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CN-116152756-B - Vehicle state determining method, device, electronic equipment and readable storage medium

CN116152756BCN 116152756 BCN116152756 BCN 116152756BCN-116152756-B

Abstract

The application provides a vehicle state determining method, a vehicle state determining device, electronic equipment and a readable storage medium. The method comprises the steps of obtaining locating points in a target area in a target vehicle image, calculating offset distance values of the locating points in a history preset frame according to position data of the locating points in the target vehicle image of the history preset frame, and determining vehicle states corresponding to shake of the target vehicle according to the relation between the offset distance values and distance thresholds. According to the embodiment of the application, the offset distance value of the locating point in the history frame is determined according to the position data of the locating point in the vehicle image, so that the shaking force of the target vehicle can be determined through the offset distance value of the locating point. The method and the device realize the state determination of the vehicle during shaking, reduce the misjudgment of the vehicle during shaking, and improve the accuracy of the state determination of the vehicle during shaking.

Inventors

  • CHENG YAO

Assignees

  • 智道网联科技(北京)有限公司

Dates

Publication Date
20260505
Application Date
20230314

Claims (9)

  1. 1. A vehicle state determination method, characterized by comprising: acquiring a positioning point in a target area of a target vehicle in a target vehicle image; calculating an offset distance value of the locating point in the history preset frame according to the position data of the locating point in the target vehicle image of the history preset frame; Determining a vehicle state corresponding to the shake of the target vehicle according to the relation between the offset distance value and the distance threshold value; The offset distance value includes an average offset distance value and an euclidean offset distance value, and the calculating the offset distance value of the locating point in the historical preset frame through the position data of the locating point in the target vehicle image of the historical preset frame includes: Performing straight line fitting on the position data through a least square method to obtain a target straight line; Determining average offset distance values from all positioning points to the target straight line; and calculating the Euclidean offset distance value of the positioning point through the position data.
  2. 2. The method of claim 1, wherein said calculating the euclidean offset distance value of the anchor point from the location data comprises: dividing the position data of the positioning point in the target vehicle image of the history preset frame into first part of history preset frame position data and second part of history preset frame position data; determining first part historical preset frame average position data of the first part historical preset frame position data and second part historical preset frame average position data of the second part historical preset frame position data; calculating an Euclidean offset distance value between the first part of historical preset frame average position data and the second part of historical preset frame average position data; Wherein, the formula for calculating the Euclidean offset distance value between the first part of historical preset frame average position data and the second part of historical preset frame average position data is as follows: ; Wherein, the For the euro-type offset distance value, The value of the frame average position data on the first coordinate axis is preset for the first part history, The value of the frame average position data on the first coordinate axis is preset for the second part history, The value of the frame average position data on the second coordinate axis is preset for the first part history, The value of the frame average position data on the second coordinate axis is preset for the second part of the history.
  3. 3. The method of claim 1, wherein the formula for determining the average offset distance value of all anchor points to the target line is: wherein A, B, C is the parameter of the target straight line, Is the first The values of the anchor points on the first coordinate axis, Is the first The values of the anchor points on the second coordinate axis, Is the first The distance between each positioning point and the target straight line, The number of anchor points in the target vehicle image of the frame is preset for the history, The average offset distance value of the locating point to the target straight line.
  4. 4. The method of claim 1, wherein the distance threshold comprises an average distance threshold and a euclidean distance threshold, and wherein determining the vehicle state corresponding to the target vehicle shake from the relationship of the offset distance value to the distance threshold comprises: And if the average offset distance value is smaller than the average distance threshold value and the Euclidean offset distance value is larger than the Euclidean distance threshold value, determining that the target vehicle is in a motion shaking state.
  5. 5. The method of claim 1, wherein the acquiring the anchor point in the target area in the target vehicle image comprises: inputting the target vehicle image into a deep learning network, and outputting a target detection frame after NMS maximum value inhibition; And determining a point at a preset position in the target detection frame as a positioning point.
  6. 6. The method according to any one of claims 1-5, wherein after the acquiring of the anchor point in the target area in the target vehicle image, the method further comprises: Projecting the positioning point to a target coordinate system to obtain a target position corresponding to the positioning point, wherein the target coordinate system is a local coordinate system or a world coordinate system established by the installation equipment of the image acquisition device; the calculating the offset distance value of the locating point in the history preset frame according to the position data of the locating point in the target vehicle image of the history preset frame comprises the following steps: calculating an offset distance value of the target position in the history preset frame according to the position data of the target position in the target vehicle image of the history preset frame; the determining the vehicle state corresponding to the shake of the target vehicle according to the relation between the offset distance value and the distance threshold value comprises the following steps: and determining a vehicle state corresponding to the shake of the target vehicle according to the relation between the offset distance value of the target position and the distance threshold value.
  7. 7. A vehicle state determining apparatus characterized by comprising: the acquisition module is used for acquiring positioning points in a target area of a target vehicle in the target vehicle image; The calculation module is used for calculating the offset distance value of the locating point in the history preset frame according to the position data of the locating point in the target vehicle image of the history preset frame; the determining module is used for determining a vehicle state corresponding to the shake of the target vehicle according to the relation between the offset distance value and the distance threshold value; the computing module is specifically configured to: wherein the offset distance value comprises an average offset distance value and a Euclidean offset distance value; Performing straight line fitting on the position data through a least square method to obtain a target straight line; Determining average offset distance values from all positioning points to the target straight line; and calculating the Euclidean offset distance value of the positioning point through the position data.
  8. 8. An electronic device comprising a processor, a memory storing machine-readable instructions executable by the processor, which when executed by the processor perform the steps of the method of any of claims 1 to 6.
  9. 9. A computer-readable storage medium, characterized in that it has stored thereon a computer program which, when executed by a processor, performs the steps of the method according to any of claims 1 to 6.

Description

Vehicle state determining method, device, electronic equipment and readable storage medium Technical Field The present application relates to the field of automatic driving, and in particular, to a vehicle state determining method, apparatus, electronic device, and readable storage medium. Background The vehicle state judgment is a precondition for realizing an automatic driving system, and provides effective basis for automatic driving vehicle path planning and vehicle control. The accurate and reliable vehicle state detection technology plays a key role in controlling the automatic driving vehicle to execute actions such as stopping, running and the like. The accuracy of the vehicle state directly influences the safety, the running efficiency and the riding experience of the automatic driving system. In the prior art, the detection of the vehicle state is mostly carried out by detecting and tracking the two-dimensional frame, but in the actual use process, when the vehicle shakes, the detection of the two-dimensional frame often has deviation, so that the vehicle state is misjudged. Disclosure of Invention Accordingly, an object of an embodiment of the present application is to provide a method, an apparatus, an electronic device, and a readable storage medium for determining a vehicle state, which can reduce erroneous determination of a vehicle during shake and improve accuracy of determining a vehicle state during shake. In a first aspect, an embodiment of the present application provides a vehicle state determining method, including acquiring a positioning point in a target area of a target vehicle in a target vehicle image, calculating an offset distance value of the positioning point in a history preset frame according to position data of the positioning point in the target vehicle image of the history preset frame, and determining a vehicle state corresponding to shake of the target vehicle according to a relationship between the offset distance value and a distance threshold. In the implementation process, the offset distance value of the locating point in the history frame is determined according to the position data of the locating point in the vehicle image, and further the shaking force of the target vehicle can be determined through the offset distance value of the locating point. The vehicle state of the target vehicle can be determined according to the relation between the offset distance value and the distance threshold value due to different shaking forces of the vehicle in different states, so that the state determination of the vehicle in shaking is realized, the erroneous judgment of the vehicle in shaking is reduced, and the accuracy of the state determination of the vehicle in shaking is improved. In one embodiment, the offset distance value comprises an average offset distance value and an Euclidean offset distance value, the offset distance value of the target position in the history preset frame is calculated through the position data of the positioning point in the target vehicle image of the history preset frame, the offset distance value comprises the steps of performing linear fitting on the position data through a least square method to obtain a target straight line, determining the average offset distance value of all positioning points to the target straight line, and calculating the Euclidean offset distance value of the positioning point through the position data. In the implementation process, the shaking force of the target vehicle along the left side and the right side of the vehicle during shaking can be determined by calculating the average offset distance value between the positioning point and the target straight line. And then, by calculating the distance between the positioning points of the front frame and the rear frame, the shaking force of the target vehicle along the front-rear direction of the vehicle during shaking can be determined. The jitter forces of the point positions in multiple dimensions are considered when the offset distance of the target vehicle is calculated, the offset distance value of the positioning point can be more accurately determined, and the accuracy of the offset distance value of the positioning point is improved. In one embodiment, the calculating the Euclidean offset distance value of the locating point through the position data comprises dividing the position data of the locating point in a target vehicle image of a history preset frame into first part history preset frame position data and second part history preset frame position data, determining first part history preset frame average position data of the first part history preset frame position data and second part history preset frame average position data of the second part history preset frame position data, and calculating the Euclidean offset distance value between the first part history preset frame average position data and the second part history preset frame average