Method, device and equipment for identifying target vehicle, vehicle and medium

Abstract

The embodiment of the invention relates to a method, device and equipment for identifying a target vehicle, a vehicle and a medium. The method includes determining a reference point or reference plane of a target vehicle relative to an own vehicle. The method further includes selecting two target angular points of the target vehicle based on the reference points or the reference planes. The method further comprises the step of determining an included angle between the vehicle and two connecting lines of the two target angular points based on the two target angular points. In addition, the method also includes identifying the target vehicle using the included angle. Through the method provided by the embodiment of the invention, no matter whether the camera of the vehicle can acquire the included angle between the two target angular points of the target vehicle and the vehicle, the size of the included angle can be calculated in the vehicle, and the target vehicle can be identified by using the included angle, so that the effect of identifying the target vehicle is improved.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to the field of intelligent driving, and more specifically, to a method, apparatus, device, vehicle, and medium for identifying a target vehicle. Background Art

[0002] With the development of intelligent driving technology, it is becoming increasingly important to obtain data information about surrounding target vehicles and identify target vehicles when the vehicle is driving on the road. Data information about target vehicles can be obtained through various sensors, such as cameras and radars. Fusion of data information obtained by different sensors can improve data reliability.

[0003] By accurately identifying the target vehicle, it can provide key support and safety assurance for future assisted driving and autonomous driving technologies. It not only helps to improve the performance of the driving system, but also reduces the risk of traffic accidents and improves road safety. By real-time monitoring and identifying the location, speed and behavior of surrounding vehicles, the vehicle's driving path can be planned more effectively, potential collisions can be avoided, and more information and decision support can be provided to the driver. Summary of the invention

[0004] Embodiments of the present disclosure provide a method, an apparatus, a device, a vehicle, and a medium for identifying a target vehicle.

[0005] According to a first aspect of the present disclosure, a method for identifying a target vehicle is provided. The method includes determining a reference point or a reference surface of the target vehicle relative to a self-vehicle. The method also includes selecting two target corner points of the target vehicle based on the reference point or the reference surface. The method also includes determining an angle between two lines connecting the self-vehicle and the two target corner points based on the two target corner points. In addition, the method also includes using the angle to identify the target vehicle.

[0006] According to a second aspect of the present disclosure, a device for identifying a target vehicle is provided. The device includes a reference information determination unit configured to determine a reference point or reference surface of the target vehicle relative to the own vehicle. The device also includes a target corner point selection unit configured to select two target corner points of the target vehicle based on the reference point or reference surface. The device also includes an angle determination unit configured to determine the angle between two lines connecting the own vehicle and the two target corner points based on the two target corner points. In addition, the device also includes a target vehicle identification unit configured to use the angle to identify the target vehicle.

[0007] According to a third aspect of the present disclosure, a radar is provided, which includes a processor and a memory coupled to the processor and having instructions stored thereon, wherein when the instructions are executed by the processor, the radar executes the steps of the method in the first aspect of the present disclosure.

[0008] According to a fourth aspect of the present disclosure, a vehicle is provided, comprising a camera and the radar in the third aspect of the present disclosure.

[0009] According to a fifth aspect of the present disclosure, a computer-readable storage medium is provided, wherein computer-executable instructions are stored on the computer-readable storage medium, wherein the computer-executable instructions are executed by a radar to implement the steps of the method in the first aspect of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The above and other objects, features and advantages of the present disclosure will become more apparent through a more detailed description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present disclosure.

[0011] Figure 1A A schematic diagram showing a driving environment of an embodiment of the present disclosure;

[0012] Figure 1B A schematic diagram showing an example environment in which the apparatus and / or method of embodiments of the present disclosure may be implemented;

[0013] Figure 2 A flow chart of a method for identifying a target vehicle according to an embodiment of the present disclosure is shown;

[0014] Figure 3A A schematic diagram showing a scene of locating a target vehicle in a self-vehicle coordinate system according to an embodiment of the present disclosure

[0015] Figure 3B A flowchart showing a process of determining a reference point and / or reference surface of a target vehicle according to an embodiment of the present disclosure is shown;

[0016] Figure 3C A schematic diagram of a target vehicle coordinate system according to an embodiment of the present disclosure is shown;

[0017] Figure 4A A flowchart showing a process of calculating an edge angle of a target vehicle according to an embodiment of the present disclosure is shown;

[0018] Figure 4B A schematic diagram showing a scene of changing a target vehicle frame according to an embodiment of the present disclosure;

[0019] Figure 5 A schematic diagram of a device for identifying a target vehicle according to an embodiment of the present disclosure is illustrated;

[0020] Figure 6 A schematic block diagram of an example device suitable for implementing embodiments of the present disclosure is illustrated.

[0021] In the various drawings, the same or corresponding reference numerals represent the same or corresponding parts. DETAILED DESCRIPTION

[0022] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be interpreted as being limited to the embodiments set forth herein, but rather these embodiments are provided for a more thorough and complete understanding of the present disclosure.

[0023] During the driving process, the autonomously controlled vehicle (also called the ego vehicle) will be equipped with a variety of sensors to obtain the attribute information (e.g., heading angle, azimuth, etc.) of other vehicles on the road (also called the target vehicle). Common sensors include cameras and radars. Through the video data of the camera, the attribute data of the target vehicle such as lateral speed and lateral distance can be obtained; through the point cloud data of the radar, the attribute data of the target vehicle such as longitudinal speed and longitudinal distance can be obtained. These data can be used to identify the target vehicle to assist the driving of the ego vehicle. In addition, by fusing the camera data and the radar data, the reliability of the attribute data of the target vehicle can be improved. The angle between the two corner points of the target vehicle and the ego vehicle (also called the edge angle) is also one of the attribute data of the target vehicle, which can be used to identify the target vehicle and can also be used to identify the angular velocity of the target vehicle. However, many cameras do not support the acquisition of edge angles, so the edge angle data cannot be fused when the attribute data of the target vehicle is fused, resulting in a decrease in the accuracy of identifying the target vehicle.

[0024] To this end, an embodiment of the present disclosure proposes a method for identifying a target vehicle. When identifying a target vehicle, the radar first determines a reference point or reference surface of the target vehicle relative to the vehicle, thereby determining which side of the target vehicle is facing the vehicle, thereby selecting two corner points of the target vehicle, which are two corner points on the side of the target vehicle facing the vehicle. Next, the size of the edge angle is determined by the two corner points, and then the edge angle is used to identify the target vehicle. Through this method, the size of the edge angle can be calculated in the radar, and the edge angle can be used to identify the target vehicle, thereby improving the accuracy of identifying the target vehicle.

[0025] The embodiments of the present disclosure will be described in detail below in conjunction with the accompanying drawings. Figure 1A FIG. 1 is a schematic diagram of a driving environment 100A according to an embodiment of the present disclosure. Figure 1AAs shown, the driving environment 100A includes a self-vehicle 104 and a target vehicle 106 traveling on a road 102. In addition, the driving environment 100A also includes a self-vehicle coordinate system, wherein a point 108 is the origin of the self-vehicle coordinate system, an axis 110 is the longitudinal axis of the self-vehicle coordinate system, and an axis 112 is the transverse axis of the self-vehicle coordinate system. It should be understood that the origin 108, the longitudinal axis 110, and the transverse axis 112 are used as examples to describe the self-vehicle coordinate system, and the present disclosure does not limit the position of the origin, and the directions of the transverse axis and the longitudinal axis.

[0026] Continue to refer Figure 1A In the example of , the target vehicle 106 is traveling in front of the vehicle 104. It can be understood that the rear side of the target vehicle 106 is facing the vehicle 104. Thus, the corner point of the rear side of the target vehicle can be used to calculate the edge angle. Figure 1A As shown, the left rear corner point 114 and the right rear corner point 116 of the self-vehicle can be used to calculate the edge angle, and these two corner points represent the two most edge points in the rear side of the target vehicle 106, so they are called corner points. In certain embodiments, since the target vehicle 106 will change relative to the orientation of the self-vehicle 104 and the driving direction of the target vehicle 106, the target vehicle 106 will also change relative to the reference point or reference surface of the self-vehicle 104, so the corner point used to calculate the edge angle will also change. For example, when the right side of the target vehicle 106 is towards the self-vehicle, the corner point used to calculate the edge angle can make the right rear corner point 116 and the right front corner point (not marked) of the target vehicle. It should be understood that since the body shape of the target vehicle 106 will change, even if the reference surface is determined, the position of the corner point of the target vehicle 106 of different body shapes is not the same. In certain embodiments, when processing the picture or video of the target vehicle 106, it will be placed in a virtual rectangular frame, so that the four corners of the rectangular frame are the corresponding corner point positions.

[0027] The line 118 between the left rear corner point 114 of the target vehicle 106 and the origin 108, and the line 120 between the right rear corner point 116 and the origin 108, the angle (acute angle) between the two is the edge angle of the target vehicle 106 relative to the self-vehicle 104. In addition, the angle (acute angle) between the line 118 and the longitudinal axis 110 is the left edge angle, and the angle (acute angle) between the line 120 and the longitudinal axis 110 is the right edge angle, and the left edge angle and the left edge angle are added to each other to obtain the above-mentioned edge angle. It should be understood that the corner points, lines and edge angles described in the embodiments of the present disclosure may have a variety of different situations, and the present disclosure does not limit this. The embodiments of the present disclosure can identify the target vehicle by calculating the edge angle. Since the edge angle is used for identification, the angular velocity of the target vehicle can be calculated by derivation, thereby improving the effect of identification.

[0028] Figure 1B1 is a schematic diagram of an example environment 100B in which the devices and / or methods of embodiments of the present disclosure may be implemented. Figure 1B As shown, the example environment 100B may include a Figure 1A In some embodiments, the camera 150 on the vehicle 104 can obtain Figure 1A The camera 150 can obtain the attribute data of the target vehicle 106, such as the position parameters and size parameters of the target vehicle 106, and send the acquired attribute data to the radar 160 on the vehicle 104. Figure 1B As shown, the radar 160 may include a sensing unit 162 and a computing unit 164, wherein the sensing unit 162 may obtain point cloud data of the target vehicle 106, and the point cloud data may be used in the target fusion process. The computing unit 164 may calculate the edge angle using the attribute data sent by the camera 150. For example, the reference point (e.g., the front center of the target vehicle 106) and / or the reference surface (the front side of the target vehicle 106) of the target vehicle 106 relative to the vehicle 102 is determined, and then two target corner points are determined to calculate the edge angle. The computing unit 164 may send the calculated edge angle to the recognition unit 166, so as to use the edge angle to recognize the target vehicle 106. Since the edge angle contains attribute information such as the orientation, heading, and corner points of the target vehicle, the recognition unit 166 may use the edge angle to more accurately recognize the target vehicle 106.

[0029] Figure 2 200 according to an embodiment of the present disclosure. At block 202, a reference point and / or reference surface of the target vehicle relative to the vehicle is determined. Figure 1A As shown, the reference point of the target vehicle 106 relative to the vehicle 102 can be determined as the rear protection center, that is, the rear side center of the target vehicle 106, and the reference surface can be determined as the rear side of the target vehicle. The reference point and / or the reference surface are used to reflect which side / which side of the target vehicle is facing the vehicle. In some embodiments, the reference point of the target vehicle relative to the vehicle can be determined as the front protection center, that is, the front side center of the target vehicle, and the reference surface can be determined as the front side of the target vehicle. It can be understood that the reference point and the reference surface are in a corresponding relationship, and the reference point can be located on the reference surface.

[0030] At block 204, two target corner points of the target vehicle are selected based on the reference point or reference surface. Figure 1AAs shown, the reference point has been determined to be the rear protection center and / or the reference surface is the rear side, and the left rear corner point 114 and the right rear corner point 116 can be selected as two target corner points of the target vehicle 106. In some embodiments, other corner points can be selected as target corner points. It should be understood that the target vehicle can have four corner points, wherein the positions of the corner points are predetermined, such as being located at the edge of each side of the vehicle. Additionally or alternatively, when processing the target vehicle, the target vehicle can be regarded as being in a rectangular frame, and the four corners of the rectangular frame are the positions of the corner points.

[0031] At block 206, based on the two target corner points, the angle between the vehicle and the two connecting lines of the two target corner points is determined. Figure 1A As shown, the left rear corner point 114 and the right rear corner point 116 have been determined as the two target corner points of the target vehicle 106, and the angle (also called the edge angle) between the connecting line 118 and the connecting line 120 can be determined accordingly. At box 208, the angle is used to identify the target vehicle. Figure 1B As described above, the recognition module 166 uses edge angles to recognize the target vehicle 106 .

[0032] Through the method 200, the reference point and / or reference surface of the target vehicle relative to the own vehicle can be determined, thereby determining which side of the target vehicle is facing the own vehicle, and thus selecting two corner points of the target vehicle, which are two corner points on the side of the target vehicle facing the own vehicle. Next, the size of the edge angle is determined by the two corner points, and then the edge angle is used to identify the target vehicle. Through this method, the size of the edge angle can be calculated, and the edge angle can be used to identify the target vehicle, thereby improving the accuracy of identifying the target vehicle.

[0033] Figure 3A FIG. 3 is a schematic diagram showing a scene 300A of locating a target vehicle in a self-vehicle coordinate system according to an embodiment of the present disclosure. Figure 3A As shown, point 302 is the origin of the vehicle coordinate system (e.g., Figure 1A The origin 108 shown in FIG. 1 is shown in FIG. 1 ), and the axis 304 is the longitudinal axis of the vehicle coordinate system (e.g., Figure 1A The longitudinal axis 110 is shown in FIG. 1 ), and the axis 306 is the horizontal axis of the vehicle coordinate system (e.g., Figure 1A The horizontal axis 112 is shown in the figure. In the description of the subsequent related calculations, the vertical axis 304 is regarded as the independent variable axis to define the related directions and corner points. However, it can be understood that the horizontal axis 306 can also be used as the independent variable axis for positioning and calculation. In addition, the embodiments of the present disclosure also do not limit the directions of the vertical axis 304 and the horizontal axis 306.

[0034] Continue to refer Figure 3A , scene 300A also includes a target vehicle 308 (e.g., Figure 1A306 shown in the figure), and the center point 310 of the target vehicle 308. The angle between the line between the center point 310 and the origin 302 of the self-vehicle coordinate system and the longitudinal axis 304 of the self-vehicle coordinate system is the azimuth angle θ of the target vehicle 308, which is used to represent the position of the target vehicle 308 relative to the self-vehicle. It can be understood that the target vehicle 308 can be located at various positions around the self-vehicle. In some embodiments, the azimuth angle θ can be obtained by obtaining the position parameters of the target vehicle 308 and the self-vehicle position parameters through a camera, and calculated by trigonometric functions. In addition, the arrow 312 above the target vehicle 308 represents the driving direction (i.e., heading) of the target vehicle, and the angle between the arrow 312 and the longitudinal axis 304 of the self-vehicle coordinate system is the heading angle of the target vehicle 308. In the scene 300A, it can be seen that the angle between the arrow 312 and the longitudinal axis 304 of the self-vehicle coordinate system is 0 degrees, that is, the heading angle of the target vehicle 308 in this case is 0 degrees. It is understood that the target vehicle 308 can travel in any direction, and the heading angle will change accordingly. For example, when the target vehicle is traveling to the right in scene 300A, the heading angle is -90 degrees; when the target vehicle is traveling to the left, the heading angle is 90 degrees.

[0035] Figure 3B A flowchart of a process 300B for determining a target vehicle reference point and / or reference surface according to an embodiment of the present disclosure is shown. Figure 3C FIG. 3 is a schematic diagram showing a target vehicle coordinate system 300C according to an embodiment of the present disclosure. Figure 3C To describe Figure 3B Process 300B for determining a target vehicle reference point and / or reference surface.

[0036] At block 322, the angular difference between the heading angle and the azimuth angle of the target vehicle is determined. For example, the heading angle and the azimuth angle of the target vehicle may be Figure 3A The heading angle and azimuth angle of the target vehicle 308 described above are calculated. By calculating the difference between the heading angle and the azimuth angle of the target vehicle, it can be used to determine the reference point of the target vehicle in subsequent calculations. After determining the angle difference, proceed to box 324. At box 324, the angle difference is converted. In some embodiments, the angle difference can be converted to a range between 0 and 360. For example, in Figure 3A In the example, the heading angle is 0 degrees, and when the azimuth angle θ=30 degrees, the above angle difference is -30 degrees. The angle difference is converted and converted to between 0 and 360 degrees, and the converted angle difference is 330 degrees. The angle difference is converted to facilitate the subsequent selection of reference points and / or reference surfaces.

[0037] At box 326, it is determined whether the converted angle difference is greater than or equal to 45 degrees and less than 135 degrees. If the determination is true, proceed to box 328, where the left center of the target vehicle can be determined as the reference point and / or the left side of the target vehicle can be determined as the reference surface. Figure 3C As shown, in the target vehicle coordinate system 300C, the rectangular frame is the target vehicle (for example, Figure 3A The target vehicle 308 is in the target vehicle coordinate system, and the positive direction of the longitudinal axis of the target vehicle coordinate system is the front of the target vehicle, and the positive direction of the horizontal axis of the target vehicle coordinate system is the left of the target vehicle. Figure 3C The two dotted lines in the figure divide the target vehicle coordinate system into four parts, which can be used to determine the reference point and / or reference surface of the target vehicle. Figure 3C As shown by the dashed line in FIG, when the target difference is between 45 degrees (i.e., π / 4) and 135 degrees (i.e., π / 2+π / 4), the reference point is the left center 350 of the target vehicle, and the reference surface is the left side 352 of the target vehicle, i.e., in this case, the left side of the target vehicle faces the self-vehicle. Continue to box 330 and select the left front corner point and the left rear corner point of the target vehicle as the first target corner point and the second target corner point, respectively. Combined Figure 3C As shown, the left front corner point 354 of the target vehicle can be selected as the first target corner point, and the left rear corner point 356 of the target vehicle can be selected as the second target corner point.

[0038] At box 326, if the judgment result is false, proceed to box 332. At box 332, it can be determined whether the converted angle difference is greater than or equal to 135 degrees and less than 225 degrees. If the judgment is true, proceed to box 334, and the front center of the target vehicle can be determined as the reference point and / or the front side of the target vehicle can be determined as the reference surface. Figure 3C As shown, when the target difference is between 135 degrees (i.e., π / 2+π / 4) and 225 degrees (i.e., 2π / 2+π / 4), the reference point is the front center 358 of the target vehicle, and the reference surface is the front side 360 ​​of the target vehicle, i.e., in this case, the front side of the target vehicle faces the self-vehicle. Continue to box 336 and select the right front corner point and the left front corner point of the target vehicle as the first target corner point and the second target corner point, respectively. Combined Figure 3C As shown, the right front corner point 362 of the target vehicle can be selected as the first target corner point, and the left front corner point 354 of the target vehicle can be selected as the second target corner point.

[0039] At box 332, if the judgment result is false, proceed to box 338. At box 338, it can be determined whether the converted angle difference is greater than or equal to 225 degrees and less than 315 degrees. If the judgment is true, proceed to box 340, and the right center of the target vehicle can be determined as the reference point and / or the right side of the target vehicle can be determined as the reference surface. Figure 3CAs shown, when the target difference is between 225 degrees (i.e., 2π / 2+π / 4) and 315 degrees (i.e., 3π / 2+π / 4), the reference point is the right center 364 of the target vehicle, and the reference surface is the right side 366 of the target vehicle, i.e., in this case, the right side of the target vehicle faces the self-vehicle. Continue to box 342 and select the right rear corner point and the right front corner point of the target vehicle as the first target corner point and the second target corner point, respectively. Combined Figure 3C As shown, the right rear corner point 368 of the target vehicle can be selected as the first target corner point, and the right front corner point 362 of the target vehicle can be selected as the second target corner point.

[0040] At box 338, if the judgment result is false, that is, the converted angle difference is greater than or equal to 315 degrees or less than 45 degrees, then proceed to box 344. At box 344, the rear center of the target vehicle can be determined as the reference point and / or the rear side of the target vehicle can be determined as the reference surface. Figure 3C As shown, when the target difference is between 315 degrees (i.e., 3π / 2+π / 4) and 45 degrees (i.e., π / 4), the reference point is the rear center 364 of the target vehicle, and the reference surface is the rear side 372 of the target vehicle, i.e., in this case, the rear side of the target vehicle faces the self-vehicle. Continue to box 346 and select the left rear corner point and the right rear corner point of the target vehicle as the first target corner point and the second target corner point, respectively. Figure 3C As shown, the left rear corner point 356 of the target vehicle can be selected as the first target corner point, and the right rear corner point 368 of the target vehicle can be selected as the second target corner point.

[0041] As mentioned above, through Figure 3B The process 300B can determine two target corner points of the target vehicle. The process of calculating the edge angle of the target vehicle through the two target corner points will be described below. Figure 4A FIG. 4 is a flowchart showing a process 400A for calculating an edge angle of a target vehicle according to an embodiment of the present disclosure. Figure 4B A schematic diagram of a scene 400B of a target vehicle frame transformation according to an embodiment of the present disclosure is shown. Figure 4B describe Figure 4A Process 400A.

[0042] At block 402, the positions of the first target corner point and the second target corner point in the target vehicle coordinate system are determined. The target vehicle coordinate system can be referenced to Figure 3CAs shown, in the target vehicle coordinate system, after the corner point is determined, the position of the corner point can be determined according to the size of the target vehicle. For example, when the target corner point is the left front corner point, its position coordinate in the target vehicle coordinate system is (l / 2, w / 2), where l is the length of the target vehicle and w is the width of the target vehicle; when the target corner point is the right front corner point, its position coordinate in the target vehicle coordinate system is (l / 2, -w / 2); when the target corner point is the right rear corner point, its position coordinate in the target vehicle coordinate system is (-l / 2, -w / 2); when the target corner point is the left rear corner point, its position coordinate in the target vehicle coordinate system is (-l / 2, w / 2).

[0043] In block 404, the positions of the first target corner point and the second target corner point in the vehicle coordinate system are determined. In some embodiments, the positions of the first target corner point and the second target corner point in the vehicle coordinate system are determined by transforming the coordinates. For example, the transformation matrix can be determined by the heading angle of the target vehicle, for example, the transformation matrix T can be shown in Formula 1:

[0044]

[0045] Where θ is the heading angle of the target vehicle. Based on the transformation matrix, the positions of the first target corner point and the second target corner point in the ego vehicle coordinate system are determined. For example, when the first target corner point is the left front corner point, its position coordinates in the target vehicle coordinate system are (l / 2, w / 2). The following formulas 2 and 3 can be used to determine its position coordinates in the ego vehicle coordinate system:

[0046]

[0047]

[0048] In formula 2, (x, y) is the coordinate of the target corner point after the transformation matrix performs the rotation transformation. An example of the rotation transformation can be as follows: Figure 4B As shown, the dotted box 410 is the position of the target vehicle before rotation, and the solid box 412 is the position of the target vehicle after rotation. By using the rotation matrix, the position coordinates of the center point of each side and each corner point on the dotted box 410 after rotation can be calculated. In formula 3, the coordinates are translated, where (x c ,y c ) is the center point of the target vehicle (e.g., Figure 3A (x', y') are the position coordinates of the center point 310 in the vehicle coordinate system, and (x', y') are the position coordinates of the target corner point in the vehicle coordinate system.

[0049] At block 406, the edge angle of the target vehicle is determined. In some embodiments, when the position coordinates of the first target corner point and the second target corner point in the vehicle coordinate system are determined, the left edge angle (e.g., Figure 1A The angle between the connecting line 118 and the longitudinal axis 110 in the image can be calculated, for example, using trigonometric functions. Similarly, the right edge angle (for example, Figure 1A The left edge angle and the right edge angle are summed to determine the edge angle of the target vehicle. In this way, the left edge angle and the right edge angle can be used to determine the edge angle of the target vehicle.

[0050] Figure 5 FIG. 5 is a schematic diagram of a device 500 for identifying a target vehicle according to an embodiment of the present disclosure. The device 500 may include multiple modules for performing the following steps: Figure 2 The corresponding steps in the method 200 discussed in Figure 5 As shown, the device 500 includes a reference information determination unit 502, which is configured to determine a reference point or a reference surface of the target vehicle relative to the self-vehicle. The device 500 also includes a target corner point selection unit 504, which is configured to select two target corner points of the target vehicle based on the reference point or the reference surface. The device 500 also includes an angle determination unit 506, which is configured to determine the angle between the self-vehicle and two connecting lines of the two target corner points based on the two target corner points. In addition, the device 500 also includes a target vehicle identification unit 508, which is configured to use the angle to identify the target vehicle.

[0051] In some embodiments, the reference information determination unit 502 includes: a heading angle determination unit, configured to determine the heading angle of the target vehicle in the vehicle coordinate system of the vehicle; an azimuth angle determination unit, configured to determine the azimuth angle of the target vehicle in the vehicle coordinate system; and a reference information second determination unit, configured to determine a reference point or reference plane based on the heading angle and the azimuth angle.

[0052] In some embodiments, the second reference information determination unit includes: an angle difference determination unit, configured to determine the angle difference between the heading angle and the azimuth angle; an angle difference conversion unit, configured to convert the angle difference; and a third reference information determination unit, configured to determine a reference point or a reference plane based on the converted angle difference.

[0053] In some embodiments, the reference information third determination unit includes: a reference information fourth determination unit, configured to determine the left center of the target vehicle as the reference point or the left side of the target vehicle as the reference surface if the converted angle difference is greater than or equal to 45 degrees and less than 135 degrees; a reference information fifth determination unit, configured to determine the front center of the target vehicle as the reference point or the front side of the target vehicle as the reference surface if the converted angle difference is greater than or equal to 135 degrees and less than 225 degrees; a reference information sixth determination unit, configured to determine the right center of the target vehicle as the reference point or the right side of the target vehicle as the reference surface if the converted angle difference is greater than or equal to 225 degrees and less than 315 degrees; and a reference information seventh determination unit, configured to determine the rear center of the target vehicle as the reference point or the rear side of the target vehicle as the reference surface if the converted angle difference is greater than or equal to 315 degrees or less than 45 degrees.

[0054] In some embodiments, the target corner point selection unit 504 includes: a second target corner point selection unit, configured to select the left front corner point and the left rear corner point of the target vehicle as the first target corner point and the second target corner point respectively if the reference point is the left center of the target vehicle or the reference surface is the left side of the target vehicle; a third target corner point selection unit, configured to select the right front corner point and the left front corner point of the target vehicle as the first target corner point and the second target corner point respectively if the reference point is the front center of the target vehicle or the reference surface is the front side of the target vehicle; a fourth target corner point selection unit, configured to select the right rear corner point and the right front corner point of the target vehicle as the first target corner point and the second target corner point respectively if the reference point is the right center of the target vehicle or the reference surface is the right side of the target vehicle; and a fifth target corner point selection unit, configured to select the left rear corner point and the right rear corner point of the target vehicle as the first target corner point and the second target corner point respectively if the reference point is the rear center of the target vehicle or the reference surface is the rear side of the target vehicle.

[0055] In some embodiments, the device 500 also includes: a transformation matrix determination unit, configured to determine the transformation matrix based on the heading angle of the target vehicle in the self-vehicle coordinate system; a first position determination unit, configured to determine the first position of the first target corner point in the self-vehicle coordinate system based on the transformation matrix; and a second position determination unit, configured to determine the second position of the second target corner point in the self-vehicle coordinate system based on the transformation matrix.

[0056] In some embodiments, the first position determination unit includes: a first initial position determination unit, configured to determine the first initial position of the first target corner point in the target vehicle coordinate system based on the size of the target vehicle; and a first position second determination unit, configured to determine the first position of the first target corner point in the self-vehicle coordinate system based on the transformation matrix and the first initial position.

[0057] In some embodiments, the second position determination unit includes: a second initial position determination unit, configured to determine the second initial position of the second target corner point in the target vehicle coordinate system based on the size of the target vehicle; and a second position second determination unit, configured to determine the second position of the second target corner point in the self-vehicle coordinate system based on the transformation matrix and the second initial position.

[0058] In some embodiments, the angle determination unit 506 includes: a second angle determination unit configured to determine the angle between the two lines based on the first position and the second position.

[0059] Figure 6 A schematic block diagram of an example device 600 that can be used to implement an embodiment of the present disclosure is shown. As shown, the device 600 includes a central processing unit (CPU) 601, which can perform various appropriate actions and processes according to computer program instructions stored in a read-only memory (ROM) 602 or loaded from a storage unit 608 into a random access memory (RAM) 603. In the RAM 603, various programs and data required for the operation of the device 600 can also be stored. The CPU 601, the ROM 602, and the RAM 603 are connected to each other via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 904.

[0060] A number of components in the device 600 are connected to the I / O interface 605, which may include, for example: an input unit 606, such as a keyboard, a mouse, etc.; an output unit 607, such as various types of displays, speakers, etc.; a memory 608, such as a disk, an optical disk, etc.; and a communication unit 609, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 609 allows the device 600 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0061] The various processes and processing described above may be performed by the processing unit 601. For example, in some embodiments, the method 200 may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as the storage unit 608. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 600 via the ROM 602 and / or the communication unit 609. When the computer program is loaded into the RAM 603 and executed by the CPU 601, one or more actions of the method 200 described above may be performed.

[0062] The present disclosure may be a method, an apparatus, a system and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for executing various aspects of the present disclosure.

[0063] Computer readable storage medium can be a tangible device that can hold and store instructions used by an instruction execution device. Computer readable storage medium can be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the above. More specific examples (non-exhaustive list) of computer readable storage medium include: portable computer disk, hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disk read-only memory (CD-ROM), digital versatile disk (DVD), memory stick, floppy disk, mechanical encoding device, such as a punch card or a convex structure in a groove on which instructions are stored, and any suitable combination of the above. The computer readable storage medium used here is not interpreted as a transient signal itself, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagated by a waveguide or other transmission medium (e.g., a light pulse by an optical fiber cable), or an electrical signal transmitted by a wire.

[0064] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0065] The computer program instructions for performing the operation of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. Computer-readable program instructions may be executed completely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or completely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be customized by utilizing the state information of the computer-readable program instructions, and the electronic circuit may execute the computer-readable program instructions, thereby realizing various aspects of the present disclosure.

[0066] Various aspects of the present disclosure are described herein with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer-readable program instructions.

[0067] These computer-readable program instructions can be provided to a processing unit of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processing unit of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0068] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0069] The flow chart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to multiple embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a part of a module, program segment or instruction, and a part of the module, program segment or instruction includes one or more executable instructions for realizing the specified logical function. In some alternative implementations, the function marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two continuous square boxes can actually be executed substantially in parallel, and they can sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or action, or can be implemented with a combination of special hardware and computer instructions.

[0070] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A method for identifying a target vehicle, comprising: Determining a reference point or a reference surface of the target vehicle relative to the ego vehicle; Based on the reference point or the reference surface, selecting two target corner points of the target vehicle; Based on the two target corner points, determining an angle between two connecting lines of the vehicle and the two target corner points; as well as The target vehicle is identified using the angle.

2. The method according to claim 1, wherein determining the reference point or the reference surface of the target vehicle relative to the ego vehicle comprises: Determine the heading angle of the target vehicle in the ego vehicle coordinate system; Determine the azimuth of the target vehicle in the self-vehicle coordinate system; as well as The reference point or the reference plane is determined based on the heading angle and the azimuth angle.

3. The method according to claim 2, wherein determining the reference point or the reference surface comprises: determining an angular difference between the heading angle and the azimuth angle; Converting the angle difference; as well as The reference point or the reference plane is determined based on the converted angle difference.

4. The method according to claim 3, wherein converting the angle difference comprises: The angle difference is converted to a value between 0 and 360 degrees.

5. The method according to claim 4, wherein determining the reference point or the reference surface comprises: If the angle difference after conversion is greater than or equal to 45 degrees and less than 135 degrees, determine the left center of the target vehicle as the reference point or the left side of the target vehicle as the reference surface; If the angle difference after conversion is greater than or equal to 135 degrees and less than 225 degrees, determine the front center of the target vehicle as the reference point or the front side of the target vehicle as the reference surface; If the angle difference after conversion is greater than or equal to 225 degrees and less than 315 degrees, determine the right center of the target vehicle as the reference point or the right side of the target vehicle as the reference surface; as well as If the angle difference after conversion is greater than or equal to 315 degrees or less than 45 degrees, the rear center of the target vehicle is determined as the reference point or the rear side surface of the target vehicle is determined as the reference surface.

6. The method according to claim 1, wherein selecting the two target corner points of the target vehicle comprises: If the reference point is the left center of the target vehicle or the reference surface is the left side surface of the target vehicle, the left front corner point and the left rear corner point of the target vehicle are selected as the first target corner point and the second target corner point respectively; If the reference point is the front center of the target vehicle or the reference surface is the front side of the target vehicle, select the right front corner point and the left front corner point of the target vehicle as the first target corner point and the second target corner point respectively; If the reference point is the right center of the target vehicle or the reference surface is the right surface of the target vehicle, the right rear corner point and the right front corner point of the target vehicle are selected as the first target corner point and the second target corner point respectively; as well as If the reference point is the rear center of the target vehicle or the reference surface is the rear side surface of the target vehicle, the left rear corner point and the right rear corner point of the target vehicle are selected as the first target corner point and the second target corner point respectively.

7. The method according to claim 6, further comprising: Determining a transformation matrix based on the heading angle of the target vehicle in the ego-vehicle coordinate system; Based on the transformation matrix, determining a first position of the first target corner point in the vehicle coordinate system; as well as Based on the transformation matrix, a second position of the second target corner point in the vehicle coordinate system is determined.

8. The method according to claim 7, wherein determining the first position of the first target corner point in the ego-vehicle coordinate system comprises: Based on the size of the target vehicle, determining a first initial position of the first target corner point in a target vehicle coordinate system; as well as Based on the transformation matrix and the first initial position, the first position of the first target corner point in the vehicle coordinate system is determined.

9. The method according to claim 7, wherein determining the second position of the second target corner point in the vehicle coordinate system comprises: Based on the size of the target vehicle, determining a second initial position of the second target corner point in the target vehicle coordinate system; as well as Based on the transformation matrix and the second initial position, the second position of the second target corner point in the vehicle coordinate system is determined.

10. The method according to claim 9, wherein determining the angle between the two connecting lines between the ego vehicle and the two target corner points comprises: The angle between the two lines is determined based on the first position and the second position.

11. A device for identifying a target vehicle, comprising: A reference information determination unit, configured to determine a reference point or a reference surface of the target vehicle relative to the ego vehicle; A target corner point selection unit is configured to select two target corner points of the target vehicle based on the reference point or the reference surface; An angle determination unit is configured to determine an angle between two connecting lines of the ego vehicle and the two target corner points based on the two target corner points; as well as A target vehicle identification unit is configured to use the included angle to identify the target vehicle.

12. A radar comprising: processor; as well as A memory coupled to the processor and having instructions stored thereon, the instructions, when executed by the processor, causing the radar to perform the method according to any one of claims 1-10.

13. A vehicle comprising a camera and the radar according to claim 12.

14. A computer-readable storage medium having computer-executable instructions stored thereon, wherein the computer-executable instructions are executed by a radar to implement the method according to any one of claims 1 to 10.

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