Target screening method and apparatus, storage medium, and ACC system or control unit thereof

Abstract

A target screening method and apparatus, a storage medium, and an ACC system or a control unit (20) thereof. The method comprises: acquiring detection data detected by a sensor; determining the distance between a target and one's own vehicle according to the detection data; determining the type of an inverted trapezoid region according to the distance between the target and the vehicle; and performing target screening according to the detection data and the type of the inverted trapezoid region.

Description

Target screening method, device, storage medium and ACC system or control unit thereof

[0001] The present application claims priority to the Chinese patent application No. 202411267280.2, filed on September 10, 2024, and entitled "Target screening method, device, storage medium and ACC system or control unit thereof", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the field of intelligent networked vehicle technology, and particularly relates to a target screening method, device, storage medium and ACC system or control unit thereof. BACKGROUND

[0003] Adaptive Cruise Control (ACC) system is an intelligent driving assistance system for vehicles, which can automatically adjust the speed of the vehicle to maintain a safe distance according to the speed and distance of the vehicle in front. The current conventional ACC system has some problems in target selection, i.e., selecting targets according to the nearest principle, which may cause misidentification of the side-cut-in target, late deceleration, or no intrusion but still being selected for false braking. The accuracy of target screening is low, and the safety of driving is low. SUMMARY

[0004] Therefore, the embodiments of the present application provide a target screening method, device, storage medium and ACC system or control unit thereof to improve the accuracy of target screening and the safety of driving.

[0005] In one aspect, the embodiments of the present application provide a target screening method, comprising:

[0006] obtaining detection data detected by a sensor;

[0007] determining a distance between a target and a host vehicle according to the detection data;

[0008] determining a type of an inverted trapezoidal region according to the distance between the target and the host vehicle;

[0009] screening the target according to the detection data and the type of the inverted trapezoidal region.

[0010] Optionally, the determining the distance between the target and the host vehicle according to the detection data comprises:

[0011] if the distance between the target and the host vehicle is within a first threshold range, determining the target as a close-range target; or

[0012] If the distance between the target and the ego vehicle is within a second threshold range, the target is determined as a medium-distance target; or

[0013] If the distance between the target and the ego vehicle is within a third threshold range, the target is determined as a long-distance target.

[0014] The first threshold range is smaller than the second threshold range, and the second threshold range is smaller than the third threshold range.

[0015] Optionally, the type of the inverted trapezoidal region is determined according to the distance between the target and the ego vehicle, comprising:

[0016] If the target is determined as a near-distance target, the type of the inverted trapezoidal region is determined as a cut-in inverted trapezoidal region; or

[0017] If the target is determined as a medium-distance target or a long-distance target, the type of the inverted trapezoidal region is determined as a cut-out inverted trapezoidal region.

[0018] Optionally, the nearest and the second nearest targets in the driving direction of the ego vehicle are selected using the cut-in inverted trapezoidal region; or the left and right adjacent nearest targets in the driving direction of the ego vehicle are selected using the cut-out inverted trapezoidal region.

[0019] Optionally, after the nearest and the second nearest targets in the driving direction of the ego vehicle are selected using the cut-in inverted trapezoidal region, comprising:

[0020] According to the longitudinal distance from the ego vehicle in the driving direction of the ego vehicle and the target type of the target, the first lateral threshold is adjusted to control the selection degree of the target;

[0021] After the left and right adjacent nearest targets in the driving direction of the ego vehicle are selected using the cut-out inverted trapezoidal region, comprising:

[0022] According to the longitudinal distance from the ego vehicle in the driving direction of the ego vehicle and the target type of the target, the second lateral threshold is adjusted to control the selection degree of the target.

[0023] Optionally, the target screening according to the detection data and the type of the inverted trapezoidal region comprises:

[0024] A funnel trajectory is generated according to the detection data and the predicted trajectory of the ego vehicle;

[0025] The target is screened according to the funnel trajectory and the type of the inverted trapezoidal region, to generate a preliminary screening target and dynamic data of the preliminary screening target;

[0026] According to the dynamic data, an interpolation curve algorithm is used for prediction to generate a future motion trajectory of the target;

[0027] According to the target future motion trajectory and the set target constraint condition, a target is screened out from the preliminary screened targets.

[0028] Optionally, the funnel trajectory is generated according to the detection data and the acquired self-vehicle predicted trajectory, and the method comprises the following steps of:

[0029] According to the detection data, a reverse trapezoidal region is determined.

[0030] According to the reverse trapezoidal region, a funnel trajectory before adjustment is generated.

[0031] According to the acquired self-vehicle predicted trajectory, the funnel trajectory before adjustment is adjusted to generate the funnel trajectory.

[0032] In another aspect, the embodiment of the present application provides a target screening device, comprising:

[0033] An acquisition module is configured to acquire detection data detected by a sensor.

[0034] A first determination module is configured to determine a distance between a target and a self-vehicle according to the detection data.

[0035] A second determination module is configured to determine a type of a reverse trapezoidal region according to the distance between the target and the self-vehicle.

[0036] A screening module is configured to perform target screening according to the detection data and the type of the reverse trapezoidal region.

[0037] In another aspect, the embodiment of the present application provides a storage medium, which comprises a stored program, wherein when the program is running, the device where the storage medium is located is controlled to perform the above target screening method.

[0038] In another aspect, the embodiment of the present application provides an adaptive cruise control system or a control unit thereof, which comprises a memory and a processor, the memory is configured to store information comprising program instructions, and the processor is configured to control the execution of the program instructions, wherein the program instructions are loaded and executed by the processor to realize the steps of the above target screening method.

[0039] In the technical scheme of the target screening method provided by the embodiment of the present application, the detection data detected by a sensor is acquired, the distance between a target and a self-vehicle is determined according to the detection data, the type of a reverse trapezoidal region is determined according to the distance between the target and the self-vehicle, and target screening is performed according to the detection data and the type of the reverse trapezoidal region. In the technical scheme provided by the embodiment of the present application, target screening is performed according to the detection data and the type of the reverse trapezoidal region, which improves the accuracy of target screening and the safety of driving. BRIEF DESCRIPTION OF DRAWINGS

[0040] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings described below only show some of the embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort based on these drawings.

[0041] Fig. 1 is a flow chart of a target screening method provided by an embodiment of the present application;

[0042] Fig. 2 is a schematic diagram of a cut-in inverted trapezoidal region and a cut-out inverted trapezoidal region provided by an embodiment of the present application;

[0043] Fig. 3 is a schematic diagram of a cut-in inverted trapezoidal judgment boundary and a cut-out inverted trapezoidal judgment boundary provided by an embodiment of the present application;

[0044] Fig. 4 is a flow chart of target screening according to detection data and the type of the inverted trapezoidal region provided by an embodiment of the present application;

[0045] Fig. 5 is a structural schematic diagram of a target screening device provided by an embodiment of the present application;

[0046] Fig. 6 is a schematic diagram of an ACC system or a control unit thereof provided by an embodiment of the present application. DETAILED DESCRIPTION

[0047] In order to better understand the technical solutions of the present application, the following will describe the embodiments of the present application in detail with reference to the drawings.

[0048] It should be clear that the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without any creative effort fall within the scope of protection of the present application.

[0049] The terms used in the embodiments of the present application are only for the purpose of describing the specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0050] It should be understood that the term "and / or" used herein is only to describe the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " in this paper generally represents that the front and rear associated objects are a "or" relationship.

[0051] In the related art, the target screening method has some problems, such as late identification of a side jamming target, late deceleration, or no invasion but also selected for false braking. These problems are mainly caused by inaccurate perception speed and distance measurement. In addition, the ACC system in the related art selects the target according to the nearest principle without considering the influence of the sensor detection distance on the target identification accuracy and resolution, which may cause the situation of misselecting the target and false triggering the brake.

[0052] To solve the technical problems of the above related technologies, an embodiment of the present application provides a target screening method, which forms an inverted trapezoidal target screening method based on the detection performance of the sensor to solve the target screening problem. The inverted trapezoidal region is used, and the funnel track surrounds the ego vehicle predicted track, that is, the funnel center will be curved according to the direction of the ego vehicle predicted track. This way can effectively solve the problem that the farther the sensor detection distance, the worse the accuracy and resolution of the returned target detection result. Specifically, the nearest and second nearest targets located in the on-path of the vehicle are selected by cutting into the inverted trapezoidal region, and the left and right adjacent nearest targets are selected by cutting out the inverted trapezoidal region. At the same time, by using a smaller inner funnel and a larger outer funnel to judge the entry / exit of the target, the target is difficult to enter and exit, and the frequent switching of the target is avoided.

[0053] An embodiment of the present application provides a target screening method, which mainly uses the following means:

[0054] 1. Inverted trapezoidal target screening method: according to the detection performance of the sensor, an inverted trapezoidal region is designed for target screening. By surrounding the funnel track around the ego vehicle predicted track, the funnel center is curved according to the direction of the ego vehicle predicted track. A smaller inner funnel and a larger outer funnel are used to judge the entry / exit of the target, and the target is difficult to enter and exit.

[0055] Among them, the inner funnel is mainly used for target entry scene, that is, during the driving process of the vehicle, when a target object approaches or is ready to enter the driving path of the vehicle, the inner funnel is responsible for detecting and responding to this situation. Its calculation formula and logic are designed to meet the needs in this specific situation.

[0056] The outer funnel is mainly used for target exit scene, that is, during the driving process of the vehicle, when the target object has exceeded the vehicle and is ready to leave the driving path of the vehicle, the outer funnel is responsible for detecting and responding to this situation. Its calculation formula and logic are also designed to meet the needs in this situation.

[0057] In summary, the inner funnel and the outer funnel play different roles in vehicle driving, the former focuses on the target that is about to enter the vehicle path, and the latter focuses on the target that has already passed the vehicle. The design and use of these two funnels are to enhance the safety of vehicle driving and ensure that the vehicle can effectively avoid potential collision risks under various driving conditions.

[0058] 2. Inward and outward inverted trapezoids: according to the position and distance of the target, the inward and outward inverted trapezoidal regions are used to select the nearest on-path target and the left and right adjacent nearest targets. By adjusting the lateral threshold, the selection degree of the target is controlled according to the distance of the target from the vehicle, to avoid misselection.

[0059] 3. Constraint selection: in the target judgment process, target selection is performed according to specific constraint conditions. By comprehensively judging the longitudinal distance, lateral distance, speed, etc. of the target, the target is selected by constraint to avoid misselection and false triggering of the brake.

[0060] Figure 1 shows a specific implementation, and figure 1 is a flowchart of a target screening method provided by an embodiment of the present application, as shown in figure 1, the method comprises:

[0061] Step 102, acquiring the detection data detected by the sensor.

[0062] In the embodiment of the present application, each step is executed by the ACC system or the control unit thereof.

[0063] In the embodiment of the present application, the front road environment can be detected by using sensors such as vehicle-mounted cameras, radars or LiDARs. These sensors can detect road information (such as lane line width, left and right lane line distance and / or lane line curvature), measure the longitudinal distance, lateral distance, speed, acceleration, direction and target type (sedan, truck, two-wheeled vehicle) of the front object, and the speed, acceleration, position, etc. of the vehicle.

[0064] Step 104, determining the distance between the target and the vehicle according to the detection data.

[0065] In the embodiment of the present application, if the distance between the target and the ego vehicle is within a first threshold range, the target is determined as a close-range target; or if the distance between the target and the ego vehicle is within a second threshold range, the target is determined as a middle-range target; or if the distance between the target and the ego vehicle is within a third threshold range, the target is determined as a long-range target, wherein the first threshold range is smaller than the second threshold range, and the second threshold range is smaller than the third threshold range. The first threshold range includes a range of values smaller than a first set distance, the second threshold range includes a range of values greater than or equal to the first set distance and smaller than a second set distance, and the third threshold range includes a range of values greater than or equal to the second set distance. The first set distance, the second set distance and the third set distance can be set according to actual conditions. For example, the first set distance is 50 meters, and the second set distance is 100 meters.

[0066] As an optional solution, in the process of target screening, the distance of the target from the ego vehicle is first determined according to the detection data of the sensor. Close-range targets (such as within 50 meters from the ego vehicle) are first determined because they have a direct impact on the driving safety of the ego vehicle and need to be processed first. Then, middle-range targets (such as 50-100 meters from the ego vehicle) and long-range targets (more than 100 meters) are screened. This order helps the system to process targets of different distances according to importance and urgency, ensuring safe driving while improving the response speed and accuracy of the system.

[0067] In the embodiment of the present application, the distance between the target and the ego vehicle can include a longitudinal distance and a lateral distance. The longitudinal distance refers to the distance between the target and the ego vehicle along the driving direction (i.e. the direction from the front to the rear of the vehicle). In the ACC system, the longitudinal distance is a key factor for determining whether a target vehicle constitutes a potential threat and whether the speed of the ego vehicle needs to be adjusted to maintain a safe distance. The lateral distance refers to the distance between the target and the ego vehicle in the direction of the vehicle width (i.e. perpendicular to the driving direction). The lateral distance is mainly used to determine whether the target vehicle is in the lane of the ego vehicle or in the adjacent lane, and whether the target vehicle has a tendency to cut into the lane of the ego vehicle. For example, a range of longitudinal distances (such as a minimum of 4.2 meters and a maximum of 150 meters) and corresponding lateral distance thresholds under different longitudinal distances can be set. In this way, the screening conditions can be dynamically adjusted according to the real-time position and speed of the target, ensuring that the selected target meets the safety requirements and achieves efficient cruise control.

[0068] Step 106: determining the type of the inverted trapezoidal region according to the distance between the target and the ego vehicle.

[0069] In the embodiment of the present application, if the target is determined as a close-range target, the type of the inverted trapezoidal region is determined as a cut-in inverted trapezoidal region; or if the target is determined as a middle-range target or a long-range target, the type of the inverted trapezoidal region is determined as a cut-out inverted trapezoidal region.

[0070] FIG. 2 is a schematic diagram of a cut-in inverted trapezoidal region and a cut-out inverted trapezoidal region according to an embodiment of the present application. As shown in FIG. 2, ego is the host vehicle. The top of the cut-in inverted trapezoidal region is narrow, which means that the lateral tolerance for close-range targets is small. The top of the cut-out inverted trapezoidal region is wide, which allows for a larger lateral deviation to accommodate errors that can occur when detecting distant targets. The larger region on the outside is referred to as the cut-out inverted trapezoidal region, which is used to select the left and right nearest targets. The smaller region on the inside is referred to as the cut-in inverted trapezoidal region, which is used to select the on-path nearest and second nearest targets. Cut-in and cut-out are a way of judging the selected target, ensuring that the selection of the target meets the safety requirements and avoids misselection. If the target has been selected, the target is still selected and will act until the target crosses the trapezoidal boundary of the target release, and the target vehicle will not act on the target. If the target has not been selected (has not crossed the trapezoidal boundary of the target selection), the target will not be selected when it enters the buffer zone, and will be selected when it crosses the trapezoidal boundary of the target selection.

[0071] FIG. 3 is a schematic diagram of a cut-in inverted trapezoidal judgment boundary and a cut-out inverted trapezoidal judgment boundary according to an embodiment of the present application. As shown in FIG. 3, the cut-in inverted trapezoidal judgment boundary is the boundary of the cut-in inverted trapezoidal region, and the cut-out inverted trapezoidal judgment boundary is the boundary of the cut-out inverted trapezoidal region.

[0072] In the embodiment of the present application, the cut-in inverted trapezoidal region is used to select the nearest and second nearest targets in the driving direction of the host vehicle. The first lateral threshold can be adjusted according to the longitudinal distance of the target in the driving direction of the host vehicle and the target type of the target to control the degree of selection of the target. Alternatively, the cut-out inverted trapezoidal region is used to select the left and right nearest targets in the driving direction of the host vehicle. The second lateral threshold can be adjusted according to the longitudinal distance of the target in the driving direction of the host vehicle and the target type of the target to control the degree of selection of the target.

[0073] In the embodiment of the present application, if the speed of the target is similar to that of the host vehicle and the longitudinal distance is close (e.g., within the cut-in inverted trapezoidal region), the first lateral threshold of the target can be reduced, making it easier to be selected. For targets with similar speeds but far away in the longitudinal direction (e.g., within the cut-out inverted trapezoidal region), the system will increase the second lateral threshold, making it relatively difficult to be selected, thereby avoiding misselection.

[0074] In the embodiments of the present application, the step of "adjusting the first lateral threshold" or "adjusting the second lateral threshold" is obtained by comprehensively judging the longitudinal distance, speed and lateral distance of the target in the target screening process. The first lateral threshold or the second lateral threshold can be adjusted according to the distance setting table. The distance setting table is used to provide the lateral distance setting reference of different target types (such as cars, trucks, and two-wheeled vehicles) at different longitudinal distances. In the actual target screening process, the first lateral threshold or the second lateral threshold can be dynamically adjusted according to the real-time detection data combined with the distance setting table, instead of only looking up a fixed value. This lookup process is to provide a benchmark value or reference range, but the actual adjustment is made according to the real-time situation. Therefore, "adjusting the first lateral threshold" or "adjusting the second lateral threshold" is a process of comprehensively considering multiple factors such as detection data, target type, longitudinal distance, speed and lateral distance. Adjusting the first lateral threshold or the second lateral threshold is to more accurately select the target, avoid misselection and false triggering of the brake, and improve the safety and performance of the system.

[0075] In the embodiments of the present application, Table One is the distance setting table of a car, as shown in the following Table One.

[0076] Table One

[0077] The cut-in lateral distance refers to the distance between the inner edge of the front wheel and the side of the vehicle body when the vehicle is turning. This parameter affects the stability and maneuverability of the vehicle when turning, as well as the minimum clearance between the wheel and the vehicle body. The cut-out lateral distance refers to the distance between the outer edge of the front wheel and the side of the vehicle body when the vehicle is turning. This parameter also affects the stability and maneuverability of the vehicle, especially at high speeds or during emergency turns.

[0078] Table Two is the distance setting table of a two-wheeled vehicle, as shown in the following Table Two.

[0079] Table Two

[0080] Table Three is the distance setting table of a two-wheeled vehicle, as shown in the following Table Three.

[0081] Table Three

[0082] From the above table, because the sizes of different targets are different, offset compensation based on the calibrated standard lateral distance is needed when selecting the cut-in and cut-out of different targets. The lateral distance of a car type can be used as a standard value, and the distance setting value is as follows: according to the distance between the ego vehicle and the front vehicle, the lateral distance is interpolated, and then the truck risk coefficient is compared, so the distance is larger than that of a car, that is, it is selected earlier; the two-wheeled vehicle is small in size and width, so the distance is smaller than that of a car, and it is selected later.

[0083] In the embodiment of the application, the cut-in inverted trapezoidal region is used to select the target closest and the second closest to the longitudinal distance of the ego vehicle in the driving direction of the ego vehicle, or the cut-out inverted trapezoidal region is used to select the target closest to the left and right adjacent of the ego vehicle in the driving direction of the ego vehicle. The reasons for processing mainly include the following points:

[0084] Safety and priority: that is, the target on the predicted trajectory of the ego vehicle has a direct impact on the driving safety of the ego vehicle, so it is necessary to prioritize the selection and processing of these targets. The cut-in inverted trapezoidal region can accurately identify and process these targets to ensure safe driving.

[0085] Avoiding misselection and misoperation: the left and right adjacent closest target is usually a potential safety threat, such as a vehicle suddenly cutting into the side lane. By using the cut-out inverted trapezoidal region, these targets can be identified in time, and selected according to factors such as longitudinal distance, speed and lateral distance, to avoid misselection and misoperation, and improve driving safety.

[0086] Optimizing target selection: by comprehensively considering the distance, speed, lateral distance and other factors of the target, and combining the cut-in inverted trapezoidal region and the cut-out inverted trapezoidal region, the target can be more accurately selected, the brake can be avoided from being triggered, and the target selection process can be optimized, thereby improving the performance and safety of the ACC system.

[0087] Adapting to different scenarios: in the actual driving process, the road environment in front is complex and variable, and there are various types of targets and scenarios. By using the cut-in inverted trapezoidal region and the cut-out inverted trapezoidal region, different scenarios and target types can be adapted to, and more flexible and accurate target selection and processing can be realized.

[0088] In summary, the cut-in inverted trapezoidal region or the cut-out inverted trapezoidal region can be determined according to the distance of each detected object, and the target closest and the second closest to the longitudinal distance of the ego vehicle in the driving direction of the ego vehicle and the target closest to the left and right adjacent of the ego vehicle are processed in priority, in order to ensure driving safety, optimize the target selection process and adapt to different scenarios and target types.

[0089] Step 108, target selection according to the detection data and the type of the inverted trapezoidal region.

[0090] In the embodiments of the present application, after the type of the inverted trapezoidal region is determined, the target can be screened according to the longitudinal distance, speed and lateral distance of the target. The main purpose of this screening process is to accurately select the target to be tracked and controlled from a large number of detected objects.

[0091] FIG. 4 is a flowchart of the target screening according to the detection data and the type of the inverted trapezoidal region provided by an embodiment of the present application. As shown in FIG. 4, step 108 includes:

[0092] Step 1082: determining the inverted trapezoidal region according to the detection data.

[0093] In the embodiments of the present application, the inverted trapezoid is a shape obtained by rotating a trapezoid 90° counterclockwise.

[0094] Step 1084: generating the funnel trajectory before adjustment according to the inverted trapezoidal region.

[0095] In the embodiments of the present application, the target entering and exiting the trapezoidal region of the inverted trapezoid is metaphorically a funnel shape.

[0096] Step 1086: adjusting the funnel trajectory before adjustment according to the predicted trajectory of the ego vehicle to generate the funnel trajectory.

[0097] In the embodiments of the present application, if the predicted trajectory of the ego vehicle is a straight road, the funnel shape is a fixed angle included angle shape formed with the ego vehicle as the center. If the predicted trajectory of the ego vehicle is a curve (driving trajectory direction), then according to the left turn or right turn, the funnel shape is automatically curved according to the tangent of the curve.

[0098] In the embodiments of the present application, the funnel center refers to the geometric center of the funnel trajectory in the inverted trapezoidal region. The center position will be curved according to the predicted trajectory direction. The funnel center is determined after the funnel trajectory is curved according to the predicted trajectory of the ego vehicle. The shape of the funnel trajectory can be adjusted according to the direction of the predicted trajectory of the ego vehicle, so that the funnel center moves along with the curvature of the predicted trajectory of the ego vehicle. The purpose of this step is to make the funnel trajectory more fit the predicted path in actual driving, thereby improving the accuracy and effectiveness of target screening. Specifically, when the predicted trajectory of the ego vehicle changes (such as turning, changing lanes, etc.), the funnel trajectory will adjust its shape and direction accordingly to adapt to the new predicted trajectory, ensuring that the funnel center is always located at the appropriate position of the predicted trajectory. Such design helps to avoid inaccurate target screening or misjudgment problems caused by changes in the predicted trajectory during driving.

[0099] Specifically, the step of "adjusting the shape of the funnel trajectory based on the direction of the ego vehicle predicted trajectory, so that the funnel center moves following the bends of the ego vehicle predicted trajectory" can be described as a key step in the target screening method, which adjusts the funnel shape and funnel center based on the ego vehicle predicted trajectory. To describe or generalize how to generate the funnel trajectory more specifically, it can be broken down into the following steps:

[0100] Probe data collection: Collect ego vehicle driving data through on-board sensors such as cameras, radars, lidars, etc., including speed, acceleration, direction, and possibly predicted path information.

[0101] Ego vehicle predicted trajectory generation: Based on the collected ego vehicle driving data, generate the ego vehicle predicted trajectory through certain algorithms or models. This ego vehicle predicted trajectory may include straight driving, turning, lane changing, etc.

[0102] Funnel center positioning: Before the bend adjustment, the funnel center may be a fixed point or location. However, after introducing the ego vehicle predicted trajectory, the system will determine the position of the funnel center that needs to be adjusted according to the direction of the ego vehicle predicted trajectory.

[0103] Funnel bend adjustment: According to the ego vehicle predicted trajectory, adjust the funnel trajectory. The purpose of this adjustment is to make the center point and trajectory shape of the funnel more consistent with the bends of the ego vehicle predicted trajectory, to ensure that the funnel can accurately cover and screen out targets related to the ego vehicle predicted trajectory.

[0104] Real-time update: With real-time updates of ego vehicle driving data, the funnel center and funnel trajectory need to be continuously adjusted according to new ego vehicle predicted trajectories to maintain accurate screening and tracking of targets. It is more close to how to dynamically generate and adjust the funnel trajectory and funnel center according to the ego vehicle driving data and ego vehicle predicted trajectory in actual driving, so as to ensure accurate and efficient screening of targets related to ego vehicle driving in complex driving environments.

[0105] Step 1088, screen the target according to the funnel trajectory and the type of inverted trapezoidal area, generate the initial screening target and the dynamic data of the initial screening target.

[0106] In the embodiment of the present application, the dynamic data includes speed, acceleration and position.

[0107] Step 1090, according to the dynamic data, use the interpolation curve algorithm for prediction to generate the future motion trajectory of the target.

[0108] In the embodiment of the present application, the role of the interpolation curve algorithm in this process is mainly to predict the future motion trajectory of the target based on the dynamic data of the target, to further optimize the selection of the target.

[0109] In the embodiment of the present application, step 1090 specifically comprises:

[0110] Interpolation curve selection: According to the characteristics of the collected dynamic data, a suitable interpolation curve algorithm can be selected. Common interpolation curve algorithms include polynomial interpolation, spline interpolation, etc., which can generate smooth and continuous curves based on discrete data points.

[0111] Curve fitting: The collected position of the target (usually time series data) is used as input, and the selected interpolation curve algorithm is used for fitting. During this process, the parameters of the interpolation curve can be adjusted according to the distribution characteristics and dynamic trends of the data, so as to accurately reflect the motion state of the target vehicle as much as possible.

[0112] Prediction of the future motion trajectory of the target: After the interpolation curve fitting is completed, the position of the target at a certain time in the future can be predicted according to the current detection data of the target and the trend of the curve. This process usually needs to consider factors such as time step, prediction accuracy, etc., to ensure the reliability and practicality of the prediction results.

[0113] Trajectory output: According to the future motion trajectory of the target, corresponding control decisions are made.

[0114] Step 1092, according to the future motion trajectory of the target and the set target constraint condition, the target is selected from the preliminary screening target.

[0115] In the embodiment of the present application, the target constraint condition can be set according to the actual situation, for example, the target constraint condition can include the following conditions:

[0116] Lateral distance and longitudinal distance: The relative position of the target's lateral distance and longitudinal distance to the ego vehicle can be used for screening. For example, for the target corresponding to the cut-in inverted trapezoidal area, a longitudinal minimum distance (such as 4.2 meters) and a longitudinal maximum distance (such as 150 meters) can be set to ensure that only the target with appropriate distance on the predicted trajectory of the ego vehicle is selected. At the same time, the lateral threshold can be dynamically adjusted according to the lateral position of the target (i.e. the relative position to the ego vehicle lane) and the distance of the longitudinal distance, so as to control the degree of selection of the target.

[0117] Target type: The target type of the front target (such as car, truck, two-wheeled vehicle, etc.) can be identified, and different target types can be screened according to their characteristics and potential danger levels. For example, since trucks are usually larger in size and heavier in mass than cars, a wider lateral threshold and a longer longitudinal distance threshold can be set for trucks to identify and select them as potential tracking targets earlier. On the contrary, for smaller two-wheeled vehicles, a narrower lateral threshold and a shorter longitudinal distance threshold can be set to avoid misselection.

[0118] Speed: Speed is also an important factor to consider when screening targets. The speed difference between the front target and the ego vehicle can be compared, and the targets can be screened according to the proximity of the speed. For example, if the speed of the target is similar to that of the ego vehicle, and the longitudinal distance is moderate, the lateral threshold of the target can be reduced, so that it is easier to be selected as the tracking target. On the contrary, if the speed of the target is too fast or too slow, and the speed difference with the ego vehicle is large, the lateral threshold can be increased or excluded from the screening range.

[0119] In summary, the above three aspects can be comprehensively judged according to multiple target constraints such as lateral distance, longitudinal distance, target type and speed, to further screen the front target, so as to ensure that the selected target meets the requirements of safe driving, and improves the performance and comfort of the ACC system. The specific logic may differ depending on the vehicle model, sensor performance and system design.

[0120] In the technical scheme provided by the embodiment of the application, the detection data detected by the sensor is acquired; the distance between the target and the ego vehicle is determined according to the detection data; the type of the inverted trapezoidal region is determined according to the distance between the target and the ego vehicle; and the target is screened according to the detection data and the type of the inverted trapezoidal region. In the technical scheme provided by the embodiment of the application, the target is screened according to the detection data and the type of the inverted trapezoidal region, which improves the accuracy of target screening and the safety of driving.

[0121] In the technical scheme provided by the embodiment of the application, the direction of the predicted trajectory of the ego vehicle and the detection performance of the sensor can be used to screen the target in the target selection process, so as to avoid misselecting the target and triggering the brake, and improve the performance and safety of the ACC system.

[0122] In the technical scheme provided by the embodiment of the application, the inverted trapezoidal target screening method is introduced, and the target is more accurately screened according to the sensor detection performance and the future motion trajectory of the target. The funnel trajectory can be bent according to the direction of the predicted motion trajectory, so as to avoid the problems of misselecting the target and frequently switching the target.

[0123] In the technical scheme provided by the embodiment of the application, a smaller "inner funnel" and a larger "outer funnel" are used for target entry / exit judgment. This design can realize the "difficult entry and difficult exit" of the target, avoid the problems of misselecting the target and triggering the brake due to inaccurate sensing, speed measurement and distance measurement, and improve the accuracy of target screening.

[0124] The technical scheme provided by the embodiment of the present application considers the comprehensive factors of longitudinal distance, speed and lateral distance for cutting into a target. Under the same speed of a target vehicle, the closer the longitudinal distance of a target is, the smaller the lateral threshold is, and the target is more likely to be selected, so as to reflect the ability of identifying a cutting-in target. Under the same speed, the farther the target is, the larger the lateral threshold is, and the target is less likely to be selected, so as to avoid the situation of misselection.

[0125] An embodiment of the present application provides a target screening device. Fig. 5 is a structural schematic diagram of a target screening device provided by an embodiment of the present application. As shown in Fig. 5, the device comprises an acquisition module 11, a first determination module 12, a second determination module 13 and a screening module 14.

[0126] The acquisition module 11 is configured to acquire detection data detected by a sensor.

[0127] The first determination module 12 is configured to determine the distance between a target and a host vehicle according to the detection data.

[0128] The second determination module 13 is configured to determine the type of an inverted trapezoidal region according to the distance between the target and the host vehicle.

[0129] The screening module 14 is configured to screen a target according to the detection data and the type of the inverted trapezoidal region.

[0130] In the embodiment of the present application, the first determination module 12 is specifically configured to determine the target as a close-range target if the distance between the target and the host vehicle is within a first threshold range, or determine the target as a middle-range target if the distance between the target and the host vehicle is within a second threshold range, or determine the target as a far-range target if the distance between the target and the host vehicle is within a third threshold range; the first threshold range is smaller than the second threshold range, and the second threshold range is smaller than the third threshold range.

[0131] In the embodiment of the present application, the second determination module 13 is specifically configured to determine the type of the inverted trapezoidal region as a cut-in inverted trapezoidal region if the target is determined as a close-range target, or determine the type of the inverted trapezoidal region as a cut-out inverted trapezoidal region if the target is determined as a middle-range target or a far-range target.

[0132] In the embodiment of the present application, the cut-in inverted trapezoidal region is used to select the closest and the second closest targets in the longitudinal direction of the host vehicle; or the cut-out inverted trapezoidal region is used to select the closest targets on the left and right sides of the host vehicle in the driving direction of the host vehicle.

[0133] In the embodiment of the present application, the second determining module 13 is specifically configured to adjust the first lateral threshold to control the selection degree of the target according to the longitudinal distance from the ego vehicle in the driving direction of the ego vehicle and the target type of the target; and adjust the second lateral threshold to control the selection degree of the target according to the longitudinal distance from the ego vehicle in the driving direction of the ego vehicle and the target type of the target.

[0134] In the embodiment of the present application, the screening module 14 is specifically configured to generate a funnel trajectory according to the detection data and the acquired ego vehicle predicted trajectory; screen the target according to the funnel trajectory and the type of the inverted trapezoidal region to generate a preliminary screening target and dynamic data of the preliminary screening target; predict the future motion trajectory of the target by using an interpolation curve algorithm according to the dynamic data; and screen the target from the preliminary screening target according to the future motion trajectory of the target and the set target constraint condition.

[0135] In the embodiment of the present application, the screening module 14 is specifically configured to determine the inverted trapezoidal region according to the detection data; generate a funnel trajectory before adjustment according to the inverted trapezoidal region; and generate the funnel trajectory by adjusting the funnel trajectory before adjustment according to the acquired ego vehicle predicted trajectory.

[0136] In the technical scheme provided by the embodiment of the present application, the detection data detected by the sensor is acquired; the distance between the target and the ego vehicle is determined according to the detection data; the type of the inverted trapezoidal region is determined according to the distance between the target and the ego vehicle; and the target is screened according to the detection data and the type of the inverted trapezoidal region. In the technical scheme provided by the embodiment of the present application, the target is screened according to the detection data and the type of the inverted trapezoidal region, which improves the accuracy of target screening and the safety of driving.

[0137] The target screening device provided by the embodiment can be used to implement the target screening method in FIG. 1, and the specific description can be referred to the embodiment of the target screening method.

[0138] The embodiment of the present application provides a storage medium, which includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to perform each step of the embodiment of the target screening method, and the specific description can be referred to the embodiment of the target screening method.

[0139] The embodiment of the present application provides an ACC system or a control unit thereof, which includes a memory and a processor, the memory is used to store information including program instructions, and the processor is used to control the execution of the program instructions, the program instructions are loaded and executed by the processor to realize each step of the embodiment of the target screening method, and the specific description can be referred to the embodiment of the target screening method.

[0140] FIG. 6 is a schematic diagram of an ACC system or a control unit thereof according to an embodiment of the present application. As shown in FIG. 6, the ACC system or the control unit 20 thereof according to the embodiment includes a processor 21, a memory 22, and a computer program 23 stored in the memory 22 and executable on the processor 21, which, when executed by the processor 21, implements the application to the target screening method according to the embodiment. Details are not repeated herein. Alternatively, the computer program 23, when executed by the processor 21, implements the functions of the models / units in the target screening device according to the embodiment. Details are not repeated herein.

[0141] The ACC system or the control unit 20 thereof includes, but is not limited to, the processor 21 and the memory 22. Those skilled in the art can understand that FIG. 6 is only an example of the ACC system or the control unit 20 thereof, and does not constitute a limitation on the ACC system or the control unit 20 thereof, which can include more or fewer components than those shown in the figure, or combine certain components, or different components, for example, the ACC system or the control unit thereof can also include an input / output device, a network access device, a bus, etc.

[0142] The processor 21 can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0143] The memory 22 can be an internal storage unit of the ACC system or the control unit 20 thereof, such as a hard disk or a memory of the ACC system or the control unit 20 thereof. The memory 22 can also be an external storage device of the ACC system or the control unit 20 thereof, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Further, the memory 22 can include both the internal storage unit and the external storage device of the ACC system or the control unit 20 thereof. The memory 22 is used to store computer programs and other programs and data required by the ACC system or the control unit. The memory 22 can also be used to temporarily store data that has been output or will be output.

[0144] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described system, device and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

[0145] In several embodiments provided by the present application, it should be understood that the disclosed system, device and method can be implemented by other manners. For example, the above-described device embodiments are only schematic, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0146] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, can be located in one place, or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0147] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of hardware plus software functional unit.

[0148] The integrated unit realized in the form of software functional unit can be stored in a computer readable storage medium. The software functional unit stored in a storage medium includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute part of the steps of the method described in each embodiment of the present application. The foregoing storage medium includes a variety of program code storage media such as a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0149] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method of target screening, characterized by, The method comprises the following steps: obtaining detection data detected by a sensor; determining the distance between a target and the ego vehicle according to the detection data; determining the type of the inverted trapezoidal region according to the distance between the target and the ego vehicle; screening the target according to the detection data and the type of the inverted trapezoidal region.

2. The method of claim 1, wherein, The step of determining the distance between the target and the ego vehicle according to the detection data comprises: if the distance between the target and the ego vehicle is within a first threshold range, the target is determined as a close-range target; or if the distance between the target and the ego vehicle is within a second threshold range, the target is determined as a medium-range target; or if the distance between the target and the ego vehicle is within a third threshold range, the target is determined as a long-range target. The first threshold range is smaller than the second threshold range, and the second threshold range is smaller than the third threshold range.

3. The method of claim 2, wherein, The step of determining the type of the inverted trapezoidal region according to the distance between the target and the ego vehicle comprises: if the target is determined as a close-range target, the type of the inverted trapezoidal region is determined as a cut-in inverted trapezoidal region; or if the target is determined as a medium-range target or a long-range target, the type of the inverted trapezoidal region is determined as a cut-out inverted trapezoidal region.

4. The method of claim 3, wherein, The cut-in inverted trapezoidal region is used to select the target closest to the ego vehicle and the target second closest to the ego vehicle in the driving direction of the ego vehicle; or the cut-out inverted trapezoidal region is used to select the target closest to the ego vehicle on the left and the target closest to the ego vehicle on the right in the driving direction of the ego vehicle.

5. The method of claim 4, wherein, After the step of using the cut-in inverted trapezoidal region to select the target closest to the ego vehicle and the target second closest to the ego vehicle in the driving direction of the ego vehicle, the method further comprises the following steps: adjusting a first lateral threshold according to the longitudinal distance between the ego vehicle and the target and the target type of the target to control the selection degree of the target; After the step of using the cut-out inverted trapezoidal region to select the target closest to the ego vehicle on the left and the target closest to the ego vehicle on the right in the driving direction of the ego vehicle, the method further comprises the following steps: adjusting a second lateral threshold according to the longitudinal distance between the ego vehicle and the target and the target type of the target to control the selection degree of the target.

6. The method of claim 1, wherein, The step of screening the target according to the detection data and the type of the inverted trapezoidal region comprises: generating a funnel trajectory according to the detection data and the predicted trajectory of the ego vehicle; screening the target according to the funnel trajectory and the type of the inverted trapezoidal region to generate a preliminary screening target and dynamic data of the preliminary screening target; predicting the future motion trajectory of the target by using an interpolation curve algorithm according to the dynamic data; screening the target from the preliminary screening target according to the future motion trajectory of the target and a set target constraint condition.

7. The method of claim 6, wherein, The step of generating a funnel trajectory according to the detection data and the predicted trajectory of the ego vehicle comprises: determining an inverted trapezoidal region according to the detection data; generating an unadjusted funnel trajectory according to the inverted trapezoidal region; adjusting the unadjusted funnel trajectory according to the predicted trajectory of the ego vehicle to generate the funnel trajectory.

8. A target screening apparatus, characterized by, The method comprises the following steps: an obtaining module, configured to obtain detection data detected by a sensor; a first determining module, configured to determine the distance between a target and the ego vehicle according to the detection data; a second determining module, configured to determine the type of the inverted trapezoidal region according to the distance between the target and the ego vehicle; A screening module is configured to screen targets according to the detection data and the type of the inverted trapezoidal region.

9. A storage medium, characterized by The storage medium comprises a stored program, wherein the program, when executed, controls a device in which the storage medium is located to perform the target screening method of any one of claims 1 to 7.

10. An adaptive cruise control system or a control unit thereof, comprising a memory for storing information including program instructions, and a processor for controlling execution of the program instructions, characterized in that, The program instructions, when loaded and executed by a processor, implement the steps of the target screening method of any one of claims 1 to 7.

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