Vehicle perception method, apparatus, and device

Abstract

The application discloses a vehicle perception method, device and equipment. The vehicle perception method comprises the following steps: acquiring pulse signals sent by at least one associated vehicle, relative position information of the at least one associated vehicle relative to a current vehicle respectively, first identification information corresponding to at least two surrounding vehicles respectively, and perception information corresponding to the at least two surrounding vehicles respectively; the associated vehicle is a vehicle that can be perceived by the current vehicle; the at least two surrounding vehicles comprise the at least one associated vehicle; based on the pulse signals sent by the at least one associated vehicle, the relative position information of the at least one associated vehicle relative to the current vehicle respectively, and the first identification information corresponding to the at least two surrounding vehicles respectively, the relative position information of a target vehicle in the at least two surrounding vehicles is determined; based on the relative position information of the target vehicle and the perception information of the target vehicle, trajectory information of a vehicle perceived by the target vehicle is determined.

Description

Technical Field

[0001] This application relates to the field of vehicle perception technology, specifically to a vehicle perception method, device, and equipment. Background Technology

[0002] With the rapid development of modern transportation and the continuous increase in the number of vehicles, people's requirements for vehicle safety, efficiency, and intelligence are also rising. Global Navigation Satellite System (GNSS), as an important spatial positioning technology, provides crucial support for meeting these needs. However, when vehicles are in environments with poor GNSS signals, such as tunnels, the GNSS signal is blocked, preventing vehicles from obtaining high-precision positioning data. Furthermore, the vehicle's sensors perceive the vehicle in a relative coordinate system, which means that shared data from multiple vehicles cannot be fused using absolute positions. Summary of the Invention

[0003] In view of this, embodiments of this application provide at least one vehicle sensing method, apparatus, and device.

[0004] The technical solution of this application embodiment is implemented as follows:

[0005] In a first aspect, embodiments of this application provide a vehicle perception method, the vehicle perception method comprising:

[0006] The system acquires pulse signals sent by at least one associated vehicle, relative position information of the at least one associated vehicle relative to the current vehicle, first identification information corresponding to at least two surrounding vehicles, and perception information corresponding to the at least two surrounding vehicles; the associated vehicle is a vehicle that the current vehicle can perceive; the at least two surrounding vehicles include the at least one associated vehicle.

[0007] Based on the pulse signal sent by the at least one associated vehicle, the relative position information of the at least one associated vehicle relative to the current vehicle, and the first identification information corresponding to the at least two surrounding vehicles, the relative position information of the target vehicle among the at least two surrounding vehicles is determined.

[0008] Based on the relative position information of the target vehicle and the perception information of the target vehicle, the trajectory information of the vehicle perceived by the target vehicle is determined.

[0009] In this embodiment, the relative position information of a target vehicle among at least two surrounding vehicles is determined by using pulse signals transmitted by at least one associated vehicle, the relative position information of at least one associated vehicle relative to the current vehicle, and the first identification information corresponding to at least two surrounding vehicles. Then, based on the relative position information of the target vehicle and its perception information, the trajectory information of the vehicle perceived by the target vehicle is determined. In this way, by using the vehicle's identification information, the target vehicle that the current vehicle can perceive can be located from at least two surrounding vehicles. Then, based on the target vehicle's relative position information, the target vehicle's perception information is transformed to obtain the trajectory information of the vehicle perceived by the target vehicle. This enables the current vehicle to perceive the position information of other vehicles beyond line of sight in environments with poor GNSS signals. Simultaneously, the current vehicle can fuse the relative position information and perception information of the target vehicle using its identification information, thereby improving the accuracy of obtaining the position information of other vehicles.

[0010] In some embodiments, each pulse signal carries second identification information corresponding to an associated vehicle; determining the relative position information of the target vehicle among the at least two surrounding vehicles based on the pulse signals sent by the at least one associated vehicle, the relative position information of the at least one associated vehicle relative to the current vehicle, and the first identification information corresponding to the at least two surrounding vehicles includes: associating the relative position information of the at least one associated vehicle relative to the current vehicle with the second identification information of the at least one associated vehicle based on the pulse signals sent by the at least one associated vehicle and the relative position information of the at least one associated vehicle relative to the current vehicle to obtain association information for each associated vehicle; and determining the relative position information of the target vehicle based on the association information corresponding to the at least one associated vehicle and the first identification information corresponding to the at least two surrounding vehicles.

[0011] In this embodiment, the relative position information of the associated vehicle relative to the current vehicle is first associated with the second identification information of the associated vehicle. Then, the relative position information of the target vehicle is determined by using the association information of the associated vehicle and the first identification information corresponding to at least two surrounding vehicles. This method, compared to related technologies that perceive the vehicle's position through the license plate information of the associated vehicle, can reliably perceive the vehicle's unique identification information even under poor environmental conditions (e.g., the target distance is far, or in foggy weather), thereby accurately determining the relative position information of the target vehicle.

[0012] In some embodiments, for each associated vehicle, the step of associating the relative position information of the at least one associated vehicle with the second identification information of the at least one associated vehicle relative to the current vehicle based on the pulse signal sent by the at least one associated vehicle and the relative position information of the at least one associated vehicle relative to the current vehicle to obtain the association information of each associated vehicle includes: determining the first azimuth information of the associated vehicle based on the pulse signal of the associated vehicle; determining the second azimuth information of the associated vehicle based on the relative position information of the associated vehicle; and associating the relative position information of the associated vehicle with the second identification information of the associated vehicle based on the first azimuth information and the second azimuth information of the associated vehicle to obtain the association information of the associated vehicle.

[0013] In this embodiment, the first azimuth information of the associated vehicle is first determined using the pulse signal of the associated vehicle. Then, the second azimuth information of the associated vehicle is determined using the relative position information of the associated vehicle. Finally, based on the first and second azimuth information of the associated vehicle, the relative position information of the associated vehicle is associated with the second identification information of the associated vehicle to obtain the association information of the associated vehicle. Because the azimuth angle of the same vehicle relative to the current vehicle is constant at the current moment, the azimuth information determined by different methods can associate the identification information of the associated vehicle with its own relative position to the current vehicle, thereby accurately determining the unique identification information of each associated vehicle.

[0014] In some embodiments, determining the relative position information of the target vehicle based on the association information corresponding to the at least one associated vehicle and the first identification information corresponding to the at least two surrounding vehicles includes: determining the target vehicle among the plurality of surrounding vehicles based on the second identification information of each associated vehicle and the first identification information corresponding to the plurality of surrounding vehicles; and determining the relative position information of the target vehicle based on the association information corresponding to the at least one associated vehicle and the first identification information of the target vehicle.

[0015] In this embodiment, the target vehicle is determined from among multiple surrounding vehicles by using the second identification information of each associated vehicle and the first identification information corresponding to each of the multiple surrounding vehicles; the relative position information of the target vehicle is determined based on the association information corresponding to at least one associated vehicle and the first identification information of the target vehicle. Thus, by first determining the target vehicle from among multiple surrounding vehicles and then determining the relative position information of the target vehicle, the relative position information of the vehicles that the current vehicle can perceive can be accurately determined from at least two surrounding vehicles.

[0016] In some embodiments, determining the relative position information of the target vehicle based on the association information corresponding to the at least one associated vehicle and the first identification information of the target vehicle includes: based on the first identification information of the target vehicle, traversing at least one of the association relationships to determine the relative position information of associated vehicles with second identification information that is the same as the first identification information of the target vehicle; and determining the relative position information of the associated vehicles as the relative position information of the target vehicle.

[0017] In this embodiment, based on the first identification information of the target vehicle, at least one association relationship is traversed to determine the relative position information of associated vehicles with second identification information that is identical to the first identification information of the target vehicle; the relative position information of the associated vehicles is then determined as the relative position information of the target vehicle. Thus, the relative position information of the target vehicle can be accurately determined using the vehicle's unique identification information.

[0018] In some embodiments, the method further includes: broadcasting, via the communication module of the current vehicle, the third identification information of the current vehicle and the relative position information of the at least one associated vehicle relative to the current vehicle; wherein the third identification information of the current vehicle and the relative position information of the at least one associated vehicle relative to the current vehicle are used to enable other vehicles to determine the trajectory information of the associated vehicles.

[0019] In this embodiment, the current vehicle broadcasts its third identification information and the relative position information of at least one associated vehicle relative to the current vehicle via a communication module. This allows other vehicles to determine the position information of the associated vehicles relative to other vehicles based on the current vehicle's position information relative to other vehicles and the relative position information of the associated vehicles relative to the current vehicle, thereby obtaining the trajectory information of the associated vehicles.

[0020] Secondly, embodiments of this application provide a vehicle sensing device, which includes:

[0021] The acquisition module is used to acquire pulse signals sent by at least one associated vehicle, relative position information of the at least one associated vehicle relative to the current vehicle, first identification information corresponding to at least two surrounding vehicles, and perception information corresponding to the at least two surrounding vehicles; the associated vehicle is a vehicle that the current vehicle can perceive; the at least two surrounding vehicles include the at least one associated vehicle.

[0022] The location determination module is used to determine the relative position information of the target vehicle among the at least two surrounding vehicles based on the pulse signal sent by the at least one associated vehicle, the relative position information of the at least one associated vehicle relative to the current vehicle, and the first identification information corresponding to the at least two surrounding vehicles.

[0023] The trajectory determination module is used to determine the trajectory information of the vehicle perceived by the target vehicle based on the relative position information of the target vehicle and the perception information of the target vehicle.

[0024] Thirdly, embodiments of this application provide a vehicle sensing device, including a memory and a processor. The memory stores a computer program that can run on the processor, and the processor executes the program to implement some or all of the steps in the above method.

[0025] Fourthly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements some or all of the steps in the above-described method.

[0026] Fifthly, embodiments of this application provide a computer program product, including a computer program or instructions, which, when executed by a processor, implement some or all of the steps in the above-described method.

[0027] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, and are not intended to limit the technical solutions of this application. Attached Figure Description

[0028] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with this application and, together with the specification, serve to explain the technical solutions of this application.

[0029] Figure 1 A schematic diagram of the implementation process of a vehicle perception method provided in this application embodiment. Figure 1 ;

[0030] Figure 2 A scenario illustration of a vehicle perception method provided in this application embodiment. Figure 1 ;

[0031] Figure 3a A schematic diagram of the implementation process of a vehicle perception method provided in this application embodiment. Figure 2 ;

[0032] Figure 3b A scenario illustration of a vehicle perception method provided in this application embodiment. Figure 2 ;

[0033] Figure 3cSchematic diagram three of a vehicle perception method provided in an embodiment of this application;

[0034] Figure 4 Schematic diagram three illustrating the implementation process of a vehicle perception method provided in this application embodiment;

[0035] Figure 5 A scenario illustration of a vehicle perception method provided in this application embodiment. Figure 4 ;

[0036] Figure 6 This is a schematic diagram of the composition structure of a vehicle sensing device provided in an embodiment of this application;

[0037] Figure 7 This is a schematic diagram of a hardware entity of the vehicle sensing device in an embodiment of this application. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application are further described in detail below with reference to the accompanying drawings and embodiments. The described embodiments should not be regarded as limitations on this application. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0039] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0040] The terms “first / second / third” are used merely to distinguish similar vehicles and do not represent a specific ordering of vehicles. It is understood that “first / second / third” may be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in a sequence other than that illustrated or described herein.

[0041] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this application.

[0042] Vehicle-to-everything (V2X) communication is a key technology for future intelligent transportation systems. It enables communication between vehicles, between vehicles and base stations, and between base stations, effectively obtaining real-time traffic conditions, road information, pedestrian information, and other traffic data. This improves driving safety, reduces congestion, increases traffic efficiency, and provides in-vehicle entertainment information. Based on strong cellular network coverage, it can significantly reduce the deployment costs of future autonomous driving and vehicle-to-everything (V2X) systems. Unlike millimeter-wave radar, lidar, and cameras, V2X is considered a wireless sensor system solution. It allows vehicles to share information with each other through communication channels. It can detect hidden threats, expand the perception range of autonomous driving, and anticipate future events, thereby further enhancing the safety, efficiency, and comfort of autonomous driving. It is one of the key driving forces behind autonomous driving.

[0043] When single-vehicle intelligence reached a development bottleneck, V2X technology offered a new approach to the development of the intelligent driving industry. V2X can detect information beyond the vehicle's perception capabilities, identify potential hazards, and even predict road conditions in advance, essentially equipping vehicles with "eyes" and "ears," extending the vehicle's "vision" from hundreds of meters to infinity. Simply put, intelligent driving systems based on V2X technology support information exchange and sharing between on-board units (OBUs), improving the beyond-line-of-sight perception range and accuracy of intelligent driving vehicles. V2X technology will continue to drive the development of the intelligent driving industry.

[0044] The current technical problem is that GNSS signals from the Global Navigation Satellite System can be blocked in tunnels, making it impossible for vehicles to obtain high-precision positioning. Furthermore, since the vehicle's sensors (millimeter-wave radar, lidar, cameras) perceive the vehicle in a relative coordinate system, the shared data perceived by multiple vehicles is fused using a relative coordinate system, and cannot be fused using absolute positions. Therefore, the fusion target needs to be associated with the unique identity of the target object, but it is difficult to obtain high-confidence target features for the associated target.

[0045] To address the aforementioned technical problems, this application provides a vehicle perception method, which can be applied to vehicle perception devices in vehicles, such as... Figure 1 As shown, the method includes the following steps S101 to S103:

[0046] Step S101: Obtain pulse signals sent by at least one associated vehicle, relative position information of the at least one associated vehicle relative to the current vehicle, first identification information corresponding to at least two surrounding vehicles, and perception information corresponding to the at least two surrounding vehicles; the associated vehicle is a vehicle that the current vehicle can perceive; the at least two surrounding vehicles include the at least one associated vehicle.

[0047] Here, the pulse signal can refer to the infrared pulse signal transmitted by the associated vehicle through an infrared transmitter. The first identification information can be an identifier representing the unique identity of the surrounding vehicles. For example, the first identification information can be the identification information of the communication module on the associated vehicle. The perception information of the surrounding vehicles can refer to the information of other vehicles obtained by the surrounding vehicles through their own perception modules. For example, when the perception module is a lidar module and / or a millimeter-wave radar module, the perception information can be the position information of other vehicles relative to the surrounding vehicles.

[0048] Associated vehicles can be vehicles that the current vehicle can perceive, at least two surrounding vehicles including associated vehicles, and can also include vehicles that the current vehicle cannot perceive. For example, such as Figure 2 As shown, vehicle hv is the current vehicle in this embodiment. Vehicle hv can sense vehicles 3, 6, and 5. Due to vehicle obstruction, vehicle hv cannot sense vehicles 2, 7, 4, 8, 1, and 9 through its own sensing module. Therefore, vehicles 3, 6, and 5 are associated vehicles of vehicle hv, while vehicles 2, 7, 4, 8, 1, and 9 are vehicles that vehicle hv cannot sense. That is, vehicles 1 to 9 are the surrounding vehicles of vehicle hv.

[0049] In this embodiment, the relative position information of at least one associated vehicle relative to the current vehicle can be obtained through the vehicle's perception module; the first identification information corresponding to at least two surrounding vehicles and the perception information corresponding to at least two surrounding vehicles can be obtained through the current vehicle's communication module. For example, the current vehicle's communication module can be an onboard V2X communication module.

[0050] Step S102: Based on the pulse signal sent by the at least one associated vehicle, the relative position information of the at least one associated vehicle relative to the current vehicle, and the first identification information corresponding to the at least two surrounding vehicles, determine the relative position information of the target vehicle among the at least two surrounding vehicles.

[0051] Here, the target vehicle can be any of the at least two surrounding vehicles that the current vehicle can perceive.

[0052] Understandably, although the current vehicle can obtain the relative position information of at least one associated vehicle relative to itself, this relative position information is perceived by the current vehicle through the sensing module and does not carry the identification information of each associated vehicle. Therefore, it is impossible to correlate the perceived relative position information with the vehicle's identification information. Since at least two surrounding vehicles always include at least one associated vehicle, the relative position information of at least one associated vehicle relative to the current vehicle can be correlated with the second identification information of at least one associated vehicle based on the pulse signal sent by at least one associated vehicle and the relative position information of at least one associated vehicle relative to the current vehicle, thus obtaining the correlation information of each associated vehicle. Then, based on the correlation information corresponding to each of the at least one associated vehicle and the first identification information corresponding to each of the at least two surrounding vehicles, the relative position information of the target vehicle can be determined.

[0053] Step S103: Based on the relative position information of the target vehicle and the perception information of the target vehicle, determine the trajectory information of the vehicle perceived by the target vehicle.

[0054] Here, the perceived information of the target vehicle can refer to the relative position information of the vehicle relative to the target vehicle, which the target vehicle can perceive. For example, such as... Figure 2 As shown, the target vehicle can be vehicle 5, and the vehicles that the target vehicle can perceive can include vehicle 2, vehicle 7, and vehicle 4.

[0055] In this embodiment, the relative position information of the vehicle that the target vehicle can perceive relative to the target vehicle is converted into the relative position information of the vehicle that the target vehicle can perceive relative to the current vehicle through the relative position information of the target vehicle relative to the current vehicle, so as to obtain the relative trajectory points of the vehicle that the target vehicle can perceive; then, based on the relative trajectory points of the vehicle that the target vehicle can perceive, the trajectory information of the vehicle that the target vehicle perceives is generated.

[0056] For example, such as Figure 2 As shown, vehicle 4 is obstructed by vehicle 5, preventing vehicle hv from perceiving vehicle 4. By converting the relative position information of vehicle 4 relative to vehicle 5 into the relative position information of vehicle 4 relative to vehicle hv, vehicle hv can perceive the vehicle beyond its line of sight.

[0057] In this embodiment, the relative position information of a target vehicle among at least two surrounding vehicles is determined by using pulse signals transmitted by at least one associated vehicle, the relative position information of at least one associated vehicle relative to the current vehicle, and the first identification information corresponding to at least two surrounding vehicles. Then, based on the relative position information of the target vehicle and its perception information, the trajectory information of the vehicle perceived by the target vehicle is determined. In this way, by using the vehicle's identification information, the target vehicle that the current vehicle can perceive can be located from at least two surrounding vehicles. Then, based on the target vehicle's relative position information, the target vehicle's perception information is transformed to obtain the trajectory information of the vehicle perceived by the target vehicle. This enables the current vehicle to perceive the position information of other vehicles beyond line of sight in environments with poor GNSS signals. Simultaneously, the current vehicle can fuse the relative position information and perception information of the target vehicle using its identification information, thereby improving the accuracy of obtaining the position information of other vehicles.

[0058] In some embodiments, each pulse signal carries second identification information corresponding to the associated vehicle; such as Figure 3a As shown, step S102 can be achieved through steps S301 and S302:

[0059] Step S301: Based on the pulse signal sent by the at least one associated vehicle and the relative position information of the at least one associated vehicle relative to the current vehicle, associate the relative position information of the at least one associated vehicle relative to the current vehicle with the second identification information of the at least one associated vehicle to obtain the association information of each associated vehicle.

[0060] In this embodiment, the azimuth information of the associated vehicle relative to the current vehicle can be calculated using the pulse signal sent by the associated vehicle and the relative position information of the associated vehicle relative to the current vehicle. Then, the relative position information of the associated vehicle relative to the current vehicle is associated with the second identification information of the associated vehicle.

[0061] In some embodiments, step S301 can be implemented by steps S3011 to S3013:

[0062] Step S3011: Determine the first azimuth information of the associated vehicle based on the pulse signal of the associated vehicle.

[0063] In this embodiment, the infrared receiving module of the current vehicle includes two receiving antennas, and there is a certain distance between the two receiving antennas. This causes the phase of the pulse signal to change when the two receiving antennas receive the pulse signal of the associated vehicle. Therefore, the first azimuth information of the associated vehicle can be determined based on the wavelength of the pulse signal, the phase difference between the received pulse signals of the two receiving antennas respectively, and the distance between the two receiving antennas.

[0064] In this embodiment of the application, the first azimuth information of the associated vehicle can be achieved by formula (1):

[0065]

[0066] Where θ is the first azimuth angle information of the associated vehicle; λ is the wavelength of the pulse signal; Δφ is the phase difference between the two received pulse signals; and L is the distance between the two receiving antennas.

[0067] For example, such as Figure 3b and Figure 3c As shown, the associated vehicle 2 includes a front transmitting antenna S2 (which can be an infrared beacon) and a rear transmitting antenna S1. The current vehicle 1 includes receiving antennas R1 and R2. The distance between R1 and R2 is L, the distance between S1 and R1 is d, and the distance between S1 and R2 is d+Δd. The first azimuth information θ can be determined by formula (1).

[0068] Step S3012: Based on the relative position information of the associated vehicles, determine the second azimuth information of the associated vehicles.

[0069] Here, the relative position information of the associated vehicle refers to the coordinate information of the associated vehicle in the current vehicle's coordinate system.

[0070] In this embodiment of the application, the second azimuth information of the associated vehicle can be determined by the horizontal and vertical coordinates of the associated vehicle in the coordinate system of the current vehicle.

[0071] Step S3013: Based on the first azimuth information and the second azimuth information of the associated vehicle, associate the relative position information of the associated vehicle with the second identification information of the associated vehicle to obtain the association information of the associated vehicle.

[0072] Understandably, since the second azimuth information is determined based on the relative position information of the associated vehicles, when the first azimuth information of an associated vehicle is the same as the second azimuth information of another associated vehicle, the relative position information of the associated vehicle can be associated with its first azimuth information. Furthermore, because the first azimuth information of the associated vehicle is determined based on the pulse signal carrying the second identification information of the associated vehicle, the relative position information of the associated vehicle can be associated with its second identification information.

[0073] In this embodiment, the first azimuth information of the associated vehicle is first determined using the pulse signal of the associated vehicle. Then, the second azimuth information of the associated vehicle is determined using the relative position information of the associated vehicle. Finally, based on the first and second azimuth information of the associated vehicle, the relative position information of the associated vehicle is associated with the second identification information of the associated vehicle to obtain the association information of the associated vehicle. Because the azimuth angle of the same vehicle relative to the current vehicle is constant at the current moment, the azimuth information determined by different methods can associate the identification information of the associated vehicle with its own relative position to the current vehicle, thereby accurately determining the unique identification information of each associated vehicle.

[0074] Step S302: Based on the association information corresponding to the at least one associated vehicle and the first identification information corresponding to the at least two surrounding vehicles, determine the relative position information of the target vehicle.

[0075] In this embodiment of the application, the target vehicle can be determined from multiple surrounding vehicles by using the second identification information of each associated vehicle and the first identification information corresponding to each of the multiple surrounding vehicles; the relative position information of the target vehicle can be determined based on the association information corresponding to at least one associated vehicle and the first identification information of the target vehicle.

[0076] In this embodiment, the relative position information of the associated vehicle relative to the current vehicle is first associated with the second identification information of the associated vehicle. Then, the relative position information of the target vehicle is determined by using the association information of the associated vehicle and the first identification information corresponding to at least two surrounding vehicles. This method, compared to related technologies that perceive the vehicle's position through the license plate information of the associated vehicle, can reliably perceive the vehicle's unique identification information even under poor environmental conditions (e.g., the target distance is far, or in foggy weather), thereby accurately determining the relative position information of the target vehicle.

[0077] In some embodiments, such as Figure 4 As shown, step S302 can be achieved through steps S401 and S402:

[0078] Step S401: Based on the second identification information of each associated vehicle and the first identification information corresponding to the plurality of surrounding vehicles, determine the target vehicle among the plurality of surrounding vehicles.

[0079] In this embodiment of the application, the vehicle with the same first identification information as the second identification information among multiple surrounding vehicles can be identified as the target vehicle.

[0080] It is understandable that, since the identification information is the unique identifier of a vehicle, when the first identification information and the second identification information are the same, it can be determined that the vehicle belongs to an associated vehicle. An associated vehicle is a vehicle that the current vehicle can perceive. Therefore, the target vehicle is a vehicle that the current vehicle can perceive among multiple surrounding vehicles.

[0081] In this embodiment of the application, by comparing the second identification information of the associated vehicle with the first identification information corresponding to multiple surrounding vehicles, the target vehicle can be accurately identified from multiple surrounding vehicles.

[0082] Understandably, the second identification information of the associated vehicle is obtained by the current vehicle through its infrared receiving module by receiving pulse signals sent by the associated vehicle. However, pulse signals cannot carry the perception information of the associated vehicle. Therefore, the current vehicle's communication module needs to receive the first identification information and perception information sent by at least two surrounding vehicles. Since there are at least two surrounding vehicles that the current vehicle cannot perceive, it is necessary to determine the target vehicle among the multiple surrounding vehicles by using the second identification information of each associated vehicle and the first identification information corresponding to each of the multiple surrounding vehicles.

[0083] For example, such as Figure 2 As shown, the current vehicle hv can obtain the first identification information and perception information of vehicles 1 to 9 through the communication module, and then obtain the pulse signals carrying the second identification information of vehicles 3, 5, and 6 through the infrared receiving module. Since the first identification information of vehicles 3, 5, and 6 is the same as the second identification information of vehicles 3, 5, and 6, it can be determined that vehicles 3, 5, and 6 are the target vehicles.

[0084] Step S402: Based on the association information corresponding to the at least one associated vehicle and the first identification information of the target vehicle, determine the relative position information of the target vehicle.

[0085] In this embodiment, the target vehicle is determined from among multiple surrounding vehicles by using the second identification information of each associated vehicle and the first identification information corresponding to each of the multiple surrounding vehicles; the relative position information of the target vehicle is determined based on the association information corresponding to at least one associated vehicle and the first identification information of the target vehicle. Thus, by first determining the target vehicle from among multiple surrounding vehicles and then determining the relative position information of the target vehicle, the relative position information of the vehicles that the current vehicle can perceive can be accurately determined from at least two surrounding vehicles.

[0086] In some embodiments, step S402 can be implemented by steps S4021 and S4022:

[0087] Step S4021: Based on the first identification information of the target vehicle, traverse at least one of the association relationships to determine the relative position information of the associated vehicles with the same second identification information as the first identification information of the target vehicle.

[0088] Step S4022: Determine the relative position information of the associated vehicle as the relative position information of the target vehicle.

[0089] It is understandable that the association relationship is the association relationship between the relative position information of the associated vehicle and the second identification information of the associated vehicle. Therefore, the relative position information of the associated vehicle with the same second identification information as the first identification information of the target vehicle can be determined as the relative position information of the target vehicle.

[0090] In this embodiment, based on the first identification information of the target vehicle, at least one association relationship is traversed to determine the relative position information of associated vehicles with second identification information that is identical to the first identification information of the target vehicle; the relative position information of the associated vehicles is then determined as the relative position information of the target vehicle. Thus, the relative position information of the target vehicle can be accurately determined using the vehicle's unique identification information.

[0091] In some embodiments, the above method may also be implemented through the following steps:

[0092] Step 11: Broadcast the third identification information of the current vehicle and the relative position information of at least one associated vehicle relative to the current vehicle through the communication module of the current vehicle.

[0093] The third identification information of the current vehicle and the relative position information of at least one associated vehicle relative to the current vehicle are used to enable other vehicles to determine the trajectory information of the associated vehicles.

[0094] In this embodiment, the current vehicle can broadcast its third identification information and its perception information (i.e., the relative position information of at least one associated vehicle relative to the current vehicle) through the communication module. Other vehicles that receive the broadcast information can determine the position information of the associated vehicles relative to other vehicles based on the position information of the current vehicle relative to other vehicles and the relative position information of the associated vehicles relative to the current vehicle, and thus obtain the trajectory information of the associated vehicles.

[0095] In this embodiment, the current vehicle broadcasts its third identification information and the relative position information of at least one associated vehicle relative to the current vehicle via a communication module. This allows other vehicles to determine the position information of the associated vehicles relative to other vehicles based on the current vehicle's position information relative to other vehicles and the relative position information of the associated vehicles relative to the current vehicle, thereby obtaining the trajectory information of the associated vehicles.

[0096] In some embodiments, the perception information of the target vehicle includes the relative position information of the first vehicle relative to the target vehicle; step S103 above can be implemented through the following steps:

[0097] Step 21: Based on the relative position information of the target vehicle and the relative position information of the first vehicle relative to the target vehicle, determine the relative position information of the first vehicle relative to the current vehicle.

[0098] In this embodiment, the relative position information of the target vehicle and the relative position information of the first vehicle relative to the target vehicle can be converted to the coordinate system of the current vehicle to obtain the relative position information of the first vehicle relative to the current vehicle.

[0099] Step 22: Determine the trajectory information of the first vehicle based on the relative position information of the first vehicle with respect to the current vehicle.

[0100] In this embodiment of the application, the trajectory information of the first vehicle is determined by the relative position information of the first vehicle with respect to the current vehicle at multiple time points.

[0101] In some embodiments, the above steps can also be implemented through the following steps:

[0102] Step 31: Based on the trajectory information of the first vehicle, compare it with multiple preset trajectory information stored in the current vehicle to obtain the comparison result corresponding to each preset trajectory information.

[0103] Step 32: If the similarity between the target preset trajectory information and the trajectory information of the first vehicle is greater than a preset value, update the target preset trajectory information based on the trajectory information of the first vehicle.

[0104] The following describes the application of the vehicle perception method provided in this application in real-world scenarios:

[0105] Step 41: This vehicle receives infrared beacons from multiple vehicles and uses an algorithm to calculate the unique beacon and relative angle of the distant vehicle.

[0106] In this embodiment, each vehicle has multiple beacon transmitters at the front, rear, left, and right. Each transmitter sends an infrared beacon carrying the vehicle's unique identifier, which is the same as the unique identifier carried by the V2X system. It also carries front, rear, left, and right position marker information and an azimuth detection pulse signal. This means that the beacons sent by multiple transmitters all carry the same unique vehicle identifier and the same position marker information.

[0107] Multiple vehicles use V2X synchronization to achieve time-division multiplexing, generating multiple channels without mutual interference. The received signal then undergoes modulation, filtering, and decoding to extract the identification information and azimuth detection pulse information transmitted by different transmitters. Because the differential distance Δd between the two receiving antennas is very small, the phase of the azimuth detection pulse information carried by the beacon transmitted from the transmitter changes. This result can be used to estimate the straight-ahead angle. The azimuth angle of the distant vehicle can be calculated using formula (2).

[0108]

[0109] Where Δφ is the phase difference, L is the antenna distance between the two receiving antennas, and θ is the azimuth angle of the remote vehicle.

[0110] Step 42: The main vehicle associates the relative target information sensed by the lidar or millimeter-wave radar with the target azimuth angle sensed by the infrared beacon sensor, and obtains the unique infrared beacon of the distant vehicle.

[0111] Step 43: The main vehicle's V2X module receives SSM and BSM messages from the remote vehicle, obtaining remote vehicle information and remote vehicle perception information.

[0112] Among them, the remote vehicle information is the unique infrared identifier of the remote vehicle; the remote vehicle perception information includes the unique infrared identifier of the sensing vehicle of the remote vehicle and the relative position of the sensing vehicle relative to the remote vehicle.

[0113] Step 44: The master vehicle broadcasts the SSM via the V2X module and sends the BSM.

[0114] Among them, SSM includes the infrared unique identifier of the remote vehicle perceived by the master vehicle and the relative position of the remote vehicle relative to the master vehicle; BSM is the infrared unique identifier of the master vehicle.

[0115] Step 45: Compare the relative positions of multiple vehicles with beacons with the BSMs of all vehicles received via the V2X of the master vehicle.

[0116] Step 46: If the infrared identifier sensed by the vehicle is equal to the target identifier received by the V2X module, convert the matched remote vehicle and the vehicle sensed by the remote vehicle into the coordinate system of the vehicle.

[0117] Step 47: The remote vehicle and the vehicle trajectory points sensed by the remote vehicle are spatiotemporally aligned using Kalman filtering to eliminate time delay errors.

[0118] Step 48: Generate the trajectory of the distant vehicle.

[0119] Step 49: Perform similarity matching with the trajectory of the vehicle that has been matched with the vehicle's perception.

[0120] Step 50: If the trajectories are similar, proceed to step s10 to merge the trajectories. If they are dissimilar, proceed to step s11.

[0121] Step 51: Merge the target trajectories of the distant vehicle and the local vehicle to obtain trajectory points with higher confidence.

[0122] Step 52: Update the new trajectory to the target trajectory perceived by the main vehicle. Remove previous similar trajectories.

[0123] In some embodiments, such as Figure 5 As shown, the autonomous vehicle 11 includes a communication unit 111, an autonomous vehicle sensor 112, a perception fusion unit 113, and an infrared beacon perception unit 114; wherein:

[0124] The infrared beacon sensing unit 114 is used to receive infrared beacon 1 sent by the remote vehicle 11 and infrared beacon 2 sent by the remote vehicle 12, and send infrared beacon 1 and infrared beacon 2 to the sensing fusion unit 113.

[0125] The vehicle sensor 112 is used to collect the relative position information of the remote vehicle relative to the vehicle 11, and send the relative position information of the remote vehicle relative to the vehicle 11 to the communication unit 111.

[0126] The communication unit 111 is used to broadcast SSM messages and BSM messages to the remote vehicle 11, and to receive SSM messages and BSM messages sent by the remote vehicle 11 and the remote vehicle 12.

[0127] Here, the SSM message may include the infrared unique identifier of the remote vehicle perceived by the vehicle and the relative position of the remote vehicle relative to the vehicle; the BSM message includes the infrared unique identifier of the master vehicle.

[0128] The perception fusion unit 113 is used to determine the trajectory of other vehicles based on infrared beacon 1, infrared beacon 2, the relative position information of the remote vehicle to the vehicle 11, and the SSM and BSM messages sent by the remote vehicle 11 and remote vehicle 12.

[0129] In some embodiments, such as Figure 5 As shown, remote vehicle 11 and remote vehicle 12 can also send SSM messages and BSM messages to each other so that remote vehicle 11 and remote vehicle 12 can determine the trajectory of other vehicles.

[0130] In this embodiment, the beyond-line-of-sight (BLOS) perception method, which integrates information from single-vehicle intelligent perception with infrared beacon positioning and V2X communication, can combine infrared beacons and single-vehicle perception (millimeter-wave radar, lidar) and V2X to share perception information. This enables BLOS perception without GNSS positioning or large-scale deployment of RSUs with MEC in tunnels, allowing for more stable BLOS perception in tunnels with poor lighting conditions and long distances between vehicles.

[0131] In some embodiments, such as Figure 6 As shown, this application embodiment provides a vehicle sensing device 600, which includes an acquisition module 601, a location determination module 602, and a trajectory determination module 603; wherein:

[0132] The acquisition module 601 is used to acquire pulse signals sent by at least one associated vehicle, relative position information of the at least one associated vehicle relative to the current vehicle, first identification information corresponding to at least two surrounding vehicles, and perception information corresponding to the at least two surrounding vehicles; the associated vehicle is a vehicle that the current vehicle can perceive; the at least two surrounding vehicles include the at least one associated vehicle.

[0133] The location determination module 602 is used to determine the relative position information of the target vehicle among the at least two surrounding vehicles based on the pulse signal sent by the at least one associated vehicle, the relative position information of the at least one associated vehicle relative to the current vehicle, and the first identification information corresponding to the at least two surrounding vehicles.

[0134] The trajectory determination module 603 is used to determine the trajectory information of the vehicle perceived by the target vehicle based on the relative position information of the target vehicle and the perception information of the target vehicle.

[0135] In some embodiments, each pulse signal carries second identification information corresponding to an associated vehicle; the position determination module 602 is further configured to associate the relative position information of the at least one associated vehicle with the second identification information of the at least one associated vehicle with the pulse signal sent by the at least one associated vehicle and the relative position information of the at least one associated vehicle relative to the current vehicle, thereby obtaining association information of each associated vehicle; and determine the relative position information of the target vehicle based on the association information corresponding to the at least one associated vehicle and the first identification information corresponding to the at least two surrounding vehicles.

[0136] In some embodiments, for each associated vehicle, the position determination module 602 is further configured to determine the first azimuth information of the associated vehicle based on the pulse signal of the associated vehicle; determine the second azimuth information of the associated vehicle based on the relative position information of the associated vehicle; and associate the relative position information of the associated vehicle with the second identification information of the associated vehicle based on the first azimuth information and the second azimuth information of the associated vehicle to obtain the association information of the associated vehicle.

[0137] In some embodiments, the location determination module 602 is further configured to determine a target vehicle among the plurality of surrounding vehicles based on the second identification information of each associated vehicle and the first identification information corresponding to the plurality of surrounding vehicles respectively; and to determine the relative position information of the target vehicle based on the association information corresponding to the at least one associated vehicle and the first identification information of the target vehicle.

[0138] In some embodiments, the location determination module 602 is further configured to identify the surrounding vehicles among the plurality of surrounding vehicles whose first identification information is the same as the second identification information as the target vehicle.

[0139] In some embodiments, the location determination module 602 is further configured to determine the relative location information of the target vehicle based on the association information corresponding to the at least one associated vehicle and the first identification information of the target vehicle, including: based on the first identification information of the target vehicle, traversing at least one of the association relationships to determine the relative location information of associated vehicles with second identification information that is the same as the first identification information of the target vehicle; and determining the relative location information of the associated vehicles as the relative location information of the target vehicle.

[0140] In some embodiments, the acquisition module 601 is further configured to acquire relative position information of the at least one associated vehicle relative to the current vehicle through the current vehicle's perception module; the perception module includes at least one of the following: a lidar module and a millimeter-wave radar module; receive pulse signals sent by at least one associated vehicle through the current vehicle's infrared receiving module; and receive first identification information and perception information sent by at least two surrounding vehicles through the current vehicle's communication module.

[0141] In some embodiments, the vehicle sensing device may further include a broadcast module, which is used to broadcast the third identification information of the current vehicle and the relative position information of the at least one associated vehicle relative to the current vehicle through the communication module of the current vehicle; wherein the third identification information of the current vehicle and the relative position information of the at least one associated vehicle relative to the current vehicle are used to enable other vehicles to determine the trajectory information of the associated vehicles.

[0142] The descriptions of the apparatus embodiments above are similar to those of the method embodiments above, and have similar beneficial effects. In some embodiments, the functions or modules included in the apparatus provided in this disclosure can be used to perform the methods described in the method embodiments above. For technical details not disclosed in the apparatus embodiments of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0143] It should be noted that, in the embodiments of this application, if the above-described data processing method is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiments of this application, or the part that contributes to the related technology, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, mobile hard drives, read-only memory (ROM), magnetic disks, or optical disks. Thus, the embodiments of this application are not limited to any specific hardware, software, or firmware, or any combination of hardware, software, and firmware.

[0144] This application provides a computer device including a memory and a processor. The memory stores a computer program that can run on the processor. When the processor executes the program, it implements some or all of the steps in the above-described method.

[0145] This application provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements some or all of the steps in the above-described method. The computer-readable storage medium can be transient or non-transient.

[0146] This application provides a computer program including computer-readable code, wherein when the computer-readable code is executed in a computer device, a processor in the computer device performs some or all of the steps in the above-described method.

[0147] This application provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program. When the computer program is read and executed by a computer, it implements some or all of the steps in the above-described method. This computer program product can be implemented specifically through hardware, software, or a combination thereof. In some embodiments, the computer program product is specifically embodied as a computer storage medium; in other embodiments, the computer program product is specifically embodied as a software product, such as a software development kit (SDK), etc.

[0148] It should be noted that the descriptions of the various embodiments above tend to emphasize the differences between them, while their similarities or commonalities can be referred to interchangeably. The descriptions of the above embodiments of the device, storage medium, computer program, and computer program product are similar to the descriptions of the above method embodiments and have similar beneficial effects. For technical details not disclosed in the embodiments of the device, storage medium, computer program, and computer program product of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0149] This application provides a vehicle sensing device, which may be an in-vehicle infotainment system or a device within an in-vehicle infotainment system. Figure 7 This is a schematic diagram of the composition structure of a vehicle sensing device 700 provided in an embodiment of this application, as shown below. Figure 7 As shown, the device includes: a processor 701, a communication interface 702, and a memory 703, wherein:

[0150] The processor 701 typically controls the overall operation of the vehicle sensing device 700, which may be to implement the vehicle sensing method provided in the embodiments of this application.

[0151] The communication interface 702 enables the vehicle sensing device 700 to communicate with other terminals or servers via a network.

[0152] The memory 703 is configured to store instructions and applications executable by the processor 701, and can also cache data to be processed or already processed (e.g., image data, audio data, voice communication data, and video communication data) from the processor 701 and various modules in the vehicle sensing device 700. It can be implemented using flash memory or random access memory (RAM). Data transfer between the processor 701, the communication interface 702, and the memory 703 can be performed via bus 704.

[0153] This application provides a computer program product or computer program that includes computer instructions stored in a readable storage medium. A processor of a computer device reads the computer instructions from the readable storage medium and executes the computer instructions, causing the computer device to perform the vehicle perception method described above in this application.

[0154] This application provides a readable storage medium storing executable instructions, wherein the executable instructions are stored and when executed by a processor, they will cause the processor to execute the vehicle perception method provided in this application.

[0155] It should be noted that the descriptions of the storage medium and device embodiments above are similar to the descriptions of the method embodiments above, and have similar beneficial effects. For technical details not disclosed in the storage medium and device embodiments of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0156] The aforementioned processor can be at least one of the following: Application Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Digital Signal Processing Device (DSPD), Programmable Logic Device (PLD), Field Programmable Gate Array (FPGA), Central Processing Unit (CPU), Controller, Microcontroller, and Microprocessor. It is understood that other electronic devices can also implement the functions of the aforementioned processor, and this application does not specifically limit the specific implementation.

[0157] The aforementioned computer storage media / memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), magnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM), etc.; or it can be various terminals that include one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc.

[0158] It should be understood that the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of this application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that in the various embodiments of this application, the sequence numbers of the above steps / processes do not imply a sequential order of execution; the execution order of each step / process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. The sequence numbers of the above embodiments of this application are merely descriptive and do not represent the superiority or inferiority of the embodiments.

[0159] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0160] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.

[0161] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units. They may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0162] In addition, each functional unit in the various embodiments of this application can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0163] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as mobile storage devices, read-only memory (ROM), magnetic disks, or optical disks.

[0164] Alternatively, if the integrated units described above are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, or the part that contributes to related technologies, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0165] The above description is merely an embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A vehicle perception method, characterized in that, The vehicle perception method includes: The system acquires pulse signals sent by at least one associated vehicle, relative position information of the at least one associated vehicle relative to the current vehicle, first identification information corresponding to at least two surrounding vehicles, and perception information corresponding to the at least two surrounding vehicles; the associated vehicle is a vehicle that the current vehicle can perceive; the at least two surrounding vehicles include the at least one associated vehicle. Based on the pulse signal sent by the at least one associated vehicle, the relative position information of the at least one associated vehicle relative to the current vehicle, and the first identification information corresponding to the at least two surrounding vehicles, the relative position information of the target vehicle among the at least two surrounding vehicles is determined. Based on the relative position information of the target vehicle and the perception information of the target vehicle, the trajectory information of the vehicle perceived by the target vehicle is determined.

2. The vehicle perception method according to claim 1, characterized in that, Each of the pulse signals carries a second identification information corresponding to the associated vehicle; The determination of the relative position information of the target vehicle among the at least two surrounding vehicles, based on the pulse signal sent by the at least one associated vehicle, the relative position information of the at least one associated vehicle relative to the current vehicle, and the first identification information corresponding to the at least two surrounding vehicles, includes: Based on the pulse signals sent by the at least one associated vehicle and the relative position information of the at least one associated vehicle relative to the current vehicle, the relative position information of the at least one associated vehicle relative to the current vehicle is associated with the second identification information of the at least one associated vehicle to obtain the association information of each associated vehicle. The relative position information of the target vehicle is determined based on the association information corresponding to the at least one associated vehicle and the first identification information corresponding to the at least two surrounding vehicles.

3. The vehicle perception method according to claim 2, characterized in that, For each associated vehicle, based on the pulse signals sent by the at least one associated vehicle and the relative position information of the at least one associated vehicle relative to the current vehicle, the relative position information of the at least one associated vehicle relative to the current vehicle is associated with the second identification information of the at least one associated vehicle to obtain the association information of each associated vehicle, including: Based on the pulse signal of the associated vehicle, the first azimuth information of the associated vehicle is determined; Based on the relative position information of the associated vehicles, the second azimuth information of the associated vehicles is determined; Based on the first azimuth information and the second azimuth information of the associated vehicle, the relative position information of the associated vehicle is associated with the second identification information of the associated vehicle to obtain the association information of the associated vehicle.

4. The vehicle perception method according to claim 2, characterized in that, Determining the relative position information of the target vehicle based on the association information corresponding to the at least one associated vehicle and the first identification information corresponding to the at least two surrounding vehicles includes: Based on the second identification information of each of the associated vehicles and the first identification information corresponding to the plurality of surrounding vehicles, the target vehicle is determined among the plurality of surrounding vehicles; Based on the association information corresponding to the at least one associated vehicle and the first identification information of the target vehicle, the relative position information of the target vehicle is determined.

5. The vehicle perception method according to claim 4, characterized in that, The step of determining the target vehicle from the plurality of surrounding vehicles based on the second identification information of each associated vehicle and the first identification information corresponding to each of the plurality of surrounding vehicles includes: The target vehicle is identified as one of the surrounding vehicles whose first identification information is the same as the second identification information.

6. The method according to claim 4, characterized in that, The step of determining the relative position information of the target vehicle based on the association information corresponding to the at least one associated vehicle and the first identification information of the target vehicle includes: Based on the first identification information of the target vehicle, at least one of the association relationships is traversed to determine the relative position information of the associated vehicles with the same second identification information as the first identification information of the target vehicle; The relative position information of the associated vehicles is determined as the relative position information of the target vehicle.

7. The vehicle perception method according to any one of claims 1 to 6, characterized in that, The acquisition of pulse signals sent by at least one associated vehicle, the relative position information of the at least one associated vehicle relative to the current vehicle, the first identification information corresponding to at least two surrounding vehicles, and the perception information corresponding to the at least two surrounding vehicles includes: The relative position information of the at least one associated vehicle relative to the current vehicle is obtained through the current vehicle's perception module; the perception module includes at least one of the following: a lidar module and a millimeter-wave radar module; The infrared receiving module of the current vehicle receives pulse signals sent by at least one associated vehicle. The current vehicle receives first identification information and perception information from at least two surrounding vehicles via its communication module.

8. The vehicle perception method according to any one of claims 1 to 6, characterized in that, The method further includes: The third identification information of the current vehicle and the relative position information of the at least one associated vehicle relative to the current vehicle are broadcast through the communication module of the current vehicle. The third identification information of the current vehicle and the relative position information of the at least one associated vehicle relative to the current vehicle are used to enable other vehicles to determine the trajectory information of the associated vehicle.

9. A vehicle sensing device, characterized in that, The vehicle sensing device includes: The acquisition module is used to acquire pulse signals sent by at least one associated vehicle, relative position information of the at least one associated vehicle relative to the current vehicle, first identification information corresponding to at least two surrounding vehicles, and perception information corresponding to the at least two surrounding vehicles; the associated vehicle is a vehicle that the current vehicle can perceive; the at least two surrounding vehicles include the at least one associated vehicle. The location determination module is used to determine the relative position information of the target vehicle among the at least two surrounding vehicles based on the pulse signal sent by the at least one associated vehicle, the relative position information of the at least one associated vehicle relative to the current vehicle, and the first identification information corresponding to the at least two surrounding vehicles. The trajectory determination module is used to determine the trajectory information of the vehicle perceived by the target vehicle based on the relative position information of the target vehicle and the perception information of the target vehicle.

10. A vehicle sensing device, characterized in that, include: Memory, used to store executable instructions; The processor, when executing executable instructions stored in the memory, implements the steps of the vehicle perception method according to any one of claims 1 to 8.

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