Vehicle following target determination method and device

Abstract

The invention provides a method and a device for determining a car-following target. The method comprises the following steps: screening candidate vehicles of at least one scene type from a plurality of target vehicles through a vehicle driving parameter value and target driving parameter values of the plurality of target vehicles in front of the vehicle; and when the target driving parameter value of any candidate vehicle meets a preset tracking condition, determining the candidate vehicle as a tracking target vehicle. The tracking target vehicle is determined through the universal self-vehicle driving parameter value and the target driving parameter value, the universality of adaptive cruise is improved, the method can be suitable for multiple scenes and multiple working conditions, the balance between comfort and driving safety is improved, computing resources are saved, and the development cost is reduced. The candidate vehicles of the same scene type are screened by adopting multiple means, so that the accuracy of target identification is improved.

Description

Technical Field

[0001] The present application relates to the field of adaptive cruise technology, and in particular to a method, device, medium and electronic device for determining a following vehicle target. Background Art

[0002] Adaptive Cruise Control (ACC) is a driving assistance system that adjusts the speed of the vehicle according to the speed and following distance set by the driver. The system builds the road environment and identifies the target based on the perception module, algorithm, data training and other information. If there are the first target vehicle and the second target vehicle in front of the vehicle, the system can control the vehicle to follow the front vehicle and maintain a certain safety distance according to the set time interval level.

[0003] However, in some special scenarios, relying solely on the perception module is unable to respond to the rapidly changing road environment in a timely manner, thereby destroying the stability of the following vehicle target decision and easily causing collisions.

[0004] Therefore, the present application provides a method for determining a following vehicle target to solve the above technical problems. Summary of the invention

[0005] The purpose of this application is to provide a method, device, medium and electronic device for determining a vehicle following target, which can solve at least one of the technical problems mentioned above. The specific solution is as follows:

[0006] According to a specific implementation of the present application, in a first aspect, the present application provides a method for determining a vehicle-following target, comprising:

[0007] Obtaining a driving parameter value of the vehicle and target driving parameter values ​​of multiple target vehicles ahead of the vehicle;

[0008] Filtering candidate vehicles of at least one scenario type from the multiple target vehicles based on the driving parameter value of the own vehicle and the target driving parameter values ​​of the multiple target vehicles;

[0009] When the target driving parameter value of any candidate vehicle meets the preset tracking condition, the any candidate vehicle is determined to be a tracking target vehicle.

[0010] Optionally, the selecting candidate vehicles of at least one scenario type from the multiple target vehicles based on the driving parameter value of the vehicle and the target driving parameter values ​​of the multiple target vehicles comprises:

[0011] When the cut-in mark of any target vehicle is in an activated state, the lateral distance change value between any target vehicle and the vehicle is less than zero, and the direction of the lateral speed of any target vehicle is the same as the preset lateral cut-in direction, the any target vehicle is determined to be a candidate vehicle of the cut-in type.

[0012] Optionally, the selecting candidate vehicles of at least one scenario type from the multiple target vehicles based on the driving parameter value of the vehicle and the target driving parameter values ​​of the multiple target vehicles comprises:

[0013] When the longitudinal distance value between any target vehicle and the own vehicle is less than a preset first longitudinal distance threshold, or the relative longitudinal speed value between any target vehicle and the own vehicle is greater than a preset relative longitudinal speed threshold, when the lateral speed value of any target vehicle is greater than a preset lateral speed threshold, and the lateral distance value between any target vehicle and the own vehicle is less than a preset lateral distance threshold, and the overtaking distance value of any target vehicle crossing the single-side lane line is greater than a preset overtaking distance threshold, any target vehicle is determined to be a candidate vehicle of the cut-in type.

[0014] Optionally, the selecting candidate vehicles of at least one scenario type from the multiple target vehicles based on the driving parameter value of the vehicle and the target driving parameter values ​​of the multiple target vehicles comprises:

[0015] When the front vehicle mark of any target vehicle is in an activated state, or the probability value of any target vehicle belonging to the own lane is greater than the preset probability threshold of belonging to the own lane; or the target distance value between any target vehicle and the own vehicle is less than the preset distance threshold, when the line intrusion mark of any target vehicle is in an activated state, and the sideline clearance value of the own vehicle is less than the preset sideline clearance threshold, the any target vehicle is determined to be a pending vehicle;

[0016] When the to-be-determined vehicle does not satisfy a preset exclusion condition, the to-be-determined vehicle is determined to be a candidate vehicle belonging to the own lane type.

[0017] Optionally, the preset exclusion condition includes:

[0018] The preset first exclusion condition includes: the lane change mark of the pending vehicle is in an activated state, and the cut-out mark of the pending vehicle is in an activated state;

[0019] The preset second exclusion condition includes: the direction of the lateral speed of the to-be-determined vehicle is the same as the preset lateral cut-out direction;

[0020] The preset third exclusion condition includes: when the self-vehicle lane mark of the pending vehicle is in an activated state, and the motion state mark of the pending vehicle is in an activated state, and the edge clearance value of the pending vehicle is greater than the preset edge clearance threshold, and the road overlap value of the pending vehicle is less than the preset first road overlap threshold, and the self-vehicle overlap value between the self-vehicle and the pending vehicle is less than the preset first vehicle overlap threshold;

[0021] The preset third exclusion condition includes: when the lane mark of the pending vehicle is in an activated state, and the motion state mark of the pending vehicle is in a frozen state, and the road overlap value of the pending vehicle is less than the preset second road overlap threshold, and the vehicle overlap value between the own vehicle and the pending vehicle is less than the preset second vehicle overlap threshold, and the lane change mark of the own vehicle is in a frozen state, and the line crossing mark of the own vehicle is in a frozen state.

[0022] Optionally, the selecting candidate vehicles of at least one scenario type from the multiple target vehicles based on the driving parameter value of the vehicle and the target driving parameter values ​​of the multiple target vehicles comprises:

[0023] When any target vehicle is determined as an information identifier of a tracking target vehicle in the previous frame, and the lane change identifier of the vehicle is in a frozen state, and the road overlap value of any target vehicle is greater than a preset first road overlap threshold, the any target vehicle is determined to be a candidate vehicle of a separate road overlap type.

[0024] Optionally, the selecting candidate vehicles of at least one scenario type from the multiple target vehicles based on the driving parameter value of the vehicle and the target driving parameter values ​​of the multiple target vehicles comprises:

[0025] When the longitudinal distance value between any target vehicle and the own vehicle is less than a preset second longitudinal distance threshold, and the road overlap value is greater than the preset second road overlap threshold, and the line pressure mark of the own vehicle is in an activated state, the any target vehicle is determined to be a candidate vehicle of a separate road overlap type.

[0026] Optionally, the selecting candidate vehicles of at least one scenario type from the multiple target vehicles based on the driving parameter value of the vehicle and the target driving parameter values ​​of the multiple target vehicles comprises:

[0027] When the longitudinal distance value between any target vehicle and the self-vehicle is less than a preset third longitudinal distance threshold, and the any target vehicle is determined as an information identifier of a tracking target vehicle in the previous frame, and the self-vehicle overlap value of the any target vehicle is greater than a preset self-vehicle overlap threshold, the any target vehicle is determined to be a candidate vehicle of a separate self-vehicle overlap type.

[0028] Optionally, when the target driving parameter value of any candidate vehicle satisfies a preset tracking condition, determining any candidate vehicle as a tracking target vehicle includes:

[0029] When the vehicle type of any candidate vehicle satisfies one of a plurality of preset vehicle types, and the driving direction of any candidate vehicle is the same as that of the own vehicle, and the longitudinal distance value between any candidate vehicle and the own vehicle is less than or equal to a preset fourth longitudinal distance threshold, the any candidate vehicle is determined to be a pending tracking target vehicle;

[0030] The undetermined tracking target vehicle with the smallest longitudinal distance value to the ego vehicle is determined as the tracking target vehicle.

[0031] According to a specific implementation of the present application, in a second aspect, the present application provides a device for determining a vehicle-following target, comprising:

[0032] An acquisition unit, used for acquiring a driving parameter value of the vehicle and target driving parameter values ​​of a plurality of target vehicles ahead of the vehicle;

[0033] A screening unit, configured to screen out candidate vehicles of at least one scenario type from the plurality of target vehicles based on the driving parameter value of the vehicle and the target driving parameter values ​​of the plurality of target vehicles;

[0034] The determination unit is used to determine any candidate vehicle as a tracking target vehicle when the target driving parameter value of any candidate vehicle meets a preset tracking condition.

[0035] Optionally, the selecting candidate vehicles of at least one scenario type from the multiple target vehicles based on the driving parameter value of the vehicle and the target driving parameter values ​​of the multiple target vehicles comprises:

[0036] When the cut-in mark of any target vehicle is in an activated state, the lateral distance change value between any target vehicle and the vehicle is less than zero, and the direction of the lateral speed of any target vehicle is the same as the preset lateral cut-in direction, the any target vehicle is determined to be a candidate vehicle of the cut-in type.

[0037] Optionally, the selecting candidate vehicles of at least one scenario type from the multiple target vehicles based on the driving parameter value of the vehicle and the target driving parameter values ​​of the multiple target vehicles comprises:

[0038] When the longitudinal distance value between any target vehicle and the own vehicle is less than a preset first longitudinal distance threshold, or the relative longitudinal speed value between any target vehicle and the own vehicle is greater than a preset relative longitudinal speed threshold, when the lateral speed value of any target vehicle is greater than a preset lateral speed threshold, and the lateral distance value between any target vehicle and the own vehicle is less than a preset lateral distance threshold, and the overtaking distance value of any target vehicle crossing the single-side lane line is greater than a preset overtaking distance threshold, any target vehicle is determined to be a candidate vehicle of the cut-in type.

[0039] Optionally, the selecting candidate vehicles of at least one scenario type from the multiple target vehicles based on the driving parameter value of the vehicle and the target driving parameter values ​​of the multiple target vehicles comprises:

[0040] When the front vehicle mark of any target vehicle is in an activated state, or the probability value of any target vehicle belonging to the own lane is greater than the preset probability threshold of belonging to the own lane; or the target distance value between any target vehicle and the own vehicle is less than the preset distance threshold, when the line intrusion mark of any target vehicle is in an activated state, and the sideline clearance value of the own vehicle is less than the preset sideline clearance threshold, the any target vehicle is determined to be a pending vehicle;

[0041] When the to-be-determined vehicle does not satisfy a preset exclusion condition, the to-be-determined vehicle is determined to be a candidate vehicle belonging to the own lane type.

[0042] Optionally, the preset exclusion condition includes:

[0043] The preset first exclusion condition includes: the lane change mark of the pending vehicle is in an activated state, and the cut-out mark of the pending vehicle is in an activated state;

[0044] The preset second exclusion condition includes: the direction of the lateral speed of the to-be-determined vehicle is the same as the preset lateral cut-out direction;

[0045] The preset third exclusion condition includes: when the self-vehicle lane mark of the pending vehicle is in an activated state, and the motion state mark of the pending vehicle is in an activated state, and the edge clearance value of the pending vehicle is greater than the preset edge clearance threshold, and the road overlap value of the pending vehicle is less than the preset first road overlap threshold, and the self-vehicle overlap value between the self-vehicle and the pending vehicle is less than the preset first vehicle overlap threshold;

[0046] The preset third exclusion condition includes: when the lane mark of the pending vehicle is in an activated state, and the motion state mark of the pending vehicle is in a frozen state, and the road overlap value of the pending vehicle is less than the preset second road overlap threshold, and the vehicle overlap value between the own vehicle and the pending vehicle is less than the preset second vehicle overlap threshold, and the lane change mark of the own vehicle is in a frozen state, and the line crossing mark of the own vehicle is in a frozen state.

[0047] Optionally, the selecting candidate vehicles of at least one scenario type from the multiple target vehicles based on the driving parameter value of the vehicle and the target driving parameter values ​​of the multiple target vehicles comprises:

[0048] When any target vehicle is determined as an information identifier of a tracking target vehicle in the previous frame, and the lane change identifier of the vehicle is in a frozen state, and the road overlap value of any target vehicle is greater than a preset first road overlap threshold, the any target vehicle is determined to be a candidate vehicle of a separate road overlap type.

[0049] Optionally, the selecting candidate vehicles of at least one scenario type from the multiple target vehicles based on the driving parameter value of the vehicle and the target driving parameter values ​​of the multiple target vehicles comprises:

[0050] When the longitudinal distance value between any target vehicle and the own vehicle is less than a preset second longitudinal distance threshold, and the road overlap value is greater than the preset second road overlap threshold, and the line pressure mark of the own vehicle is in an activated state, the any target vehicle is determined to be a candidate vehicle of a separate road overlap type.

[0051] Optionally, the selecting candidate vehicles of at least one scenario type from the multiple target vehicles based on the driving parameter value of the vehicle and the target driving parameter values ​​of the multiple target vehicles comprises:

[0052] When the longitudinal distance value between any target vehicle and the self-vehicle is less than a preset third longitudinal distance threshold, and the any target vehicle is determined as an information identifier of a tracking target vehicle in the previous frame, and the self-vehicle overlap value of the any target vehicle is greater than a preset self-vehicle overlap threshold, the any target vehicle is determined to be a candidate vehicle of a separate self-vehicle overlap type.

[0053] Optionally, when the target driving parameter value of any candidate vehicle satisfies a preset tracking condition, determining any candidate vehicle as a tracking target vehicle includes:

[0054] When the vehicle type of any candidate vehicle satisfies one of a plurality of preset vehicle types, and the driving direction of any candidate vehicle is the same as that of the own vehicle, and the longitudinal distance value between any candidate vehicle and the own vehicle is less than or equal to a preset fourth longitudinal distance threshold, the any candidate vehicle is determined to be a pending tracking target vehicle;

[0055] The undetermined tracking target vehicle with the smallest longitudinal distance value to the ego vehicle is determined as the tracking target vehicle.

[0056] According to the specific implementation of the present application, in a third aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, and when the program is executed by a processor, the method for determining a following vehicle target as described in any of the above items is implemented.

[0057] According to the specific implementation of the present application, in a fourth aspect, the present application provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the method for determining the following vehicle target as described in any of the above items.

[0058] Compared with the prior art, the above solution of the embodiment of the present application has at least the following beneficial effects:

[0059] The present application provides a method, device, medium and electronic device for determining a vehicle-following target. The present application selects candidate vehicles of at least one scenario type from the multiple target vehicles through the driving parameter values ​​of the own vehicle and the target driving parameter values ​​of the multiple target vehicles in front of the own vehicle; when the target driving parameter value of any candidate vehicle meets the preset tracking condition, the any candidate vehicle is determined to be a tracking target vehicle. The tracking target vehicle is determined by using the common driving parameter values ​​of the own vehicle and the target driving parameter values, which improves the versatility of adaptive cruise control, can be applied to multiple scenarios and multiple working conditions, improves the balance between comfort and driving safety, saves computing resources, and reduces development costs. Multiple means are used to screen candidate vehicles of the same scenario type to improve the accuracy of target recognition. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 A logical schematic diagram of a method for determining a vehicle-following target according to an embodiment of the present application is shown;

[0061] Figure 2 A flow chart of a method for determining a vehicle following target according to an embodiment of the present application is shown;

[0062] Figure 3 A unit block diagram of a device for determining a vehicle-following target according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0063] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0064] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings, and "multiple" generally includes at least two.

[0065] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0066] It should be understood that although the terms first, second, third, etc. may be used to describe in the embodiments of the present application, these descriptions should not be limited to these terms. These terms are only used to distinguish the descriptions. For example, without departing from the scope of the embodiments of the present application, the first may also be referred to as the second, and similarly, the second may also be referred to as the first.

[0067] As used herein, the words "if" and "if" may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

[0068] It should also be noted that the term "includes", "comprising" or any other variation thereof is intended to cover non-exclusive inclusion, so that a commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprising a ..." do not exclude the existence of other identical elements in the commodity or device including the elements.

[0069] It should be particularly noted that any symbols and / or numbers in the specification that are not marked in the accompanying drawings are not drawing marks.

[0070] The optional embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0071] The embodiment provided in this application is an embodiment of a method for determining a following vehicle target.

[0072] like Figure 1As shown, the embodiment of the present application obtains perception information based on the information collected by the monocular camera, combines the vehicle information and the previous frame information, and obtains the driving parameter value of the vehicle and the target driving parameter values ​​of multiple target vehicles in front of the vehicle according to the road fusion algorithm and the scene processing algorithm. According to the scene type, the judgment and processing are performed based on the driving parameter value of the vehicle and the target driving parameter values ​​of multiple target vehicles to obtain candidate vehicles of the cut-in type, the belonging lane type, the single road overlap type and the single vehicle overlap type, and then the candidate vehicles are confirmed by the vehicle type, the longitudinal distance value and the driving direction, and finally the vehicle with the smallest longitudinal distance value is selected as the tracking target vehicle.

[0073] Combine the following Figure 2 The embodiments of the present application are described in detail.

[0074] Step S201, obtaining a driving parameter value of the own vehicle and target driving parameter values ​​of multiple target vehicles in front of the own vehicle.

[0075] The target vehicle refers to the vehicle in front of the vehicle. The embodiment of the present application is to select a tracking target vehicle from multiple target vehicles so as to perform adaptive cruising on the tracking target vehicle.

[0076] Step S202: selecting candidate vehicles of at least one scenario type from the multiple target vehicles based on the driving parameter value of the vehicle and the target driving parameter values ​​of the multiple target vehicles.

[0077] The embodiment of the present application can screen out one or more candidate vehicles from multiple target vehicles through the driving parameter value of the own vehicle and the target driving parameter values ​​of the multiple target vehicles.

[0078] The coordinate data involved in the implementation of this application is the data of the vehicle body coordinates.

[0079] The scene type includes: cut-in type, belonging to own lane type, single road overlap type and single vehicle overlap type. In the second screening, a candidate vehicle of one scene type may be screened out, or candidate vehicles of multiple scene types may be screened out. When no candidate vehicle of a scene type is screened out, there is no tracking target vehicle.

[0080] The cut-in type refers to the scenario type in which the target vehicle cuts in from the adjacent lane to the vehicle.

[0081] The belonging lane type refers to the scenario type where the target vehicle and the ego vehicle are in the same lane.

[0082] The single road overlap type refers to the scenario type of the ratio of the vehicle width value to the lane width value.

[0083] The single ego vehicle overlap type refers to a scenario type in which the first cross section of the ego vehicle in the vehicle coordinate system forms a plane, and the area of ​​the overlap between the projection of the second cross section of the front vehicle on the plane and the first cross section accounts for the ratio of the area of ​​the first cross section.

[0084] In some specific embodiments, the target driving parameter value includes at least: a cut-in mark, a lateral distance change value, and a lateral speed direction.

[0085] Accordingly, the step of selecting candidate vehicles of at least one scenario type from the multiple target vehicles based on the driving parameter value of the vehicle and the target driving parameter values ​​of the multiple target vehicles includes:

[0086] Step S202a, when the cut-in mark of any target vehicle is in an activated state, and the lateral distance change value between any target vehicle and the vehicle is less than zero, and the direction of the lateral speed of any target vehicle is the same as the preset lateral cut-in direction, determine that any target vehicle is a candidate vehicle of the cut-in type.

[0087] The cut-in flag is activated by the perception module.

[0088] The lateral distance change value is equal to the difference between the lateral distance value between the target vehicle and the vehicle in the current frame and the lateral distance value between the target vehicle and the vehicle in the previous frame. When the lateral distance change value between any target vehicle and the vehicle is less than zero, it indicates that the lateral distance between any target vehicle and the vehicle is getting closer.

[0089] Frame means a collection cycle, and one frame is a collection cycle.

[0090] This specific embodiment determines that any one of the target vehicles is a candidate vehicle of the cut-in type through partial information provided by the perception module.

[0091] In some specific embodiments, in some scenarios, the target vehicle invades the lane at a fast speed, and the perception module cannot activate the cut-in mark of the target vehicle in time. Therefore, a solution for the cut-in type is added.

[0092] The target driving parameter values ​​at least include: a longitudinal distance value, a relative longitudinal speed value, a lateral speed value, a lateral distance value and an overtaking distance value.

[0093] Accordingly, the step of selecting candidate vehicles of at least one scenario type from the multiple target vehicles based on the driving parameter value of the vehicle and the target driving parameter values ​​of the multiple target vehicles includes:

[0094] Step S202b, when the longitudinal distance value between any target vehicle and the own vehicle is less than a preset first distance threshold, or the relative longitudinal speed value between any target vehicle and the own vehicle is greater than a preset relative longitudinal speed threshold, when the lateral speed value of any target vehicle is greater than a preset lateral speed threshold, and the lateral distance value between any target vehicle and the own vehicle is less than a preset lateral distance threshold, and the overtaking distance value of any target vehicle crossing the single-side lane line is greater than a preset overtaking distance threshold, determine that any target vehicle is a candidate vehicle of the cut-in type.

[0095] The two methods of cutting-in type are used in conjunction with each other to improve the recognition efficiency of cutting-in type candidate vehicles.

[0096] In some specific embodiments, the self-vehicle driving parameter value includes at least a sideline clearance value;

[0097] The target driving parameter values ​​include at least: a front vehicle identification, a probability value of belonging to the own lane, a target distance value and a line-invasion identification.

[0098] The edge clearance value refers to the distance between the vehicle and the lane edge. The edge clearance value is either the left edge clearance value or the right edge clearance value. Only one edge clearance value can be selected as the calculation standard in one screening.

[0099] The target distance value refers to the distance between the target vehicle and the vehicle.

[0100] Accordingly, the step of selecting candidate vehicles of at least one scenario type from the multiple target vehicles based on the driving parameter value of the vehicle and the target driving parameter values ​​of the multiple target vehicles includes:

[0101] Step S202c-1, when the vehicle ahead mark of any target vehicle is in an activated state, or the probability value of belonging to the own lane of any target vehicle is greater than the preset probability threshold of belonging to the own lane; or the target distance value between any target vehicle and the own vehicle is less than the preset distance threshold, when the line intrusion mark of any target vehicle is in an activated state and the sideline clearance value of the own vehicle is less than the preset sideline clearance threshold, determine that any target vehicle is a pending vehicle.

[0102] Step S202c-2: When the pending vehicle does not meet the preset exclusion condition, determine that the pending vehicle is a candidate vehicle belonging to the lane type.

[0103] In some specific embodiments, the vehicle driving parameter value includes at least a lane change mark and a line crossing mark;

[0104] The target driving parameter values ​​include at least: a lane change mark, a cut-out mark, a lateral speed, a lane mark of the own vehicle, a motion state mark, a sideline gap value, a road overlap value and a vehicle overlap value.

[0105] The road overlap value refers to the ratio of the vehicle width value to the lane width value;

[0106] The own-vehicle overlap value refers to the ratio of the area where the projection of the second cross-section of the front vehicle on a plane formed by the first cross-section of the own vehicle in the vehicle coordinate system overlaps with the first cross-section to the area of ​​the first cross-section.

[0107] Accordingly, the preset exclusion conditions include:

[0108] The preset first exclusion condition includes: the lane change mark of the pending vehicle is in an activated state, and the cut-out mark of the pending vehicle is in an activated state;

[0109] The preset second exclusion condition includes: the direction of the lateral speed of the to-be-determined vehicle is the same as the preset lateral cut-out direction;

[0110] The preset third exclusion condition includes: when the self-vehicle lane mark of the pending vehicle is in an activated state, and the motion state mark of the pending vehicle is in an activated state, and the edge clearance value of the pending vehicle is greater than the preset edge clearance threshold, and the road overlap value of the pending vehicle is less than the preset first road overlap threshold, and the self-vehicle overlap value between the self-vehicle and the pending vehicle is less than the preset first vehicle overlap threshold;

[0111] The preset fourth exclusion condition includes: when the lane mark of the pending vehicle is in an activated state, and the motion state mark of the pending vehicle is in a frozen state, and the road overlap value of the pending vehicle is less than the preset second road overlap threshold, and the vehicle overlap value between the own vehicle and the pending vehicle is less than the preset second vehicle overlap threshold, and the lane change mark of the own vehicle is in a frozen state, and the line crossing mark of the own vehicle is in a frozen state.

[0112] In this specific embodiment, only when the to-be-determined vehicle does not satisfy the above-mentioned preset first exclusion condition, the preset second exclusion condition, the preset third exclusion condition and the preset fourth exclusion condition, can the to-be-determined vehicle be determined as a candidate vehicle of the belonging lane type. If one of the conditions is satisfied, the to-be-determined vehicle is excluded from the candidate vehicle of the belonging lane type.

[0113] In some specific embodiments, the vehicle driving parameter value at least includes a lane change indicator;

[0114] The target driving parameter value at least includes an information identifier and a road overlap value of a vehicle determined as a tracking target vehicle in a previous frame.

[0115] Accordingly, the step of selecting candidate vehicles of at least one scenario type from the multiple target vehicles based on the driving parameter value of the vehicle and the target driving parameter values ​​of the multiple target vehicles includes:

[0116] Step S202d, when any target vehicle is determined as an information identifier of a tracking target vehicle in the previous frame, and the lane change identifier of the vehicle is in a frozen state, and the road overlap value of any target vehicle is greater than a preset first road overlap threshold, the any target vehicle is determined to be a candidate vehicle of a separate road overlap type.

[0117] In some specific embodiments, the vehicle driving parameter value at least includes a line pressure mark;

[0118] The target driving parameter values ​​include at least a longitudinal distance value and a road overlap value.

[0119] Accordingly, the step of selecting candidate vehicles of at least one scenario type from the multiple target vehicles based on the driving parameter value of the vehicle and the target driving parameter values ​​of the multiple target vehicles includes:

[0120] Step S202e, when the longitudinal distance value of any target vehicle is less than the preset second longitudinal distance threshold, and the road overlap value of any target vehicle is greater than the preset second road overlap threshold, and the line pressure mark of the vehicle is in an activated state, determine that any target vehicle is a candidate vehicle of a single road overlap type.

[0121] In some specific embodiments, the target driving parameter value includes at least: a longitudinal distance value, an information identifier of a vehicle that is determined to be a tracking target vehicle in a previous frame, and a self-vehicle overlap value.

[0122] Accordingly, the step of selecting candidate vehicles of at least one scenario type from the multiple target vehicles based on the driving parameter value of the vehicle and the target driving parameter values ​​of the multiple target vehicles includes:

[0123] Step S202f, when the longitudinal distance value between any target vehicle and the self-vehicle is less than the preset third longitudinal distance threshold, and the any target vehicle is determined as the information identifier of the tracking target vehicle in the previous frame, and the self-vehicle overlap value of the any target vehicle is greater than the preset self-vehicle overlap threshold, the any target vehicle is determined to be a candidate vehicle of the single self-vehicle overlap type.

[0124] Step S203: when the target driving parameter value of any candidate vehicle meets a preset tracking condition, the any candidate vehicle is determined to be a tracking target vehicle.

[0125] In some specific embodiments, the target driving parameter values ​​include: vehicle type, driving direction and longitudinal distance value.

[0126] Accordingly, when the target driving parameter value of any candidate vehicle meets the preset tracking condition, determining any candidate vehicle as a tracking target vehicle includes:

[0127] Step S203-1, when the vehicle type of any candidate vehicle satisfies one of multiple preset vehicle types, and the driving direction of any candidate vehicle is the same as the driving direction of the own vehicle, and the longitudinal distance value between any candidate vehicle and the own vehicle is less than or equal to the preset fourth longitudinal distance threshold, determine that any candidate vehicle is a pending tracking target vehicle.

[0128] Multiple preset vehicle types include: car type, truck type, motorcycle type and bicycle type. If it is other type, it will be excluded.

[0129] The traveling direction of the candidate vehicle is the same as that of the own vehicle. For example, if the own vehicle is traveling forward, the vehicles traveling forward in the same lane have the same traveling direction as the own vehicle. If the vehicles are reversing in the same lane, their traveling direction is different from that of the own vehicle. The vehicles in the opposite lane also have different traveling directions from that of the own vehicle.

[0130] The preset fourth longitudinal distance threshold is an empirical value, for example, the preset fourth longitudinal distance threshold is set to 125m. It can better balance the comfort and safety of the system. If the longitudinal distance value between any candidate vehicle and the vehicle is greater than the preset fourth longitudinal distance threshold, the candidate vehicle is excluded.

[0131] Step S203-2, determining the undetermined tracking target vehicle with the smallest longitudinal distance value to the own vehicle as the tracking target vehicle.

[0132] If there are multiple pending tracking target vehicles, the pending tracking target vehicle with the smallest longitudinal distance value is selected as the tracking target vehicle, thereby selecting a tracking target vehicle for adaptive cruising.

[0133] In this application, all preset values ​​are empirical values.

[0134] The embodiment of the present application selects candidate vehicles of at least one scenario type from the multiple target vehicles through the driving parameter values ​​of the vehicle and the target driving parameter values ​​of the multiple target vehicles in front of the vehicle; when the target driving parameter value of any candidate vehicle meets the preset tracking condition, the any candidate vehicle is determined to be a tracking target vehicle. The tracking target vehicle is determined by the common driving parameter values ​​of the vehicle and the target driving parameter values, which improves the versatility of adaptive cruise control, can be applied to multiple scenarios and multiple working conditions, improves the balance between comfort and driving safety, saves computing resources, and reduces development costs. Multiple means are used to select candidate vehicles of the same scenario type to improve the accuracy of target recognition.

[0135] The present application also provides a device embodiment that is based on the above embodiment, which is used to implement the method steps described in the above embodiment. The explanation based on the same name meaning is the same as the above embodiment, and has the same technical effect as the above embodiment, which will not be repeated here.

[0136] like Figure 3 As shown, the present application provides a device 300 for determining a vehicle-following target, comprising:

[0137] An acquisition unit, used for acquiring a driving parameter value of the vehicle and target driving parameter values ​​of a plurality of target vehicles ahead of the vehicle;

[0138] A screening unit, configured to screen out candidate vehicles of at least one scenario type from the plurality of target vehicles based on the driving parameter value of the vehicle and the target driving parameter values ​​of the plurality of target vehicles;

[0139] The determination unit is used to determine any candidate vehicle as a tracking target vehicle when the target driving parameter value of any candidate vehicle meets a preset tracking condition.

[0140] Optionally, the selecting candidate vehicles of at least one scenario type from the multiple target vehicles based on the driving parameter value of the vehicle and the target driving parameter values ​​of the multiple target vehicles comprises:

[0141] When the cut-in mark of any target vehicle is in an activated state, the lateral distance change value between any target vehicle and the vehicle is less than zero, and the direction of the lateral speed of any target vehicle is the same as the preset lateral cut-in direction, the any target vehicle is determined to be a candidate vehicle of the cut-in type.

[0142] Optionally, the selecting candidate vehicles of at least one scenario type from the multiple target vehicles based on the driving parameter value of the vehicle and the target driving parameter values ​​of the multiple target vehicles comprises:

[0143] When the longitudinal distance value between any target vehicle and the own vehicle is less than a preset first longitudinal distance threshold, or the relative longitudinal speed value between any target vehicle and the own vehicle is greater than a preset relative longitudinal speed threshold, when the lateral speed value of any target vehicle is greater than a preset lateral speed threshold, and the lateral distance value between any target vehicle and the own vehicle is less than a preset lateral distance threshold, and the overtaking distance value of any target vehicle crossing the single-side lane line is greater than a preset overtaking distance threshold, any target vehicle is determined to be a candidate vehicle of the cut-in type.

[0144] Optionally, the selecting candidate vehicles of at least one scenario type from the multiple target vehicles based on the driving parameter value of the vehicle and the target driving parameter values ​​of the multiple target vehicles comprises:

[0145] When the front vehicle mark of any target vehicle is in an activated state, or the probability value of any target vehicle belonging to the own lane is greater than the preset probability threshold of belonging to the own lane; or the target distance value between any target vehicle and the own vehicle is less than the preset distance threshold, when the line intrusion mark of any target vehicle is in an activated state, and the sideline clearance value of the own vehicle is less than the preset sideline clearance threshold, the any target vehicle is determined to be a pending vehicle;

[0146] When the to-be-determined vehicle does not satisfy a preset exclusion condition, the to-be-determined vehicle is determined to be a candidate vehicle belonging to the own lane type.

[0147] Optionally, the preset exclusion condition includes:

[0148] The preset first exclusion condition includes: the lane change mark of the pending vehicle is in an activated state, and the cut-out mark of the pending vehicle is in an activated state;

[0149] The preset second exclusion condition includes: the direction of the lateral speed of the to-be-determined vehicle is the same as the preset lateral cut-out direction;

[0150] The preset third exclusion condition includes: when the self-vehicle lane mark of the pending vehicle is in an activated state, and the motion state mark of the pending vehicle is in an activated state, and the edge clearance value of the pending vehicle is greater than the preset edge clearance threshold, and the road overlap value of the pending vehicle is less than the preset first road overlap threshold, and the self-vehicle overlap value between the self-vehicle and the pending vehicle is less than the preset first vehicle overlap threshold;

[0151] The preset third exclusion condition includes: when the lane mark of the pending vehicle is in an activated state, and the motion state mark of the pending vehicle is in a frozen state, and the road overlap value of the pending vehicle is less than the preset second road overlap threshold, and the vehicle overlap value between the own vehicle and the pending vehicle is less than the preset second vehicle overlap threshold, and the lane change mark of the own vehicle is in a frozen state, and the line crossing mark of the own vehicle is in a frozen state.

[0152] Optionally, the selecting candidate vehicles of at least one scenario type from the multiple target vehicles based on the driving parameter value of the vehicle and the target driving parameter values ​​of the multiple target vehicles comprises:

[0153] When any target vehicle is determined as an information identifier of a tracking target vehicle in the previous frame, and the lane change identifier of the vehicle is in a frozen state, and the road overlap value of any target vehicle is greater than a preset first road overlap threshold, the any target vehicle is determined to be a candidate vehicle of a separate road overlap type.

[0154] Optionally, the selecting candidate vehicles of at least one scenario type from the multiple target vehicles based on the driving parameter value of the vehicle and the target driving parameter values ​​of the multiple target vehicles comprises:

[0155] When the longitudinal distance value between any target vehicle and the own vehicle is less than a preset second longitudinal distance threshold, and the road overlap value is greater than the preset second road overlap threshold, and the line pressure mark of the own vehicle is in an activated state, the any target vehicle is determined to be a candidate vehicle of a separate road overlap type.

[0156] Optionally, the selecting candidate vehicles of at least one scenario type from the multiple target vehicles based on the driving parameter value of the vehicle and the target driving parameter values ​​of the multiple target vehicles comprises:

[0157] When the longitudinal distance value between any target vehicle and the self-vehicle is less than a preset third longitudinal distance threshold, and the any target vehicle is determined as an information identifier of a tracking target vehicle in the previous frame, and the self-vehicle overlap value of the any target vehicle is greater than a preset self-vehicle overlap threshold, the any target vehicle is determined to be a candidate vehicle of a separate self-vehicle overlap type.

[0158] Optionally, when the target driving parameter value of any candidate vehicle satisfies a preset tracking condition, determining any candidate vehicle as a tracking target vehicle includes:

[0159] When the vehicle type of any candidate vehicle satisfies one of a plurality of preset vehicle types, and the driving direction of any candidate vehicle is the same as that of the own vehicle, and the longitudinal distance value between any candidate vehicle and the own vehicle is less than or equal to a preset fourth longitudinal distance threshold, the any candidate vehicle is determined to be a pending tracking target vehicle;

[0160] The undetermined tracking target vehicle with the smallest longitudinal distance value to the ego vehicle is determined as the tracking target vehicle.

[0161] The embodiment of the present application selects candidate vehicles of at least one scenario type from the multiple target vehicles through the driving parameter values ​​of the vehicle and the target driving parameter values ​​of the multiple target vehicles in front of the vehicle; when the target driving parameter value of any candidate vehicle meets the preset tracking condition, the any candidate vehicle is determined to be a tracking target vehicle. The tracking target vehicle is determined by using the common driving parameter values ​​of the vehicle and the target driving parameter values, which improves the versatility of adaptive cruise control, can be applied to multiple scenarios and multiple working conditions, improves the balance between comfort and driving safety, saves computing resources, and reduces development costs. Multiple means are used to select candidate vehicles of the same scenario type to improve the accuracy of target recognition.

[0162] Example 3

[0163] This embodiment provides an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method steps described in the above embodiment.

[0164] Example 4

[0165] An embodiment of the present application provides a non-volatile computer storage medium, wherein the computer storage medium stores computer executable instructions, and the computer executable instructions can execute the method steps described in the above embodiment.

[0166] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other. For the system or device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description.

[0167] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for determining a vehicle following target, characterized in that: include: Obtaining a driving parameter value of the vehicle and target driving parameter values ​​of multiple target vehicles ahead of the vehicle; Filtering candidate vehicles of at least one scenario type from the multiple target vehicles based on the driving parameter value of the own vehicle and the target driving parameter values ​​of the multiple target vehicles; When the target driving parameter value of any candidate vehicle meets the preset tracking condition, the any candidate vehicle is determined to be a tracking target vehicle.

2. The method according to claim 1, characterized in that The step of selecting candidate vehicles of at least one scenario type from the plurality of target vehicles based on the driving parameter value of the vehicle and the target driving parameter values ​​of the plurality of target vehicles comprises: When the cut-in mark of any target vehicle is in an activated state, the lateral distance change value between any target vehicle and the vehicle is less than zero, and the direction of the lateral speed of any target vehicle is the same as the preset lateral cut-in direction, the any target vehicle is determined to be a candidate vehicle of the cut-in type.

3. The method according to claim 1, characterized in that The step of selecting candidate vehicles of at least one scenario type from the plurality of target vehicles based on the driving parameter value of the vehicle and the target driving parameter values ​​of the plurality of target vehicles comprises: When the longitudinal distance value between any target vehicle and the own vehicle is less than a preset first longitudinal distance threshold, or the relative longitudinal speed value between any target vehicle and the own vehicle is greater than a preset relative longitudinal speed threshold, when the lateral speed value of any target vehicle is greater than a preset lateral speed threshold, and the lateral distance value between any target vehicle and the own vehicle is less than a preset lateral distance threshold, and the overtaking distance value of any target vehicle crossing the single-side lane line is greater than a preset overtaking distance threshold, any target vehicle is determined to be a candidate vehicle of the cut-in type.

4. The method according to claim 1, characterized in that: The step of selecting candidate vehicles of at least one scenario type from the plurality of target vehicles based on the driving parameter value of the vehicle and the target driving parameter values ​​of the plurality of target vehicles comprises: When the front vehicle mark of any target vehicle is in an activated state, or the probability value of any target vehicle belonging to the own lane is greater than the preset probability threshold of belonging to the own lane; or the target distance value between any target vehicle and the own vehicle is less than the preset distance threshold, when the line intrusion mark of any target vehicle is in an activated state, and the sideline clearance value of the own vehicle is less than the preset sideline clearance threshold, the any target vehicle is determined to be a pending vehicle; When the to-be-determined vehicle does not satisfy a preset exclusion condition, the to-be-determined vehicle is determined to be a candidate vehicle belonging to the own lane type.

5. The method according to claim 4, characterized in that The preset exclusion conditions include: The preset first exclusion condition includes: the lane change mark of the pending vehicle is in an activated state, and the cut-out mark of the pending vehicle is in an activated state; The preset second exclusion condition includes: the direction of the lateral speed of the to-be-determined vehicle is the same as the preset lateral cut-out direction; The preset third exclusion condition includes: when the self-vehicle lane mark of the pending vehicle is in an activated state, and the motion state mark of the pending vehicle is in an activated state, and the edge clearance value of the pending vehicle is greater than the preset edge clearance threshold, and the road overlap value of the pending vehicle is less than the preset first road overlap threshold, and the self-vehicle overlap value between the self-vehicle and the pending vehicle is less than the preset first vehicle overlap threshold; The preset third exclusion condition includes: when the lane mark of the pending vehicle is in an activated state, and the motion state mark of the pending vehicle is in a frozen state, and the road overlap value of the pending vehicle is less than the preset second road overlap threshold, and the vehicle overlap value between the own vehicle and the pending vehicle is less than the preset second vehicle overlap threshold, and the lane change mark of the own vehicle is in a frozen state, and the line crossing mark of the own vehicle is in a frozen state.

6. The method according to claim 1, characterized in that The step of selecting candidate vehicles of at least one scenario type from the plurality of target vehicles based on the driving parameter value of the vehicle and the target driving parameter values ​​of the plurality of target vehicles comprises: When any target vehicle is determined as an information identifier of a tracking target vehicle in the previous frame, and the lane change identifier of the vehicle is in a frozen state, and the road overlap value of any target vehicle is greater than a preset first road overlap threshold, the any target vehicle is determined to be a candidate vehicle of a separate road overlap type.

7. The method according to claim 1, characterized in that The step of selecting candidate vehicles of at least one scenario type from the plurality of target vehicles based on the driving parameter value of the vehicle and the target driving parameter values ​​of the plurality of target vehicles comprises: When the longitudinal distance value between any target vehicle and the own vehicle is less than a preset second longitudinal distance threshold, and the road overlap value is greater than the preset second road overlap threshold, and the line pressure mark of the own vehicle is in an activated state, the any target vehicle is determined to be a candidate vehicle of a separate road overlap type.

8. The method according to claim 1, characterized in that: The step of selecting candidate vehicles of at least one scenario type from the plurality of target vehicles based on the driving parameter value of the vehicle and the target driving parameter values ​​of the plurality of target vehicles comprises: When the longitudinal distance value between any target vehicle and the self-vehicle is less than a preset third longitudinal distance threshold, and the any target vehicle is determined as an information identifier of a tracking target vehicle in the previous frame, and the self-vehicle overlap value of the any target vehicle is greater than a preset self-vehicle overlap threshold, the any target vehicle is determined to be a candidate vehicle of a separate self-vehicle overlap type.

9. The method according to claim 1, characterized in that: When the target driving parameter value of any candidate vehicle meets the preset tracking condition, determining any candidate vehicle as a tracking target vehicle includes: When the vehicle type of any candidate vehicle satisfies one of a plurality of preset vehicle types, and the driving direction of any candidate vehicle is the same as that of the own vehicle, and the longitudinal distance value between any candidate vehicle and the own vehicle is less than or equal to a preset fourth longitudinal distance threshold, the any candidate vehicle is determined to be a pending tracking target vehicle; The undetermined tracking target vehicle with the smallest longitudinal distance value to the ego vehicle is determined as the tracking target vehicle.

10. A device for determining a vehicle following target, characterized in that: include: An acquisition unit, used for acquiring a driving parameter value of the vehicle and target driving parameter values ​​of a plurality of target vehicles ahead of the vehicle; A screening unit, configured to screen out candidate vehicles of at least one scenario type from the plurality of target vehicles based on the driving parameter value of the vehicle and the target driving parameter values ​​of the plurality of target vehicles; The determination unit is used to determine any candidate vehicle as a tracking target vehicle when the target driving parameter value of any candidate vehicle meets a preset tracking condition.

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