The embodiment of the invention provides a queuing scene identification method and equipment, a mobile device and a storage medium. The method comprises the following steps: identifying a long-term static obstacle in all obstacles in a road based on perception information acquired by a vehicle in the road and existing map information; generating a driving queue according to each reference line based on other obstacles except for the long-term static obstacles in all the obstacles; and according to the distance parameter between the own vehicle in the driving queue where the own vehicle is located and the front obstacle and the distance parameter between the own vehicle and the lane where the adjacent driving queue is located, whether the lane where each driving queue is located is a queuing scene is evaluated. According to the embodiment of the invention, the long-term static obstacles in the road are identified and deleted from the driving queue, so that the queuing scene state is prevented from being identified mistakenly. The influence of a blind area is considered, the congestion scene can still be timely and accurately recognized when the front obstacle detection effect is poor, and redundant lane changing is avoided.

    本发明实施例提供一种排队场景的识别方法、设备、移动装置和存储介质。该方法包括:基于自车在道路中获取的感知信息以及已有地图信息,识别出道路中的所有障碍物中的长期静止障碍物;基于所有障碍物中除去长期静止障碍物之外的其余障碍物按照各参考线生成行驶队列;根据自车所在行驶队列中的自车与前方障碍物之间的距离参数以及自车与邻侧行驶队列所在车道之间的距离参数,评估各行驶队列所在车道是否为排队场景。本发明实施例识别道路中长期静止障碍物并将其从行驶队列中删除,避免误识别排队场景状态。考虑到了盲区的影响,在前方障碍物检测效果不佳时仍能及时准确识别拥堵场景,避免发生冗余换道。


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    Title :

    Queuing scene identification method and equipment, mobile device and storage medium


    Additional title:

    排队场景的识别方法、设备、移动装置和存储介质


    Contributors:

    Publication date :

    2024-05-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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