CN-121989951-A - Method and device for detecting vehicle behavior, electronic equipment and storage medium

Abstract

The application provides a method, a device, electronic equipment and a storage medium for detecting vehicle behavior, wherein the method comprises the steps of acquiring a first driving parameter of a self-vehicle; determining a first motion profile of the host vehicle based on the first travel parameter; and detecting the behavior of a target vehicle cutting into or cutting out of the track boundary line according to the track boundary line, wherein the target vehicle is a vehicle in a preset range around the own vehicle. The method can detect the cutting-in or cutting-out behaviors of other vehicles in a scene of no lane line or unclear lane line of the road, is convenient for detecting the illegal behaviors in the driving process of other vehicles, and is beneficial to assisting accident responsibility determination in the accident occurrence.

Inventors

• LU ERSONG
• YU ZIXUAN

Assignees

• 毫末智行科技有限公司

Dates

Publication Date

20260508

Application Date

20241105

Claims (10)

1. 1. A method of detecting vehicle behavior, the method comprising: acquiring a first driving parameter of a self-vehicle; Determining a first motion profile of the host vehicle based on the first travel parameter; generating a track boundary line according to the first motion track; and detecting the behavior of a target vehicle cutting into or cutting out of the track boundary line according to the track boundary line, wherein the target vehicle is a vehicle in a preset range around the own vehicle.
2. 2. The method of claim 1, wherein the generating a trajectory boundary line from the first motion trajectory comprises: Projecting the first motion trail to a frenet coordinate system; and transversely expanding the first motion track projected to the frenet coordinate system to obtain the track boundary line.
3. 3. The method according to claim 1 or 2, wherein the detecting a behavior of the target vehicle to cut into or out of the track boundary line according to the track boundary line comprises: determining a second motion trail of the target vehicle; And determining the behavior of the target vehicle in cutting into or cutting out of the track boundary line based on the position relation between the second motion track and the track boundary line.
4. 4. A method according to claim 3, wherein the determining the behavior of the target vehicle to cut into or out of the track boundary line based on the positional relationship of the second motion track and the track boundary line comprises: For each position in the second motion trail, determining target coordinates of the target vehicle at each position; Determining vertex coordinates of a bounding box bounding the target vehicle at the each position based on a body size of the target vehicle, the target coordinates, and an azimuth of the target vehicle at the target coordinates; And determining the behavior of the target vehicle in cutting in or cutting out the track boundary line based on the position relation between the vertex coordinates and the track boundary line.
5. 5. The method of claim 4, wherein the determining the behavior of the target vehicle to cut into or out of the track boundary line based on the positional relationship of the vertex coordinates and the track boundary line comprises: And when it is determined that at least one vertex coordinate and other coordinates in the vertex coordinates are not on the same side of the track boundary line and the duration time is longer than the preset duration time, determining that the target vehicle has a behavior of cutting in or cutting out the track boundary line.
6. 6. The method of claim 5, wherein the track boundary line includes a first boundary line and a second boundary line, and wherein determining that the target vehicle has an action to cut into or out of the track boundary line when it is determined that at least one of the vertex coordinates and the other coordinates are not on the same side of the track boundary line and are longer than a preset time period, comprises: When it is determined that at least one vertex coordinate and other coordinates in the vertex coordinates are not on the same side of the track boundary line and the duration time is longer than a preset duration time, determining position information of the target vehicle before the behavior of cutting in or cutting out the track boundary line; judging whether the target vehicle is located between the first boundary line and the second boundary line before the behavior of cutting in or cutting out the track boundary line occurs based on the position information; Determining that the target vehicle has a behavior of cutting out the track boundary line when the target vehicle is determined to be located between the first boundary line and the second boundary line; when it is determined that the target vehicle is not located between the first boundary line and the second boundary line, it is determined that the target vehicle has a behavior of cutting into the track boundary line.
7. 7. The method of claim 3, wherein the determining the second motion profile of the target vehicle comprises: acquiring a second driving parameter of the target vehicle based on a preset frequency to obtain an acquisition point; Performing curve fitting on the acquisition points, and determining outliers in the acquisition points based on the fitted curve; correcting the outlier to obtain a corrected acquisition point; and determining the second motion trail based on the corrected acquisition points.
8. 8. An apparatus for detecting vehicle behavior, the apparatus comprising: The acquisition module is used for acquiring first driving parameters of the self-propelled vehicle; A determining module for determining a first motion trajectory of the host vehicle based on the first driving parameter; the generation module is used for generating a track boundary line according to the first motion track; And the detection module is used for detecting the behavior of a target vehicle cutting in or cutting out the track boundary line according to the track boundary line, wherein the target vehicle is a vehicle in a preset range around the own vehicle.
9. 9. An electronic device, the electronic device comprising: A memory for storing executable program code; a processor for calling and running the executable program code from the memory, causing the electronic device to perform the method of any one of claims 1 to 7.
10. 10. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program which, when executed, implements the method according to any of claims 1 to 7.

Description

Method and device for detecting vehicle behavior, electronic equipment and storage medium Technical Field The present application relates to the field of vehicles, and more particularly, to a method, apparatus, electronic device, and storage medium for detecting vehicle behavior in the field of vehicles. Background In order to standardize driving behaviors, a user can conveniently drive a vehicle, and a lane line is usually arranged on a road to restrict the user from driving the vehicle. The user can reasonably perform single lane change based on the lane lines in the process of driving the vehicle, but the user can continuously change at least two lanes in a short time in the process of driving the vehicle, and the continuous lane change is a behavior violating traffic regulations and is easy to cause traffic accidents. In order to determine responsibility more accurately after an accident, it is necessary to detect the behavior of a vehicle cutting into or out of a lane line on a road. In the prior art, the cutting-in or cutting-out behavior of a vehicle can be detected based on a lane line on a road, and whether the vehicle has a continuous lane change behavior is detected based on the cutting-in or cutting-out behavior of the vehicle. However, there may be a case where there is no lane line or the lane line is unclear in the road, and it is difficult to detect the cutting-in or cutting-out behavior of the vehicle based on the lane line. Therefore, how to detect the cutting or cutting behavior of a vehicle on a road without lane lines or with unclear lane lines becomes a problem to be solved. Disclosure of Invention The application provides a method, a device, electronic equipment and a storage medium for detecting vehicle behaviors, which can realize the detection of behaviors of other vehicles cutting into or cutting out of a lane line under the condition of no lane line or unclear lane line scene. In a first aspect, a method of detecting vehicle behavior is provided that includes obtaining a first travel parameter of a host vehicle; determining a first motion profile of the host vehicle based on the first travel parameter; and detecting the behavior of a target vehicle cutting into or cutting out of the track boundary line according to the track boundary line, wherein the target vehicle is a vehicle in a preset range around the own vehicle. In the above technical solution, a track boundary line is generated based on a first motion track of a vehicle, and a behavior of a target vehicle cutting into or cutting out of the track boundary line is detected based on the generated track boundary line, so that an interactive behavior judgment criterion is designed based on the first motion track of the vehicle, wherein the interactive behavior includes cutting into and cutting out behaviors of the target vehicle, and the judgment criterion is the track boundary line. Whether other vehicles have cut-in or cut-out behaviors is detected based on a designed judgment criterion, the cut-in or cut-out behaviors of the other vehicles can be detected independently of lane lines of roads, the cut-in or cut-out behaviors of the other vehicles can be detected even in a scene that the road is not provided with the lane lines or the lane lines are unclear, the detection of the cut-in or cut-out behaviors of the other vehicles is facilitated, the detection of the illegal behaviors of the other vehicles in the driving process is facilitated, and the auxiliary accident responsibility determination is facilitated when an accident occurs. With reference to the first aspect, in some possible implementations, the generating a track boundary line according to the first motion track includes projecting the first motion track under a frenet coordinate system, and expanding the first motion track projected under a frenet coordinate system laterally to obtain the track boundary line. With reference to the first aspect and the foregoing implementation manner, in some possible implementation manners, the detecting, according to the track boundary line, the behavior of the target vehicle cutting into or cutting out of the track boundary line includes determining a second motion track of the target vehicle, and determining, based on a positional relationship between the second motion track and the track boundary line, the behavior of the target vehicle cutting into or cutting out of the track boundary line. With reference to the first aspect and the foregoing implementation manner, in some possible implementation manners, the determining the behavior of the target vehicle to cut into or cut out of the track boundary line based on the position relationship between the second motion track and the track boundary line includes determining, for each position in the second motion track, a target coordinate of the target vehicle at the each position, determining, based on a body size of the target vehicle, the target coordinate, and an azimuth a