Information acquisition method and device, computer equipment and storage medium

Abstract

The invention relates to an information acquisition method and device, computer equipment and a storage medium. The method comprises the following steps: obtaining a segmentation result of a target environment image collected by a camera of a target vehicle and a detected three-dimensional lane line point cloud of a target lane line on a target road on which the target vehicle runs; determining whether a target pitch angle related to a target environment image exists or not according to the current pose of the camera, the segmentation result and the detected three-dimensional lane line point cloud; and when it is determined that the target pitch angle exists, converting the position of the cone barrel in the target environment image under the image coordinate system of the target environment image into the corrected position of the cone barrel under the vehicle body coordinate system by using the target corrected pose.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to an information acquisition method, device, computer equipment and storage medium. Background Art

[0002] Acquisition of the location of cones is a key factor that the vehicle's autonomous driving system must consider when making driving decisions in scenarios such as road construction diversions and temporary road closures.

[0003] In the related art, the laser radar on the vehicle is used to obtain information such as laser reflection intensity and laser point cloud density for obtaining the location of the cone barrel, and the location of the cone barrel is predicted based on the information used to obtain the location of the cone barrel. When the distance between the vehicle and the cone barrel is far, the laser reflection intensity obtained by the vehicle is low, and the laser point cloud density obtained by the vehicle is sparse, resulting in less information about the features used to obtain the location of the cone barrel obtained by the vehicle, and the accuracy of the obtained location of the cone barrel is low. How to improve the accuracy of the obtained location of the cone barrel has become a problem that needs to be solved. Summary of the invention

[0004] One of the purposes of the present invention is to provide an information acquisition method, apparatus, computer equipment and storage medium to solve the problem of how to improve the accuracy of the acquired position of the cone barrel.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0006] A method for obtaining information, comprising:

[0007] Obtaining a segmentation result of a target environment image captured by a camera of a target vehicle and a detected three-dimensional lane line point cloud of a target lane line on a target road on which the target vehicle is traveling, wherein the segmentation result indicates a plurality of lane line pixel points of the target lane line, and the detected three-dimensional lane line point cloud is detected according to the target environment image;

[0008] Determine whether there is a target pitch angle associated with the target environment image according to the current posture of the camera, the segmentation result, and the detected three-dimensional lane line point cloud, wherein an error between a target projected three-dimensional lane line point cloud obtained by reversely projecting the multiple lane line pixel points into a body coordinate system of a target vehicle with a target corrected posture corresponding to the target pitch angle and the detected three-dimensional lane line point cloud is less than an error threshold, and the target corrected posture is obtained by replacing a current pitch angle in the current posture of the camera with the target pitch angle;

[0009] When it is determined that the target pitch angle exists, the target corrected posture is used to transform the position of the cone barrel in the target environment image in the image coordinate system of the target environment image into the corrected position of the cone barrel in the vehicle body coordinate system.

[0010] According to the above technical means, the segmentation result of the target environment image captured by the camera of the target vehicle and the detected three-dimensional lane line point cloud of the target lane line on the target road where the target vehicle is traveling are used as information participating in obtaining the position of the cone barrel. The segmentation result of the target environment image captured by the camera of the target vehicle and the detected three-dimensional lane line point cloud of the target lane line on the target road where the target vehicle is traveling can indicate the pixel characteristics of the cone barrel in the environment image, such as the pixel position and pixel type. When the distance between the vehicle and the cone barrel is far, the pixel characteristics of the entire amount of the cone barrel can still be obtained, that is, the segmentation result of the target environment image captured by the camera of the target vehicle and the detected three-dimensional lane line point cloud of the target lane line on the target road where the target vehicle is traveling can indicate the pixel characteristics of the entire amount of the cone barrel. The amount of information participating in determining the position of the cone barrel is large, thereby improving the accuracy of the obtained position of the cone barrel and avoiding the situation where the accuracy of the position of the cone barrel is not affected by the distance between the vehicle and the cone barrel.

[0011] The information acquisition method provided by the embodiment of the present invention takes into account that the actual posture of the camera of the target vehicle and the current posture of the camera of the target vehicle may be different when the position of the cone barrel in the target environment image in the image coordinate system of the target environment image is transformed into the position of the cone barrel in the body coordinate system of the target vehicle. Among them, the intrinsic parameters in the posture of the camera are fixed, and the change of the extrinsic parameters in the posture of the camera is usually caused by the change of the pitch angle. The difference in the posture of the same camera at different times is usually caused by the difference in the pitch angle of the same camera at different times. Directly using the current posture of the camera of the target vehicle to transform the position of the cone barrel in the target environment image in the image coordinate system of the target environment image into the position of the cone barrel in the body coordinate system of the target vehicle will cause the accuracy of the position of the cone barrel to decrease.

[0012] The information acquisition method provided by the embodiment of the present invention determines whether there is a target pitch angle related to the target environment image based on the current posture of the camera of the target vehicle, the segmentation result, and the detected three-dimensional lane line point cloud, which is equivalent to judging whether there is a more accurate pitch angle, namely the target pitch angle, relative to the current posture of the camera of the target vehicle. When it is determined that there is a more accurate pitch angle, a more accurate target correction posture relative to the current posture of the camera of the target vehicle is obtained by replacing the current pitch angle in the current posture of the camera of the target vehicle with the target pitch angle. The more accurate target correction posture is used to transform the position of the cone barrel in the target environment image in the image coordinate system of the target environment image into the corrected position of the cone barrel in the body coordinate system of the target vehicle. A more accurate corrected position of the cone barrel in the body coordinate system of the target vehicle is obtained, thereby improving the accuracy of the acquired position of the cone barrel.

[0013] Furthermore, the method further includes: determining the contour of the target cone barrel according to the segmentation result of the target environment image, wherein the target cone barrel is any cone barrel in the target environment image;

[0014] The position of the intersection of the contour of the target cone barrel and the perpendicular bisector of the detection frame surrounding the target cone barrel is determined as the position of the target cone barrel in the image coordinate system of the target environment image.

[0015] Furthermore, the method further comprises:

[0016] Cone-bucket tracking corresponding to the target environment image is performed, and the cone-bucket tracking includes:

[0017] A tracking operation corresponding to a target environment image is performed, and after the tracking operation is performed, a target particle is found from a target particle set, and the position of the target particle is used as the tracking position of the corresponding cone barrel in the target environment image, and the tracking position is output, wherein the target particle set is initialized as an initial particle set before the first cone barrel tracking is performed, and the initial particle set is obtained by generating particles according to the corresponding position of the cone barrel in the environment image used for particle initialization in the vehicle body coordinate system; the tracking operation includes:

[0018] When a first particle from the target particle set exists in the target area associated with the target cone barrel, the weight of the first particle is updated according to the distance between the first particle and the target cone barrel, the weight of the target cone barrel, and the current weight of the first particle, and when a second particle exists in the target particle set, the weight of the second particle is reduced, wherein the second particle is a particle that is not in the target area associated with any cone barrel in the target environment image;

[0019] When there are no particles from the target particle set in the target area, new particles generated according to the corresponding position of the target cone barrel in the vehicle body coordinate system are added to the target particle set.

[0020] Furthermore, the method further comprises:

[0021] When the target cone has a corrected position in the vehicle body coordinate system, using the first weight as the weight of the target cone;

[0022] When the target cone barrel does not have a corrected position in the vehicle body coordinate system, the second weight is used as the weight of the target cone barrel, wherein the second weight is smaller than the first weight.

[0023] Furthermore, the method further comprises:

[0024] The position of the center point is the corresponding position of the target cone barrel in the vehicle body coordinate system, and a circular area with a preset first radius as the radius is determined as the target area related to the target cone barrel.

[0025] Further, finding the target particles from the target particle set includes:

[0026] When there are particles with weights less than 0 in the target particle set, the particles with weights less than 0 are deleted from the target particle set;

[0027] Find multiple candidate particles from the target particle set, and the weight of the candidate particles is greater than the weight threshold;

[0028] Find the target particle from multiple candidate particles.

[0029] Further, finding the target particle from multiple candidate particles includes:

[0030] According to the weights of the candidate particles, multiple candidate particles are sorted from large to small to obtain the order of the candidate particles;

[0031] The search operation is iteratively performed until a target number of target particles is found, wherein the target number is the number of cone barrels in the target environment image. The search operation includes:

[0032] Determine whether there are other particles in the target area related to the candidate particle targeted by the search operation that have not been associated with the candidate particle, wherein the candidate particle targeted by the first search operation is a particle with the largest weight among the multiple candidate particles, and the candidate particle targeted by the non-first search operation is the next candidate particle of the candidate particle targeted by the last search operation of the non-first search operation, wherein the next candidate particle of the candidate particle targeted by the last search operation is indicated by the order;

[0033] If yes, the candidate particle targeted by the search operation is determined as the target particle, and other particles in the target area related to the candidate particle targeted by the search operation that have not been associated with the candidate particle are associated with the candidate particle targeted by the search operation, and the next candidate particle of the candidate particle targeted by the search operation is determined as the candidate particle targeted by the next search operation of the search operation;

[0034] If not, the next candidate particle of the candidate particle targeted by the search operation is determined as the candidate particle targeted by the next search operation of the search operation, wherein the next candidate particle of the candidate particle targeted by the search operation is indicated by the order.

[0035] Furthermore, the method further comprises:

[0036] A circular area having a center point as the position of the candidate particle targeted by the search operation in the vehicle body coordinate system and having a preset second radius as a radius is determined as a target area related to the candidate particle targeted by the search operation.

[0037] An information acquisition device, the information acquisition device comprising:

[0038] An acquisition unit, used to acquire a segmentation result of a target environment image captured by a camera of a target vehicle and a detected three-dimensional lane line point cloud of a target lane line on a target road on which the target vehicle is traveling, wherein the segmentation result indicates a plurality of lane line pixel points of the target lane line, and the detected three-dimensional lane line point cloud is detected according to the target environment image;

[0039] A determination unit, configured to determine whether there is a target pitch angle associated with a target environment image according to the current posture of the camera, the segmentation result, and the detected three-dimensional lane line point cloud, wherein an error between a target projected three-dimensional lane line point cloud obtained by reversely projecting the plurality of lane line pixel points onto a body coordinate system of a target vehicle with a target corrected posture corresponding to the target pitch angle and the detected three-dimensional lane line point cloud is less than an error threshold, and the target corrected posture is obtained by replacing a current pitch angle in the current posture of the camera with the target pitch angle;

[0040] A conversion unit is used to transform the position of the cone barrel in the target environment image in the image coordinate system of the target environment image into the corrected position of the cone barrel in the vehicle body coordinate system when it is determined that the target pitch angle exists, using the target corrected posture.

[0041] Furthermore, the information acquisition device also includes:

[0042] The cone position acquisition unit is used to determine the outline of the target cone according to the segmentation result of the target environment image, wherein the target cone is any cone in the target environment image; and determine the position of the intersection of the outline of the target cone and the perpendicular bisector of the detection frame surrounding the target cone as the position of the target cone in the image coordinate system of the target environment image.

[0043] Furthermore, the information acquisition device also includes:

[0044] A tracking unit is used to perform cone barrel tracking corresponding to the target environment image, and the cone barrel tracking includes:

[0045] A tracking operation corresponding to a target environment image is performed, and after the tracking operation is performed, a target particle is found from a target particle set, and the position of the target particle is used as the tracking position of the corresponding cone barrel in the target environment image, and the tracking position is output, wherein the target particle set is initialized as an initial particle set before the first cone barrel tracking is performed, and the initial particle set is obtained by generating particles according to the corresponding position of the cone barrel in the environment image used for particle initialization in the vehicle body coordinate system; the tracking operation includes:

[0046] When a first particle from the target particle set exists in the target area associated with the target cone barrel, the weight of the first particle is updated according to the distance between the first particle and the target cone barrel, the weight of the target cone barrel, and the current weight of the first particle, and when a second particle exists in the target particle set, the weight of the second particle is reduced, wherein the second particle is a particle that is not in the target area associated with any cone barrel in the target environment image;

[0047] When there are no particles from the target particle set in the target area, new particles generated according to the corresponding position of the target cone barrel in the vehicle body coordinate system are added to the target particle set.

[0048] Furthermore, the information acquisition device also includes:

[0049] A weight allocation unit is used to use a first weight as the weight of the target cone barrel when the target cone barrel has a corrected position in the vehicle body coordinate system; when the target cone barrel does not have a corrected position in the vehicle body coordinate system, use a second weight as the weight of the target cone barrel, wherein the second weight is smaller than the first weight.

[0050] Furthermore, the information acquisition device also includes:

[0051] The first target area determination unit is used to determine a circular area with a center point as the corresponding position of the target cone barrel in the vehicle body coordinate system and a preset first radius as the radius as a target area related to the target cone barrel.

[0052] Furthermore, the tracking unit is also used to delete particles with weights less than 0 from the target particle set when there are particles with weights less than 0 in the target particle set; find multiple candidate particles from the target particle set, and the weights of the candidate particles are greater than a weight threshold; and find the target particle from the multiple candidate particles.

[0053] Furthermore, the tracking unit is also used to sort multiple candidate particles according to the weights of the candidate particles from large to small to obtain the order of the candidate particles; iteratively perform the search operation until a target number of target particles are found, wherein the target number is the number of cone barrels in the target environment image, and the search operation includes: determining whether there are other particles that have not been associated with the candidate particle in the target area related to the candidate particle targeted by the search operation, wherein the candidate particle targeted by the first search operation is the particle with the largest weight among the multiple candidate particles, and the candidate particle targeted by the non-first search operation is the next candidate particle of the candidate particle targeted by the last search operation of the non-first search operation, wherein the last search operation is performed. The next candidate particle of the candidate particle targeted by the search operation is indicated by the sequence; if so, the candidate particle targeted by the search operation is determined as the target particle, and other particles in the target area related to the candidate particle targeted by the search operation that have not been associated with the candidate particle are associated with the candidate particle targeted by the search operation, and the next candidate particle of the candidate particle targeted by the search operation is determined as the candidate particle targeted by the next search operation of the search operation; if not, the next candidate particle of the candidate particle targeted by the search operation is determined as the candidate particle targeted by the next search operation of the search operation, wherein the next candidate particle of the candidate particle targeted by the search operation is indicated by the sequence.

[0054] Furthermore, the information acquisition device also includes:

[0055] The second target area determination unit is used to determine a circular area having a center point as the position of the candidate particle targeted by the search operation in the vehicle body coordinate system and having a preset second radius as a target area related to the candidate particle targeted by the search operation.

[0056] Beneficial effects of the present invention:

[0057] The segmentation result of the target environment image captured by the camera of the target vehicle and the detected three-dimensional lane line point cloud of the target lane line on the target road on which the target vehicle is traveling are used as information involved in obtaining the position of the cone. The segmentation result of the target environment image captured by the camera of the target vehicle and the detected three-dimensional lane line point cloud of the target lane line on the target road on which the target vehicle is traveling can indicate the pixel features of the cone in the environment image, such as the pixel position and pixel type. When the distance between the vehicle and the cone is far, the full pixel features of the cone can still be obtained, that is, the segmentation result of the target environment image captured by the camera of the target vehicle and the detected three-dimensional lane line point cloud of the target lane line on the target road on which the target vehicle is traveling can indicate the full pixel features of the cone. The amount of information involved in determining the position of the cone is large, thereby improving the accuracy of the obtained position of the cone and avoiding the situation where the accuracy of the position of the cone is not affected by the distance between the vehicle and the cone.

[0058] The information acquisition method provided by the embodiment of the present invention takes into account that the actual posture of the camera of the target vehicle and the current posture of the camera of the target vehicle may be different when the position of the cone barrel in the target environment image in the image coordinate system of the target environment image is transformed into the position of the cone barrel in the body coordinate system of the target vehicle. Among them, the intrinsic parameters in the posture of the camera are fixed, and the change of the extrinsic parameters in the posture of the camera is usually caused by the change of the pitch angle. The difference in the posture of the same camera at different times is usually caused by the difference in the pitch angle of the same camera at different times. Directly using the current posture of the camera of the target vehicle to transform the position of the cone barrel in the target environment image in the image coordinate system of the target environment image into the position of the cone barrel in the body coordinate system of the target vehicle will cause the accuracy of the position of the cone barrel to decrease.

[0059] The information acquisition method provided by the embodiment of the present invention determines whether there is a target pitch angle related to the target environment image based on the current posture of the camera of the target vehicle, the segmentation result, and the detected three-dimensional lane line point cloud, which is equivalent to judging whether there is a more accurate pitch angle, namely the target pitch angle, relative to the current posture of the camera of the target vehicle. When it is determined that there is a more accurate pitch angle, a more accurate target correction posture relative to the current posture of the camera of the target vehicle is obtained by replacing the current pitch angle in the current posture of the camera of the target vehicle with the target pitch angle. The more accurate target correction posture is used to transform the position of the cone barrel in the target environment image in the image coordinate system of the target environment image into the corrected position of the cone barrel in the body coordinate system of the target vehicle. A more accurate corrected position of the cone barrel in the body coordinate system of the target vehicle is obtained, thereby improving the accuracy of the acquired position of the cone barrel. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 A flowchart of an information acquisition method provided by an embodiment of the present disclosure;

[0061] Figure 2 A flowchart of another information acquisition method provided by an embodiment of the present disclosure;

[0062] Figure 3 A schematic diagram of an example of generating particles according to the corrected position of the cone barrel in the body coordinate system of the target vehicle;

[0063] Figure 4 A schematic diagram showing the effect of performing a tracking operation corresponding to a target environment image;

[0064] Figure 5 A schematic diagram of the effect of performing an example of a search operation;

[0065] Figure 6 A schematic diagram of the hardware structure of a computer device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0066] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0067] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0068] refer to Figure 1 , which shows a flow chart of the information acquisition method provided by an embodiment of the present disclosure.

[0069] In step S101, a segmentation result of a target environment image captured by a camera of a target vehicle and a detected three-dimensional lane line point cloud of a target lane line on a target road on which the target vehicle is traveling are obtained.

[0070] The target vehicle may be any vehicle to which the information acquisition method provided by the embodiment of the present disclosure may be applied. The target environment image is collected by a camera of the target vehicle. The target environment image describes the environment in which the target vehicle is located.

[0071] It should be noted that the method provided by the embodiment of the present disclosure can be performed within a target time period. Each environmental image collected within the target time period includes cones on the road on which the target vehicle is traveling. The target environmental image can be any environmental image collected within the target time period. For each environmental image collected within the target time period, at least steps S101-S102 can be performed. The starting time of the target time period can be: the first environmental image collected within the target time period, that is, the collection time of the environmental image with the earliest collection time, and the ending time of the target time period can be: the last environmental image collected within the target time period, that is, the collection time of the environmental image with the latest collection time.

[0072] In the disclosed embodiment, the cone barrel in the target environment image can be detected by a target detection network.

[0073] As an example, the target detection network is a YOLO series network, Faster RCNN, etc.

[0074] In the disclosed embodiment, the target lane line may be a lane line randomly selected from lane lines on both sides of the lane where the target vehicle is located. The target lane line may also be a lane line randomly selected from lane lines detected on the target road where the target vehicle is traveling.

[0075] The segmentation result of the target environment image indicates: a plurality of lane line pixel points of a target lane line on the target road.

[0076] That is, for a target lane line on a target road, the segmentation result of the target environment image indicates which pixel points in the target environment image are lane line pixel points of the target lane line.

[0077] Among them, each lane line pixel point among the multiple lane line pixel points of the target lane line has coordinates in the image coordinate system of the target environment image.

[0078] In step S101, the target environment image may be input into an instance segmentation network, and the instance segmentation network outputs a segmentation result of the target environment image.

[0079] In the disclosed embodiment, the detected three-dimensional lane line point cloud of the target lane line is detected based on the target environment image by a neural network for detecting lane lines.

[0080] In step S101, the target environment image may be input into a three-dimensional lane line detection network, and the lane line detection network outputs a detected three-dimensional lane line point cloud of a target lane line on a target road on which a target vehicle is traveling.

[0081] The detected three-dimensional lane line point cloud includes: a plurality of three-dimensional points of a target lane line on a target road on which the target vehicle is traveling, and the three-dimensional points of the target lane line are in a body coordinate system of the target vehicle.

[0082] In one possible implementation, the three-dimensional lane line detection network is a Bev lane line detection network.

[0083] In step S102, it is determined whether there is a target pitch angle associated with the target environment image based on the current posture of the camera of the target vehicle, the segmentation result of the target environment image, and the detected three-dimensional lane line point cloud of the target lane line.

[0084] The current position and posture of the camera of the target vehicle may refer to the position and posture of the camera of the target vehicle determined for the last time before the start of S102 .

[0085] In the disclosed embodiment, the target corrected posture corresponding to the target pitch angle associated with the target environment image is obtained by replacing the current pitch angle in the current posture of the camera of the target vehicle with the target pitch angle associated with the target environment image.

[0086] The error between the target projected three-dimensional lane line point cloud obtained by reversely projecting multiple lane line pixel points of the target lane line into the body coordinate system of the target vehicle with a target corrected posture corresponding to the target pitch angle related to the target environment image and the detected three-dimensional lane line point cloud is less than an error threshold.

[0087] In other words, for a pitch angle, if the target corrected posture corresponding to the pitch angle reversely projects multiple lane line pixel points of the target lane line to the body coordinate system of the target vehicle, and the error between the projected three-dimensional lane line point cloud of the target lane line and the detected three-dimensional lane line point cloud of the target lane line is less than the error threshold, then the pitch angle is determined as the target pitch angle associated with the target environment image.

[0088] As an example, in order to determine whether there is a target pitch angle associated with the target environment image, the pitch angle search operation can be iteratively performed until the target pitch angle is found or the number of executions of the pitch angle search operation reaches a number threshold. Each pitch angle search operation targets a reference pitch angle. The reference pitch angle targeted by the first pitch angle search operation is: the current pitch angle of the camera of the target vehicle. The reference pitch angle targeted by the i-th pitch angle search operation after the first pitch angle search operation is: the sub-interval endpoint pitch angle corresponding to the three-dimensional lane line point cloud with the smallest error between the detected three-dimensional lane line point cloud and the i-1th pitch angle search operation.

[0089] In this example, the k-th pitch angle search operation includes: subtracting a preset angle from a reference pitch angle for the k-th pitch angle search operation to obtain a left endpoint pitch angle corresponding to the k-th pitch angle search operation, and adding a preset angle to a reference pitch angle for the k-th pitch angle search operation to obtain a right endpoint pitch angle corresponding to the k-th pitch angle search operation. The k-th time is a time other than the last time.

[0090] In this example, the first pitch angle interval is divided into a plurality of first sub-intervals, and each endpoint of each first sub-interval in the plurality of first sub-intervals is used as the sub-interval endpoint pitch angle corresponding to the pitch angle search operation executed for the kth time. The two endpoints of the first pitch angle interval are respectively the left endpoint pitch angle corresponding to the pitch angle search operation executed for the kth time and the reference pitch angle for the pitch angle search operation executed for the kth time. The second pitch angle interval is divided into a plurality of second sub-intervals, and the two endpoints of the second pitch angle interval are respectively the right endpoint pitch angle corresponding to the pitch angle search operation executed for the kth time and the reference pitch angle for the pitch angle search operation executed for the kth time.

[0091] In this example, each endpoint of each second sub-interval in the plurality of second sub-intervals is used as a sub-interval endpoint pitch angle corresponding to the k-th execution of the pitch angle search operation.

[0092] In this example, the pose corresponding to the pitch angle of each sub-interval endpoint corresponding to the k-th pitch angle search operation is determined. The pose corresponding to the pitch angle of the sub-interval endpoint is obtained by replacing the current pitch angle in the current pose of the camera of the target vehicle with the pose corresponding to the pitch angle of the sub-interval endpoint.

[0093] In this example, for each sub-interval endpoint pitch angle corresponding to the k-th execution of the pitch angle search operation, multiple lane line pixel points of the target lane line are reversely projected to the body coordinate system of the target vehicle with the posture corresponding to the sub-interval endpoint pitch angle, and the projected three-dimensional lane line point cloud corresponding to the sub-interval endpoint pitch angle is obtained, and the error between the projected three-dimensional lane line point cloud corresponding to the sub-interval endpoint pitch angle and the detected three-dimensional lane line point cloud is determined.

[0094] In this example, the projected 3D lane line point cloud corresponding to the sub-interval endpoint pitch angle with the smallest error with the detected 3D lane line point cloud is recorded as 3D lane line point cloud j. If the error between 3D lane line point cloud j and the detected 3D lane line point cloud is less than the error threshold, the sub-interval endpoint pitch angle corresponding to 3D lane line point cloud j is determined as the target pitch angle associated with the target environment image. If the error between 3D lane line point cloud j and the detected 3D lane line point cloud is not less than the error threshold, the sub-interval endpoint pitch angle corresponding to 3D lane line point cloud j is determined as the reference pitch angle for the k+1th pitch angle search operation.

[0095] In the disclosed embodiment, for a pitch angle, in order to determine the error between the projected three-dimensional lane line point cloud obtained by reversely projecting multiple lane line pixel points of the target lane line to the body coordinate system of the target vehicle at the posture corresponding to the pitch angle and the three-dimensional points in the detected three-dimensional lane line point cloud, the projected three-dimensional lane line point cloud and the detected three-dimensional lane line point cloud can be sampled in the same sampling method, such as uniform sampling method, to obtain multiple sampling points of the projected three-dimensional lane line point cloud and multiple sampling points of the detected three-dimensional lane line point cloud. The sampling point pair corresponding to each sampling point of the projected three-dimensional lane line point cloud is determined to obtain multiple sampling point pairs. Among them, the sampling point pair corresponding to a sampling point of the projected three-dimensional lane line point cloud includes: a sampling point of the projected three-dimensional lane line point cloud and a sampling point in the detected three-dimensional lane line point cloud that is closest to a sampling point of the projected three-dimensional lane line point cloud. For each sampling point pair, the distance between the two sampling points in the two sampling point pairs is calculated to obtain the distance of the sampling point pair. The distance of each sampling point pair is added to obtain the error.

[0096] In step S103, when it is determined that there is a target pitch angle associated with the target environment image, the position of the cone barrel in the target environment image in the image coordinate system of the target environment image is transformed into the corrected position of the cone barrel in the body coordinate system of the target vehicle using the target correction posture corresponding to the target pitch angle associated with the target environment image.

[0097] For a cone barrel in the target environment image, the position of the cone barrel in the image coordinate system of the target environment image is: the position of the center point of the detection box surrounding the cone barrel output by the target detection network in the image coordinate system of the target environment image.

[0098] In the disclosed embodiment, the current pitch angle in the current posture of the camera of the target vehicle can be replaced with the target pitch angle associated with the target environment image to obtain the target correction posture corresponding to the target pitch angle associated with the target environment image. The target correction posture corresponding to the target pitch angle associated with the target environment image can also be obtained by the following formula:

[0099]

[0100] Candidate corrected pose corresponding to candidate pitch angle = ΔT v'v T vc

[0101] Among them, T vc is the current pose of the target vehicle, and θ is the target pitch angle associated with the target environment image.

[0102] refer to Figure 2 , which shows a flow chart of another information acquisition method provided by an embodiment of the present disclosure.

[0103] In step S201, the segmentation result of the target environment image and the detected three-dimensional lane line point cloud of the target lane line on the target road on which the target vehicle is traveling are obtained.

[0104] It should be noted that another information acquisition method provided by an embodiment of the present disclosure can be performed within a target time period. Each environmental image captured by the camera of the target vehicle within the target time period includes the cone barrel on the road on which the target vehicle is traveling. The target environmental image can be any environmental image captured within the target time period. For each environmental image captured within the target time period, at least step S201, step S202, and step S204 can be executed. The starting time of the target time period can be: the first environmental image captured within the target time period, that is, the capture time of the environmental image with the earliest capture time, and the ending time of the target time period can be: the last environmental image captured within the target time period, that is, the capture time of the environmental image with the latest capture time.

[0105] Within the target time period, the first environment image can be used as the environment image for particle initialization. For each other environment image except the first environment image collected within the target time period, cone bucket tracking corresponding to the other image is performed, that is, for the other environment image, step S204 is performed.

[0106] In step S202, it is determined whether there is a target pitch angle associated with the target environment image based on the current posture of the camera of the target vehicle and the detected three-dimensional lane line point cloud of the target lane line on the target road on which the target vehicle is traveling.

[0107] In step S203, when it is determined that there is a target pitch angle associated with the target environment image, the position of the cone barrel in the target environment image in the image coordinate system of the target environment image is transformed into the corrected position of the cone barrel in the body coordinate system of the target vehicle using the target correction posture corresponding to the target pitch angle associated with the target environment image.

[0108] In one possible implementation, the outline of the target cone is determined based on the segmentation result of the target environment image, wherein the target cone is any cone in the target environment image; the position of the intersection of the outline of the target cone and the perpendicular bisector of the detection frame surrounding the target cone is determined as the position of the target cone in the image coordinate system of the target environment image.

[0109] In step S204, cone-bucket tracking corresponding to the target environment image is performed.

[0110] Considering that there may be a longitudinal deviation between the corrected position of the cone barrel in the target environment image in the body coordinate system of the target vehicle and the actual position of the cone barrel in the target environment image in the body coordinate system of the target vehicle. In order to ensure that the position of the cone barrel in the body coordinate system of the target vehicle can be stably output, S204 is executed to track the position of the cone barrel in the body coordinate system of the target vehicle, i.e., to track the cone barrel corresponding to the target environment image, and obtain and output the stable position of the cone barrel, i.e., the tracked position of the target cone barrel.

[0111] Step S204 includes: step S2041-step S2042.

[0112] In step S2041, a tracking operation corresponding to the target environment image is performed.

[0113] In step S2042, the target particle is found from the target particle set, the position of the target particle is used as the tracking position of the corresponding cone barrel in the target environment image, and the tracking position of the corresponding cone barrel in the target environment image is output.

[0114] In one possible implementation, for a target particle, a cone barrel whose corresponding position in the target environment image in the body coordinate system of the target vehicle is closest to the position of the target particle can be determined, and the position of the target particle can be used as the tracking position of the cone barrel whose corresponding position in the target environment image in the body coordinate system of the target vehicle is closest to the target particle.

[0115] In the disclosed embodiment, particles in the target particle set have positions in the body coordinate system of the target vehicle.

[0116] It should be noted that the target particle set does not specifically refer to a certain particle set. The target particle set should be understood as a variable. Since the cone barrel tracking corresponding to each other environment image is performed in sequence, the particles in the target particle set will change. In the embodiment of the present disclosure, when performing an operation involving the target particle set, which particles in the target particle set should be determined in combination with the context.

[0117] In the disclosed embodiment, the target particle set is initialized as an initial particle set before the first cone-bucket tracking is performed.

[0118] It should be noted that the first cone tracking may specifically refer to: cone tracking corresponding to the second environmental image collected within the target time period. In other words, cone tracking is performed starting from the second environmental image collected within the target time period. All environmental images collected within the target time period are sorted from early to late according to the collection time, and the order of all environmental images collected within the target time period is obtained. The first environmental image collected within the target time period is the earliest environmental image collected, and the last environmental image collected within the target time period is the latest environmental image collected.

[0119] In the disclosed embodiment, the initial particle set is obtained by generating particles according to the corresponding positions of the cone barrels in the environment image used for particle initialization in the body coordinate system of the target vehicle.

[0120] It should be noted that the environment image used for particle initialization may be: the first environment image collected within the target time period.

[0121] In the disclosed embodiment, for each cone barrel in the first environment image collected within the target time period, if the corrected position of the cone barrel in the body coordinate system of the target vehicle is obtained, then the corresponding position of the cone barrel in the body coordinate system of the target vehicle is: the corrected position of the cone barrel in the body coordinate system of the target vehicle; if the corrected position of the cone barrel in the body coordinate system of the target vehicle is not obtained, then the corresponding position of the cone barrel in the body coordinate system of the target vehicle is: the original position of the cone barrel in the body coordinate system of the target vehicle. The original position of the cone barrel in the body coordinate system of the target vehicle refers to: the position of the cone barrel in the image coordinate system of the target environment image is transformed into the position in the body coordinate system of the target vehicle based on the current posture of the target vehicle.

[0122] In the disclosed embodiment, in order to obtain an initial particle set, for each cone barrel in the first environment image captured by the camera of the target vehicle within the target time period, particles are generated according to the corresponding position of the cone barrel in the body coordinate system of the target vehicle. The particles generated according to the corresponding position of each cone barrel in the first environment image captured within the target time period in the body coordinate system of the target vehicle constitute the initial particle set.

[0123] In the disclosed embodiment, for a cone barrel i in the target environment image, when generating particles according to the corresponding position of the cone barrel in the body coordinate system of the target vehicle, a square having a center point as the corresponding position of the cone barrel i in the body coordinate system of the target vehicle and having a side length of a preset side length can be determined, and the corresponding position of the cone barrel i in the body coordinate system of the target vehicle, the corner point of the square, and the center of each side of the square are respectively used as particle positions, for a total of 9 particle positions. For each particle position, a particle at the particle position is generated. A total of 9 particles are generated.

[0124] Among them, cone bucket i is any cone bucket in any environment image collected within the target time period.

[0125] In the embodiment of the present disclosure, step S2041 includes: step S20411 and step S20412.

[0126] In step S20411, when a first particle from the target particle set exists in the target area associated with the target cone, the weight of the first particle is updated according to the distance between the first particle and the target cone, the weight of the target cone, and the current weight of the first particle, and when a second particle exists in the target particle set, the weight of the second particle is reduced, wherein the second particle is a particle that is not in the target area associated with any cone in the target environment image.

[0127] In step S20412, when there are no particles from the target particle set in the target area associated with the target cone barrel, a new particle generated according to the corresponding position of the target cone barrel in the body coordinate system of the target vehicle is added to the target particle set. Wherein, when a new particle is generated according to the corresponding position of the target cone barrel in the body coordinate system of the target vehicle, a square having a center point as the corresponding position of the target cone barrel in the body coordinate system of the target vehicle and having a side length of a preset side length can be determined, and the corresponding position of the target cone barrel in the body coordinate system of the target vehicle, the corner point of the square, and the center of each side of the square are respectively used as particle positions, and for each particle position, a particle at the particle position is generated, and the particle at the particle position is a new particle, and the particle at the particle position is added to the target particle set. Thus, the target particle set is updated, and when the update is completed, the target particle set is composed of all particles and each new particle in the target particle set at the time of starting step S2041.

[0128] It should be noted that the target cone is any cone in the target environment image. The particles in the target area related to the target cone and from the target particle set can be called first particles, and the particles in the target area not associated with any cone in the target environment image can be called second particles.

[0129] The target area associated with the target cone is an area having a center point at the corresponding position of the target cone in the body coordinate system of the target vehicle and having a shape that is a preset shape.

[0130] For each first particle, the weight of the first particle is updated according to the distance between the first particle and the target cone barrel, the weight of the target cone barrel, and the current weight of the first particle.

[0131] The current weight of the first particle may refer to: the weight of the first particle at the moment when the weight of the first particle begins to be updated according to the distance between the first particle and the target cone barrel, the weight of the target cone barrel, and the current weight of the first particle.

[0132] For a first particle, the distance between the first particle and the target cone barrel may specifically refer to: the distance between the position of the first particle in the body coordinate system of the target vehicle and the corresponding position of the target cone barrel in the body coordinate system of the target vehicle.

[0133] In the disclosed embodiment, each cone bucket in the target environment image has a weight.

[0134] In a possible implementation, each cone bucket in the target environment image has the same preset weight.

[0135] In another possible implementation, for a cone barrel in the target environment image, when the cone barrel has a corrected position in the body coordinate system of the target vehicle, the first weight is used as the weight of the cone barrel; when the cone barrel does not have a corrected position in the body coordinate system of the target vehicle, the second weight is used as the weight of the target cone barrel, wherein the second weight is less than the first weight.

[0136] The second weight is smaller than the first weight because: when the cone barrel has a corrected position in the body coordinate system of the target vehicle, the higher the credibility of the cone barrel's corrected position in the body coordinate system of the target vehicle or the position of the cone barrel with the corrected position in the body coordinate system of the target vehicle as the tracking position of the cone barrel, the more important the cone barrel's corrected position in the body coordinate system of the target vehicle is in the cone barrel tracking process, and a higher weight is given to the cone barrel, thereby improving the accuracy of the corresponding result obtained according to the cone barrel's corrected position in the body coordinate system of the target vehicle in the cone barrel tracking, and improving the accuracy of the cone barrel's tracking position obtained by cone barrel tracking.

[0137] As an example, the weight of a cone barrel having a corrected position in the body coordinate system of the target vehicle is 1, and the weight of a cone barrel not having a corrected position in the body coordinate system of the target vehicle is 0.5.

[0138] It should be noted that for a cone barrel in the target environment image, each particle generated according to the position of the cone barrel has an initial weight. That is to say, for a particle, after the particle is generated and before the weight of the particle is updated for the first time, the weight of the particle is the initial weight of the particle.

[0139] In a disclosed embodiment, for a cone barrel in a target environment image, the weight of a particle generated according to the corresponding position of the cone barrel in the body coordinate system of the target vehicle is less than the weight of the cone barrel. The weight of a particle generated according to the corresponding position of the cone barrel in the body coordinate system of the target vehicle may have a multiple relationship with the weight of the cone barrel. The weight of a particle whose position is the corresponding position of the cone barrel in the body coordinate system of the target vehicle among all particles generated according to the corresponding position of the cone barrel in the body coordinate system of the target vehicle is greater than the weights of other particles among all particles. The weight of a particle whose position is the corresponding position of the cone barrel in the body coordinate system of the target vehicle among all particles may have a multiple relationship with the weights of other particles among all particles.

[0140] As an example, for a cone barrel in the target environment image, the weight of the cone barrel is recorded as w, the weight of the particle at the corresponding position of the cone barrel in the body coordinate system of the target vehicle is 4*w / 9, and the weight of other particles is w / 9.

[0141] refer to Figure 3 , which shows a schematic diagram of an example of generating particles according to the corrected position of the cone barrel in the body coordinate system of the target vehicle.

[0142] In this example, according to the corrected position of a cone barrel in the target environment image in the body coordinate system of the target vehicle, a total of 9 particles are generated. The position of the center point is determined as the corresponding position of the cone barrel in the body coordinate system of the target vehicle and the square has a side length of the preset side length. The corresponding position of the cone barrel in the body coordinate system of the target vehicle, the corner point of the square, and the center of each side of the square are respectively used as particle positions, a total of 9 particle positions, for each particle position, a particle at the particle position is generated, a total of 9 particles are generated, the weight of the cone barrel is recorded as w, the weight of the particle 301 at the corresponding position of the cone barrel in the body coordinate system of the target vehicle is 4*w / 9, and the weight of other particles 302 is w / 9.

[0143] In a possible implementation, in step S20411, for a first particle, according to the distance between the first particle and the target cone barrel, the weight of the target cone barrel, and the current weight of the first particle, updating the weight of the first particle includes: determining the coefficient corresponding to the distance between the first particle and the target cone barrel according to the set distance between the particle and the target cone barrel and the correlation relationship between the coefficients, multiplying the coefficient corresponding to the distance between the first particle and the target cone barrel, the weight of the target cone barrel, and a preset constant to obtain a product, adding the product to the current weight of the first particle to obtain the updated weight of the first particle, and updating the weight of the first particle to the updated weight of the first particle.

[0144] As an example, for a first particle in the target area associated with the target cone, the weight of the first particle can be updated using the following formula:

[0145] w2=w1+w new *0.4*e (-3.078*distance)

[0146] Among them, w new is the weight of the target cone barrel, distance is the distance between the first particle and the target cone barrel, w1 is the current weight of the first particle, and w2 is the updated weight of the first particle.

[0147] In step S20412, for a second particle, reducing the weight of the second particle is: subtracting the current weight of the second particle by a preset weight reduction amount, wherein the current weight of the second particle is the weight of the second particle at the moment when the weight of the second particle starts to be reduced.

[0148] As an example, the reduction amount is, for example, 0.2.

[0149] In step S20412, when there are no particles from the target particle set in the target area, new particles generated according to the corresponding position of the target cone barrel in the vehicle body coordinate system are added to the target particle set.

[0150] In a possible implementation of step S2042, multiple third particles are found from the target particle set, and the weight of the third particles is greater than the weight threshold; multiple fourth particles are found from the multiple third particles; the multiple fourth particles are sorted from large to small according to the weight of the fourth particles, and after sorting, each fourth particle in the first target number of fourth particles is determined as a target particle, wherein the target number is the number of cone barrels in the target environment image. For a third particle, if the third particle meets the first condition, the third particle is determined as the fourth particle, and the first condition includes: there are other particles in the target area related to the third particle and the other particles in the target area related to the third particle do not appear in other target areas, wherein the other particles are particles other than the third particle, and the other target area is an area related to particles other than the third particle. For a third particle, if the third particle satisfies a second condition, the third particle is determined as a fourth particle, and the second condition includes: there are other particles in the target area related to the third particle, corresponding other particles in the target area related to the third particle appear in corresponding other target areas, and the weight of the third particle is greater than the weight of other particles related to the corresponding other target areas.

[0151] It should be noted that, in the embodiment of the present disclosure, for a particle, the region related to the particle is: a region having a center point that is the position of the particle in the body coordinate system of the target vehicle and having a shape that is a preset shape.

[0152] As an example, the preset shape is a circle.

[0153] refer to Figure 4 , which shows a schematic diagram of the effect of performing a tracking operation corresponding to a target environment image.

[0154] Figure 4 Particle 401 having a position corresponding to the position of cone barrel 1 in the body coordinate system of the target vehicle is shown, and the target area associated with cone barrel 401 is circular area 402. Particle 403 is a first particle in the target area associated with the target cone barrel and from the target particle set, and particle 404 is a second particle. Figure 4 A particle 405 having a position corresponding to the position of cone barrel 2 in the body coordinate system of the target vehicle is shown. No particle from the target particle set exists in the target region associated with cone barrel 2. A new particle is generated according to the corresponding position of cone barrel 2 in the body coordinate system of the target vehicle. Figure 4 A new particle 406 is shown. The new particle generated according to the corresponding position of the cone barrel 2 in the body coordinate system of the target vehicle is added to the target particle set. Thus, the particles in the target particle set are updated.

[0155] In another possible implementation of step S2042, step S2042 includes: step S20421.

[0156] In step S20421, when there are particles with weights less than 0 in the target particle set, the particles with weights less than 0 are deleted from the target particle set; candidate particles with weights greater than a weight threshold are searched from the target particle set; and the target particles are searched from multiple candidate particles.

[0157] As an example, the weight threshold is 1.

[0158] In one possible implementation, finding a target particle from a plurality of candidate particles includes: sorting the plurality of candidate particles from large to small according to the weights of the candidate particles to obtain an order of the candidate particles; iteratively performing the search operation until a target number of target particles is found, wherein the target number is the number of cone barrels in the target environment image. The search operation performed for the ith time includes: determining whether there are other particles that have not been associated with the candidate particle in the target area related to the candidate particle targeted by the search operation performed for the ith time, wherein the candidate particle targeted by the first search operation is the particle with the largest weight among the plurality of candidate particles, the candidate particle targeted by the non-first search operation is the next candidate particle of the candidate particle targeted by the last search operation of the non-first search operation, the non-first search operation is a search operation other than the first search operation, and the next candidate particle of the candidate particle targeted by the last search operation of the non-first search operation is indicated by the order; if so, the candidate particle targeted by the search operation performed for the ith time is determined as the target particle, And other particles in the target area related to the candidate particle targeted by the search operation executed for the i-th time that have not been associated with the candidate particle are associated with the candidate particle targeted by the search operation executed for the i-th time, and the next candidate particle of the candidate particle targeted by the search operation executed for the i-th time is determined as the candidate particle targeted by the next search operation of the search operation executed for the i-th time, that is, the i+1th search operation; if not, the next candidate particle of the candidate particle targeted by the search operation executed for the i-th time is determined as the candidate particle targeted by the next search operation of the search operation executed for the i-th time, that is, the i+1th search operation, wherein the next candidate particle of the candidate particle targeted by the search operation executed for the i-th time is indicated by the order.

[0159] The target area associated with a candidate particle is an area having a center point that is the position of the candidate particle in the body coordinate system of the target vehicle and a shape that is a preset shape.

[0160] In one possible implementation, a circular area having a center point as the position of the candidate particle targeted by the search operation in the body coordinate system of the target vehicle and a preset second radius as the radius is determined as a target area related to the candidate particle targeted by the search operation.

[0161] As an example, the second radius is preset to be 0.9 m.

[0162] refer to Figure 5 , which shows a schematic diagram of the effect of performing an example of a search operation.

[0163] Schematic diagram of the effect. Figure 5 Candidate particle 501, candidate particle 503, and candidate particle 505 are shown. The weight of candidate particle 501 is 1.34. The weight of candidate particle 503 is 1.31. The weight of candidate particle 505 is 1.21.

[0164] In this example, the first search operation is for candidate particle 501 , the second search operation is for candidate particle 502 , and the third search operation is for candidate particle 503 .

[0165] During the first search operation, it is determined that there are other particles in the target region 502 associated with the candidate particle 501 that have not been associated with the candidate particle. Therefore, the candidate particle 501 is determined as the target particle.

[0166] During the second search operation, it is determined that there are no other particles in the target region 504 associated with the candidate particle 503 that have not been associated with the candidate particle. Therefore, during the second search operation, the candidate particle 503 is not determined as the target particle.

[0167] During the third search operation, it is determined that there are other particles in the target region 506 associated with the candidate particle 505 that have not been associated with the candidate particle. Therefore, the candidate particle 505 is determined as the target particle.

[0168] An information acquisition device is also provided in the embodiment of the present invention, and the device is used to implement the above-mentioned method embodiment and preferred implementation mode, which have been described and will not be repeated here. As used below, the term "unit" can implement a combination of software and / or hardware of a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware is also possible and conceived. The device in the embodiment of the present invention is presented in the form of a functional unit, where the functional unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above-mentioned functions.

[0169] The information acquisition device comprises:

[0170] An acquisition unit, used to acquire a segmentation result of a target environment image captured by a camera of a target vehicle and a detected three-dimensional lane line point cloud of a target lane line on a target road on which the target vehicle is traveling, wherein the segmentation result indicates a plurality of lane line pixel points of the target lane line, and the detected three-dimensional lane line point cloud is detected according to the target environment image;

[0171] A determination unit, configured to determine whether there is a target pitch angle associated with a target environment image according to the current posture of the camera, the segmentation result, and the detected three-dimensional lane line point cloud, wherein an error between a target projected three-dimensional lane line point cloud obtained by reversely projecting the plurality of lane line pixel points onto a body coordinate system of a target vehicle with a target corrected posture corresponding to the target pitch angle and the detected three-dimensional lane line point cloud is less than an error threshold, and the target corrected posture is obtained by replacing a current pitch angle in the current posture of the camera with the target pitch angle;

[0172] A conversion unit is used to transform the position of the cone barrel in the target environment image in the image coordinate system of the target environment image into the corrected position of the cone barrel in the vehicle body coordinate system when it is determined that the target pitch angle exists, using the target corrected posture.

[0173] Furthermore, the information acquisition device also includes:

[0174] The cone position acquisition unit is used to determine the outline of the target cone according to the segmentation result of the target environment image, wherein the target cone is any cone in the target environment image; and determine the position of the intersection of the outline of the target cone and the perpendicular bisector of the detection frame surrounding the target cone as the position of the target cone in the image coordinate system of the target environment image.

[0175] Furthermore, the information acquisition device also includes:

[0176] A tracking unit is used to perform cone barrel tracking corresponding to the target environment image, and the cone barrel tracking includes:

[0177] A tracking operation corresponding to a target environment image is performed, and after the tracking operation is performed, a target particle is found from a target particle set, and the position of the target particle is used as the tracking position of the corresponding cone barrel in the target environment image, and the tracking position is output, wherein the target particle set is initialized as an initial particle set before the first cone barrel tracking is performed, and the initial particle set is obtained by generating particles according to the corresponding position of the cone barrel in the environment image used for particle initialization in the vehicle body coordinate system; the tracking operation includes:

[0178] When a first particle from the target particle set exists in the target area associated with the target cone barrel, the weight of the first particle is updated according to the distance between the first particle and the target cone barrel, the weight of the target cone barrel, and the current weight of the first particle, and when a second particle exists in the target particle set, the weight of the second particle is reduced, wherein the second particle is a particle that is not in the target area associated with any cone barrel in the target environment image;

[0179] When there are no particles from the target particle set in the target area, new particles generated according to the corresponding position of the target cone barrel in the vehicle body coordinate system are added to the target particle set.

[0180] Furthermore, the information acquisition device also includes:

[0181] A weight allocation unit is used to use a first weight as the weight of the target cone barrel when the target cone barrel has a corrected position in the vehicle body coordinate system; when the target cone barrel does not have a corrected position in the vehicle body coordinate system, use a second weight as the weight of the target cone barrel, wherein the second weight is smaller than the first weight.

[0182] Furthermore, the information acquisition device also includes:

[0183] The first target area determination unit is used to determine a circular area with a center point as the corresponding position of the target cone barrel in the vehicle body coordinate system and a preset first radius as the radius as a target area related to the target cone barrel.

[0184] Furthermore, the tracking unit is also used to delete particles with weights less than 0 from the target particle set when there are particles with weights less than 0 in the target particle set; find multiple candidate particles from the target particle set, and the weights of the candidate particles are greater than a weight threshold; and find the target particle from the multiple candidate particles.

[0185] Furthermore, the tracking unit is also used to sort multiple candidate particles according to the weights of the candidate particles from large to small to obtain the order of the candidate particles; iteratively perform the search operation until a target number of target particles are found, wherein the target number is the number of cone barrels in the target environment image, and the search operation includes: determining whether there are other particles that have not been associated with the candidate particle in the target area related to the candidate particle targeted by the search operation, wherein the candidate particle targeted by the first search operation is the particle with the largest weight among the multiple candidate particles, and the candidate particle targeted by the non-first search operation is the next candidate particle of the candidate particle targeted by the last search operation of the non-first search operation, wherein the last search operation is performed. The next candidate particle of the candidate particle targeted by the search operation is indicated by the sequence; if so, the candidate particle targeted by the search operation is determined as the target particle, and other particles in the target area related to the candidate particle targeted by the search operation that have not been associated with the candidate particle are associated with the candidate particle targeted by the search operation, and the next candidate particle of the candidate particle targeted by the search operation is determined as the candidate particle targeted by the next search operation of the search operation; if not, the next candidate particle of the candidate particle targeted by the search operation is determined as the candidate particle targeted by the next search operation of the search operation, wherein the next candidate particle of the candidate particle targeted by the search operation is indicated by the sequence.

[0186] Furthermore, the information acquisition device also includes:

[0187] The second target area determination unit is used to determine a circular area having a center point as the position of the candidate particle targeted by the search operation in the vehicle body coordinate system and having a preset second radius as a target area related to the candidate particle targeted by the search operation.

[0188] refer to Figure 6 , Figure 61 is a schematic diagram of the hardware structure of a computer device provided by an embodiment of the present invention. The computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. The various components are connected to each other using different buses for communication, and can be installed on a common motherboard or installed in other ways as needed. The processor can process instructions executed in the computer device, including instructions stored in or on the memory to display graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used with multiple memories and multiple memories. Similarly, multiple vehicles can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). The processor 10 can be a central processing unit, a network processor, or a combination thereof. Among them, the processor 10 can further include a hardware chip. The above-mentioned hardware chip can be a dedicated integrated circuit, a programmable logic device, or a combination thereof. The above-mentioned programmable logic device can be a complex programmable logic device, a field programmable gate array, a general array logic, or any combination thereof. The memory 20 stores instructions executable by at least one processor 10 so that the at least one processor 10 executes the method shown in the above embodiment. The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required by at least one function; the data storage area may store data created according to the use of the vehicle, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage devices. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof. The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid-state hard disk; the memory 20 may also include a combination of the above-mentioned types of memory. The computer device also includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30, and the output device 40 may be connected via a bus or in other ways. The input device 30 can receive input digital or character information, and generate key signal input related to the user settings and function control of the computer device, such as a touch screen, a keypad, a mouse, a trackpad, a touch pad, an indicator stick, one or more mouse buttons, a trackball, a joystick, etc.The output device 40 may include a display device, an auxiliary lighting device (e.g., LED), a tactile feedback device (e.g., a vibration motor), etc. The above-mentioned display device includes but is not limited to a liquid crystal display, a light emitting diode, a display, and a plasma display. In some optional embodiments, the display device may be a touch screen.

[0189] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0190] A portion of the embodiments of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of computer program instructions in a computer-readable medium includes, but is not limited to, source files, executable files, installation package files, etc., and accordingly, the way in which the computer program instructions are executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0191] The above embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Any equivalent substitution or change made by a person skilled in the art based on the present invention is within the protection scope of the present invention.

Claims

1. A method for obtaining information, characterized in that: The method comprises: Obtaining a segmentation result of a target environment image captured by a camera of a target vehicle and a detected three-dimensional lane line point cloud of a target lane line on a target road on which the target vehicle is traveling, wherein the segmentation result indicates a plurality of lane line pixel points of the target lane line, and the detected three-dimensional lane line point cloud is detected according to the target environment image; Determine whether there is a target pitch angle associated with the target environment image according to the current posture of the camera, the segmentation result, and the detected three-dimensional lane line point cloud, wherein an error between a target projected three-dimensional lane line point cloud obtained by reversely projecting the multiple lane line pixel points into a body coordinate system of a target vehicle with a target corrected posture corresponding to the target pitch angle and the detected three-dimensional lane line point cloud is less than an error threshold, and the target corrected posture is obtained by replacing a current pitch angle in the current posture of the camera with the target pitch angle; When it is determined that the target pitch angle exists, the target corrected posture is used to transform the position of the cone barrel in the target environment image in the image coordinate system of the target environment image into the corrected position of the cone barrel in the vehicle body coordinate system.

2. The method according to claim 1, characterized in that: The method further comprises: According to the segmentation result of the target environment image, the outline of the target cone barrel is determined, wherein the target cone barrel is any cone barrel in the target environment image; The position of the intersection of the contour of the target cone barrel and the perpendicular bisector of the detection frame surrounding the target cone barrel is determined as the position of the target cone barrel in the image coordinate system of the target environment image.

3. The method according to claim 1 or 2, characterized in that: The method further comprises: Cone-bucket tracking corresponding to the target environment image is performed, and the cone-bucket tracking includes: A tracking operation corresponding to a target environment image is performed, and after the tracking operation is performed, a target particle is found from a target particle set, and the position of the target particle is used as the tracking position of the corresponding cone barrel in the target environment image, and the tracking position is output, wherein the target particle set is initialized as an initial particle set before the first cone barrel tracking is performed, and the initial particle set is obtained by generating particles according to the corresponding position of the cone barrel in the environment image used for particle initialization in the vehicle body coordinate system; the tracking operation includes: When a first particle from the target particle set exists in the target area associated with the target cone barrel, the weight of the first particle is updated according to the distance between the first particle and the target cone barrel, the weight of the target cone barrel, and the current weight of the first particle, and when a second particle exists in the target particle set, the weight of the second particle is reduced, wherein the second particle is a particle that is not in the target area associated with any cone barrel in the target environment image; When there are no particles from the target particle set in the target area associated with the target cone, new particles generated according to the corresponding position of the target cone in the vehicle body coordinate system are added to the target particle set.

4. The method according to claim 3, characterized in that: The method further comprises: When the target cone has a corrected position in the vehicle body coordinate system, using the first weight as the weight of the target cone; When the target cone barrel does not have a corrected position in the vehicle body coordinate system, the second weight is used as the weight of the target cone barrel, wherein the second weight is smaller than the first weight.

5. The method according to claim 3, characterized in that: The method further comprises: The position of the center point is the corresponding position of the target cone barrel in the vehicle body coordinate system, and a circular area with a preset first radius as the radius is determined as the target area related to the target cone barrel.

6. The method according to claim 3, characterized in that: Finding target particles from the target particle set includes: When there are particles with weights less than 0 in the target particle set, the particles with weights less than 0 are deleted from the target particle set; Find multiple candidate particles from the target particle set, where the weight of the candidate particles is greater than a weight threshold; Find the target particle from multiple candidate particles.

7. The method according to claim 6, characterized in that: Finding the target particle from multiple candidate particles includes: Sort multiple candidate particles according to their weights from large to small to obtain the order of the candidate particles; The search operation is iteratively performed until a target number of target particles is found, wherein the target number is the number of cone barrels in the target environment image. The search operation includes: Determine whether there are other particles in the target area related to the candidate particle targeted by the search operation that have not been associated with the candidate particle, wherein the candidate particle targeted by the first search operation is a particle with the largest weight among the multiple candidate particles, and the candidate particle targeted by the non-first search operation is the next candidate particle of the candidate particle targeted by the last search operation of the non-first search operation, wherein the next candidate particle of the candidate particle targeted by the last search operation is indicated by the order; If yes, the candidate particle targeted by the search operation is determined as the target particle, and other particles in the target area related to the candidate particle targeted by the search operation that have not been associated with the candidate particle are associated with the candidate particle targeted by the search operation, and the next candidate particle of the candidate particle targeted by the search operation is determined as the candidate particle targeted by the next search operation of the search operation; If not, the next candidate particle of the candidate particle targeted by the search operation is determined as the candidate particle targeted by the next search operation of the search operation, wherein the next candidate particle of the candidate particle targeted by the search operation is indicated by the order.

8. The method according to claim 7, characterized in that: The method further comprises: A circular area having a center point as the position of the candidate particle targeted by the search operation in the vehicle body coordinate system and having a preset second radius as a radius is determined as a target area related to the candidate particle targeted by the search operation.

9. An information acquisition device, characterized in that: The device comprises: An acquisition unit, used to acquire a segmentation result of a target environment image captured by a camera of a target vehicle and a detected three-dimensional lane line point cloud of a target lane line on a target road on which the target vehicle is traveling, wherein the segmentation result indicates a plurality of lane line pixel points of the target lane line, and the detected three-dimensional lane line point cloud is detected according to the target environment image; A determination unit, configured to determine whether there is a target pitch angle associated with a target environment image according to the current posture of the camera, the segmentation result, and the detected three-dimensional lane line point cloud, wherein an error between a target projected three-dimensional lane line point cloud obtained by reversely projecting the plurality of lane line pixel points onto a body coordinate system of a target vehicle with a target corrected posture corresponding to the target pitch angle and the detected three-dimensional lane line point cloud is less than an error threshold, and the target corrected posture is obtained by replacing a current pitch angle in the current posture of the camera with the target pitch angle; A conversion unit is used to transform the position of the cone barrel in the target environment image in the image coordinate system of the target environment image into the corrected position of the cone barrel in the vehicle body coordinate system when it is determined that the target pitch angle exists, using the target corrected posture.

10. A computer device installed in a vehicle, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method according to any one of claims 1 to 8 by executing the computer instructions.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the method according to any one of claims 1 to 8.

12. A computer program product, characterized in that The method comprises computer instructions for causing a computer to execute the method according to any one of claims 1 to 8.

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