining module 402 determines the correction coefficient in the following manner: in response to the first reference direction being taken as the target orientation of the obstacle at the starting trajectory point, the correction coefficient is set to 1; in response to the predicted orientation or the corrected predicted orientation being taken as the target orientation of the obstacle at the starting trajectory point, a steering curvature radius at the starting trajectory point is obtained, a first estimated deviation angle is determined according to the steering curvature radius, a vehicle length of the obstacle, and a kinematic model, the first estimated deviation angle being an estimated deviation angle between the target orientation of the obstacle at the starting trajectory point and the first reference direction, and the correction coefficient is determined according to the first estimated deviation angle.

[0093] Preferably, the first determining module 402 can determine the correction coefficient according to the first estimated deviation angle in the following manner: in response to that the predicted orientation is not corrected, the first determining module 402 can obtain a ratio of the first deviation angle to the first estimated deviation angle; in response to that the predicted orientation is corrected, the first determining module 402 can obtain a ratio of the second deviation angle to the first estimated deviation angle; the first determining module 402 can take the ratio of the first deviation angle to the first estimated deviation angle or the ratio of the second deviation angle to the first estimated deviation angle as a reference ratio; in response to that the reference ratio is negative, the first determining module 402 can set the correction coefficient to 0; in response to that the reference ratio is positive, the first determining module 402 can perform the following processing: in response to that the reference ratio is less than a third threshold, the first determining module 402 can set the correction coefficient to the third threshold; in response to that the reference ratio is greater than a fourth threshold, the first determining module 402 can set the correction coefficient to the fourth threshold; in response to that the reference ratio is greater than or equal to the third threshold and less than or equal to the fourth threshold, the first determining module 402 can set the correction coefficient to the reference ratio, the fourth threshold being greater than the third threshold.

[0094] As mentioned above, when the obstacle is a vehicle, the first determining module 402 can obtain a steering curvature radius at the starting trajectory point, and determine the first estimated deviation angle according to the steering curvature radius, the length of the vehicle and the kinematic model.

[0095] Preferably, the first determining module 402 can obtain a ratio of the length of the vehicle to the steering curvature radius, and can obtain a product of the ratio and a predetermined coefficient, and can obtain an arctangent operation result of the product, and can take the arctangent operation result as the first estimated deviation angle.

[0096] In addition, the first determining module 402 can determine the steering curvature at the starting trajectory point by using a three-point method, and can determine the steering curvature radius according to the steering curvature.

[0097] After the target orientation of the obstacle at the starting trajectory point and the correction coefficient are determined, the target orientations of the obstacle at the non-starting trajectory points can also be determined respectively.

[0098] Preferably, the obstacle can be a vehicle, and accordingly, the second determining module 403 can take the velocity direction of the obstacle at the non-starting trajectory point as a second reference direction, and can obtain a steering curvature radius at the non-starting trajectory point, and can determine a second estimated deviation angle according to the steering curvature radius, the length of the vehicle and the kinematic model, the second estimated deviation angle being an estimated deviation angle between the target orientation of the obstacle at the non-starting trajectory point and the second reference direction, and can determine the target orientation of the obstacle at the non-starting trajectory point according to the initial correction amount, the correction coefficient and the second reference direction.

[0099] Preferably, the second determining module 403 determines the target orientation of the obstacle at the non-starting trajectory point according to the initial correction amount, the correction coefficient and the second reference direction in the following manner: obtains a product of the initial correction amount and the correction coefficient as a target correction amount, and adds the second reference direction and the target correction amount to obtain the target orientation of the obstacle at the non-starting trajectory point.

[0100] When the obstacle is a vehicle, preferably, for any non-starting trajectory point, the second determining module 403 can obtain a ratio of a vehicle length to a steering curvature radius at the non-starting trajectory point, and can obtain a product of the ratio and a predetermined coefficient, and further can obtain an arctangent operation result of the product as a required second estimated deviation angle.

[0101] In addition, preferably, for any non-starting trajectory point, the second determining module 403 can determine the steering curvature at the non-starting trajectory point by a three-point method, and determine the steering curvature radius according to the steering curvature.

[0102] Preferably, for any non-starting trajectory point, after determining the target orientation of the obstacle at the non-starting trajectory point, the second determining module 403 can take the non-starting trajectory point as a to-be-processed trajectory point, and can take the target orientation at a previous trajectory point adjacent to the to-be-processed trajectory point as a reference orientation, and correct the target orientation of the obstacle at the to-be-processed trajectory point according to the reference orientation.

[0103] Preferably, in response to the target orientation of the obstacle at the to-be-processed trajectory point being less than a difference between the reference orientation and a fifth threshold value, the second determining module 403 can take the difference as the target orientation of the obstacle at the to-be-processed trajectory point, in response to the target orientation of the obstacle at the to-be-processed trajectory point being greater than a sum of the reference orientation and the fifth threshold value, the second determining module 403 can take the sum as the target orientation of the obstacle at the to-be-processed trajectory point, and in response to the target orientation of the obstacle at the to-be-processed trajectory point being greater than or equal to the difference and less than or equal to the sum, the second determining module 403 can maintain the target orientation of the obstacle at the to-be-processed trajectory point unchanged.

[0104] Figure 4 The specific working process of the device embodiment will be described below with reference to the related description in the foregoing method embodiments.

[0105] In summary, by using the scheme of the present disclosure, the accuracy of the determined orientation of the obstacle can be improved, and the safety of driving and the like can be improved.

[0106] The scheme described in the present disclosure can be applied to the field of artificial intelligence, and in particular relates to the fields of automatic driving, computer vision, and deep learning. Artificial intelligence is a discipline that studies enabling computers to simulate some thinking processes and intelligent behaviors (such as learning, reasoning, thinking, planning, etc.) of humans, and includes both hardware-level technologies and software-level technologies. Artificial intelligence hardware technologies generally include technologies such as sensors, special artificial intelligence chips, cloud computing, distributed storage, big data processing, etc., and artificial intelligence software technologies mainly include computer vision technology, speech recognition technology, natural language processing technology, and machine learning / deep learning, big data processing technology, knowledge graph technology, etc.

[0107] The moving track and the like in the embodiments of the present disclosure are not directed to a specific user, and cannot reflect personal information of a specific user. In the technical scheme of the present disclosure, the collection, storage, use, processing, transmission, provision, and disclosure of user personal information involved all comply with the provisions of relevant laws and regulations, and do not violate public order and good customs.

[0108] According to the embodiments of the present disclosure, the present disclosure further provides an electronic device, a readable storage medium, and a computer program product.

[0109] Figure 5 A schematic block diagram of an electronic device 500 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, servers, servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit implementations of the present disclosure described and / or claimed in this document.

[0110] As shown in Figure 5 The device 500 includes a computing unit 501 that can perform various appropriate actions and processes in accordance with a computer program stored in a read-only memory (ROM) 502 or a computer program loaded into a random access memory (RAM) 503 from a storage unit 508. In the RAM 503, various programs and data required for the operation of the device 500 can also be stored. The computing unit 501, the ROM 502, and the RAM 503 are connected to each other through a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0111] A plurality of components in the device 500 are connected to the I / O interface 505, including: an input unit 506, such as a keyboard, a mouse, etc.; an output unit 507, such as various types of displays, speakers, etc.; a storage unit 508, such as a magnetic disk, an optical disk, etc.; and a communication unit 509, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 509 allows the device 500 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0112] The computing unit 501 can be various general and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The computing unit 501 performs various methods and processes described above, such as the methods described in the present disclosure. For example, in some embodiments, the methods described in the present disclosure can be implemented as a computer software program, which is tangibly embodied in a machine-readable medium, such as the storage unit 508. In some embodiments, part or all of the computer program can be loaded and / or installed onto the device 500 via the ROM 502 and / or the communication unit 509. When the computer program is loaded onto the RAM 503 and executed by the computing unit 501, one or more steps of the methods described in the present disclosure can be performed. Alternatively, in other embodiments, the computing unit 501 can be configured to perform the methods described in the present disclosure by any other appropriate means, such as by means of firmware.

[0113] The various implementations of the systems and techniques described above can be realized in a digital electronic circuit system, an integrated circuit system, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), an application specific standard product (ASSP), a system on a chip system (SOC), a complex programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0114] Program code for carrying out methods of the present disclosure can be written in any combination of one or more programming languages. The program code can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the program code, when executed by the processor or controller, produces the functions / operations specified in the flowcharts and / or block diagrams. The program code can be executed entirely on a machine, partially on a machine, partially on a machine as a standalone software package, or entirely on a remote machine or server.

[0115] In the context of the present disclosure, a machine-readable medium can be a tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include but is not limited to an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium will include one or more lines of electrical connections, portable computer disks, hard disk drives, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or Flash memory), optical fibers, portable compact disc read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0116] To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0117] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), and the Internet.

[0118] The computer system can include clients and servers. This relationship can be. The servers are typically remote from the clients with the interactions between them occurring over a communication network. The relationship between client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The servers can be cloud servers, servers of a distributed system, or servers incorporating blockchain.

[0119] It should be understood that the steps shown in the various forms above can be reordered, added to, or removed. For example, the steps described in the present disclosure can be performed in parallel, in series, or in a different order, as long as the desired results of the present disclosure are achieved, and are not limited herein.

[0120] The specific embodiments described above are not intended to be limiting, and persons skilled in the art will appreciate that various modifications, combinations, sub-combinations and alternatives can be made to the specific embodiments without departing from the spirit and principles of the disclosure. Any further modifications, equivalents or alternatives within the spirit and principles of the disclosure are to be considered as falling within the scope of the disclosure.

Claims

1. A method for acquiring an orientation of an obstacle, comprising: for any obstacle detected during driving of a vehicle, acquiring a predicted moving trajectory of the obstacle within a predetermined time period in the future, the moving trajectory being composed of a starting trajectory point and non-starting trajectory points, the starting trajectory point being a position point where the obstacle is currently located; acquiring a velocity direction of the obstacle at the starting trajectory point as a first reference direction, and acquiring a predicted orientation of the obstacle at the starting trajectory point, determining a target orientation of the obstacle at the starting trajectory point according to a first deviation angle between the predicted orientation and the first reference direction, the target orientation being a determined orientation as a required result; for each non-starting trajectory point, acquiring a velocity direction of the obstacle at the non-starting trajectory point as a second reference direction, and determining an initial correction amount corresponding to the non-starting trajectory point, determining a target orientation of the obstacle at the non-starting trajectory point according to the initial correction amount, a correction coefficient and the second reference direction, wherein the correction coefficient is determined according to the target orientation at the starting trajectory point. 2.The method of claim 1, wherein: the vehicle comprises an autonomous vehicle; the acquiring of the predicted orientation of the obstacle at the starting trajectory point comprises: acquiring orientation information of the obstacle at the starting trajectory point generated by a perception module in the autonomous vehicle as the predicted orientation. 3.The method of claim 1, wherein: the determining of the target orientation of the obstacle at the starting trajectory point comprises: in response to the first deviation angle being less than or equal to a first threshold value, determining the target orientation of the obstacle at the starting trajectory point according to the first deviation angle; in response to the first deviation angle being greater than the first threshold value, correcting the predicted orientation in a predetermined manner, and acquiring a second deviation angle between the corrected predicted orientation and the first reference direction, determining the target orientation of the obstacle at the starting trajectory point according to the second deviation angle. 4.The method of claim 3, wherein: the first threshold value is 90 degrees; the predetermined manner comprises adding a correction amount of 180 degrees to the predicted orientation. 5.The method of claim 3, wherein: the determining of the target orientation of the obstacle at the starting trajectory point according to the first deviation angle comprises: in response to the first deviation angle being greater than a second threshold value, taking the first reference direction as the target orientation of the obstacle at the starting trajectory point, and in response to the first deviation angle being less than or equal to the second threshold value, taking the predicted orientation as the target orientation of the obstacle at the starting trajectory point; the second threshold value is less than the first threshold value. The target orientation of the obstacle at the starting trajectory point according to the second deviation angle comprises: taking the first reference direction as the target orientation of the obstacle at the starting trajectory point in response to the second deviation angle being greater than the second threshold value, and taking the modified predicted orientation as the target orientation of the obstacle at the starting trajectory point in response to the second deviation angle being less than or equal to the second threshold value.

6. The method of claim 5, wherein, The obstacle comprises a vehicle; The determination manner of the correction coefficient comprises: in response to taking the first reference direction as the target orientation of the obstacle at the starting trajectory point, setting the correction coefficient to 1; in response to taking the predicted orientation or the modified predicted orientation as the target orientation of the obstacle at the starting trajectory point, obtaining a steering curvature radius at the starting trajectory point, determining a first estimated deviation angle according to the steering curvature radius, a vehicle length of the obstacle, and a kinematic model, the first estimated deviation angle being an estimated deviation angle between the target orientation of the obstacle at the starting trajectory point and the first reference direction, and determining the correction coefficient according to the first estimated deviation angle.

7. The method of claim 6, wherein, The determination of the first estimated deviation angle comprises: obtaining a ratio of the vehicle length to the steering curvature radius, and obtaining a product of the ratio and a predetermined coefficient, obtaining an arctangent operation result of the product, and taking the arctangent operation result as the first estimated deviation angle.

8. The method of claim 6, wherein, The determination of the correction coefficient according to the first estimated deviation angle comprises: in response to not modifying the predicted orientation, obtaining a ratio of the first deviation angle to the first estimated deviation angle, in response to modifying the predicted orientation, obtaining a ratio of the second deviation angle to the first estimated deviation angle, and taking the ratio of the first deviation angle to the first estimated deviation angle or the ratio of the second deviation angle to the first estimated deviation angle as a reference ratio; in response to the reference ratio being negative, setting the correction coefficient to 0; in response to the reference ratio being positive, performing the following processing: if the reference ratio is less than a third threshold value, setting the correction coefficient to the third threshold value, if the reference ratio is greater than a fourth threshold value, setting the correction coefficient to the fourth threshold value, if the reference ratio is greater than or equal to the third threshold value and less than or equal to the fourth threshold value, setting the correction coefficient to the reference ratio, the fourth threshold value being greater than the third threshold value.

9. The method of claim 1, wherein, The obstacle comprises a vehicle; The determination of the initial correction amount corresponding to the non-starting trajectory point comprises: obtaining a turning curvature radius at the non-starting track point, and determining a second estimated deviation angle as the initial correction amount according to the turning curvature radius, a vehicle length of the obstacle, and a kinematic model, the second estimated deviation angle being a deviation angle between a target orientation of the obstacle at the non-starting track point and the second reference direction.

10. The method of claim 9, wherein, the determining the target orientation of the obstacle at the non-starting track point according to the initial correction amount, a correction coefficient, and the second reference direction comprises: obtaining a product of the initial correction amount and the correction coefficient as a target correction amount; adding the second reference direction and the target correction amount to obtain the target orientation of the obstacle at the non-starting track point.

11. The method of claim 9, wherein, the determining the second estimated deviation angle comprises: obtaining a ratio of the vehicle length to the turning curvature radius, and obtaining a product of the ratio and a predetermined coefficient, obtaining an arctangent operation result of the product, and taking the arctangent operation result as the second estimated deviation angle.

12. The method of any one of claims 1-11, further comprising: after the determining the target orientation of the obstacle at the non-starting track point, taking the non-starting track point as a track point to be processed, taking a target orientation at a previous track point adjacent to the track point to be processed as a reference orientation, and correcting the target orientation of the obstacle at the track point to be processed according to the reference orientation.

13. The method of claim 12, wherein, the correcting the target orientation of the obstacle at the track point to be processed according to the reference orientation comprises: in response to the target orientation of the obstacle at the track point to be processed being less than a difference between the reference orientation and a fifth threshold value, taking the difference as the target orientation of the obstacle at the track point to be processed; in response to the target orientation of the obstacle at the track point to be processed being greater than a sum of the reference orientation and the fifth threshold value, taking the sum as the target orientation of the obstacle at the track point to be processed; in response to the target orientation of the obstacle at the track point to be processed being greater than or equal to the difference and less than or equal to the sum, maintaining the target orientation of the obstacle at the track point to be processed unchanged.

14. An obstacle orientation acquisition device, comprising: a track acquisition module, a first determination module, and a second determination module; the track acquisition module is configured to, for any obstacle detected during vehicle driving, acquire a predicted moving track of the obstacle within a predetermined time length in the future, the moving track being composed of a starting track point and a non-starting track point, the starting track point being a current position point of the obstacle; The first determining module is configured to obtain a speed direction of the obstacle at the starting trajectory point as a first reference direction, obtain a predicted orientation of the obstacle at the starting trajectory point, and determine a target orientation of the obstacle at the starting trajectory point according to a first deviation angle between the predicted orientation and the first reference direction, the target orientation being the determined orientation as a required result. The second determining module is configured to, for each non-starting trajectory point, obtain a speed direction of the obstacle at the non-starting trajectory point as a second reference direction, determine an initial correction amount corresponding to the non-starting trajectory point, and determine a target orientation of the obstacle at the non-starting trajectory point according to the initial correction amount, a correction coefficient, and the second reference direction, wherein the correction coefficient is determined according to the target orientation at the starting trajectory point.

15. The apparatus of claim 14, wherein The vehicle comprises an autonomous vehicle. The first determining module obtains orientation information of the obstacle at the starting trajectory point generated by a perception module in the autonomous vehicle as the predicted orientation.

16. The apparatus of claim 14, wherein In response to the first deviation angle being less than or equal to a first threshold value, the first determining module determines the target orientation of the obstacle at the starting trajectory point according to the first deviation angle; in response to the first deviation angle being greater than the first threshold value, the first determining module corrects the predicted orientation in a predetermined manner, obtains a second deviation angle between the corrected predicted orientation and the first reference direction, and determines the target orientation of the obstacle at the starting trajectory point according to the second deviation angle.

17. The apparatus of claim 16, wherein The first threshold value is 90 degrees. The predetermined manner comprises adding a correction amount of 180 degrees to the predicted orientation.

18. The apparatus of claim 16, wherein In response to the first deviation angle being greater than a second threshold value, the first determining module takes the first reference direction as the target orientation of the obstacle at the starting trajectory point; in response to the first deviation angle being less than or equal to the second threshold value, the first determining module takes the predicted orientation as the target orientation of the obstacle at the starting trajectory point. The second threshold value is less than the first threshold value. In response to the second deviation angle being greater than the second threshold value, the first determining module takes the first reference direction as the target orientation of the obstacle at the starting trajectory point; in response to the second deviation angle being less than or equal to the second threshold value, the first determining module takes the corrected predicted orientation as the target orientation of the obstacle at the starting trajectory point.

19. The apparatus of claim 18, wherein The obstacle comprises a vehicle. The first determining module is further configured to set the correction coefficient as 1 in response to the first reference direction being taken as the target orientation of the obstacle at the starting trajectory point, obtain a turning curvature radius at the starting trajectory point in response to the predicted orientation or the corrected predicted orientation being taken as the target orientation of the obstacle at the starting trajectory point, determine a first estimated deviation angle between the target orientation of the obstacle at the starting trajectory point and the first reference direction according to the turning curvature radius, the vehicle length of the obstacle and a kinematic model, and determine the correction coefficient according to the first estimated deviation angle.

20. The apparatus of claim 19, wherein, The first determining module obtains a ratio of the vehicle length to the turning curvature radius, obtains a product of the ratio and a predetermined coefficient, obtains an arctangent operation result of the product, and takes the arctangent operation result as the first estimated deviation angle.

21. The apparatus of claim 19, wherein, The first determining module obtains a ratio of the first deviation angle to the first estimated deviation angle in response to the predicted orientation not being corrected, obtains a ratio of the second deviation angle to the first estimated deviation angle in response to the predicted orientation being corrected, takes the ratio of the first deviation angle to the first estimated deviation angle or the ratio of the second deviation angle to the first estimated deviation angle as a reference ratio, sets the correction coefficient as 0 in response to the reference ratio being negative, and performs the following processing in response to the reference ratio being positive: sets the correction coefficient as a third threshold in response to the reference ratio being less than the third threshold, sets the correction coefficient as a fourth threshold in response to the reference ratio being greater than the fourth threshold, sets the correction coefficient as the reference ratio in response to the reference ratio being greater than or equal to the third threshold and less than or equal to the fourth threshold, the fourth threshold being greater than the third threshold.

22. The apparatus of claim 14, wherein, The obstacle comprises a vehicle. The second determining module obtains a turning curvature radius at the non-starting trajectory point, determines a second estimated deviation angle between the target orientation of the obstacle at the non-starting trajectory point and the second reference direction according to the turning curvature radius, the vehicle length of the obstacle and a kinematic model, and takes the second estimated deviation angle as an initial correction amount.

23. The apparatus of claim 22, wherein, The second determining module obtains a product of the initial correction amount and the correction coefficient as a target correction amount, and adds the second reference direction and the target correction amount to obtain the target orientation of the obstacle at the non-starting trajectory point.

24. The apparatus of claim 22, wherein, The second determining module obtains a ratio of the vehicle length to the steering curvature radius, obtains a product of the ratio and a predetermined coefficient, obtains an arctangent operation result of the product, and takes the arctangent operation result as the second estimated deviation angle.

25. The apparatus according to any one of claims 14-24, wherein, The second determining module is further configured to, after determining the target orientation of the obstacle at the non-starting trajectory point, take the non-starting trajectory point as a to-be-processed trajectory point, take a target orientation of a previous trajectory point adjacent to the to-be-processed trajectory point as a reference orientation, and correct the target orientation of the obstacle at the to-be-processed trajectory point according to the reference orientation.

26. The apparatus according to claim 25, wherein, The second determining module is configured to, in response to the target orientation of the obstacle at the to-be-processed trajectory point being less than a difference between the reference orientation and a fifth threshold value, take the difference as the target orientation of the obstacle at the to-be-processed trajectory point, in response to the target orientation of the obstacle at the to-be-processed trajectory point being greater than a sum of the reference orientation and the fifth threshold value, take the sum as the target orientation of the obstacle at the to-be-processed trajectory point, and in response to the target orientation of the obstacle at the to-be-processed trajectory point being greater than or equal to the difference and less than or equal to the sum, maintain the target orientation of the obstacle at the to-be-processed trajectory point unchanged.

27. An electronic device, comprising: at least one processor; and a memory connected with the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-13.

28. A non-transitory computer readable storage medium having stored thereon computer instructions, wherein, The computer instructions are used to enable a computer to perform the method of any one of claims 1-13.

29. A computer program product comprising computer programs / instructions, which, when executed by a processor, implement the method of any one of claims 1-13.

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