Method and apparatus for detecting complexity of traveling scenario of vehicle

A controller comprising:

• a memory configured to store instructions;
• and
• a processor coupled to the memory and configured to:
• obtain, using a sensor, a first traveling speed of a vehicle and a second traveling speed of a target vehicle, wherein the target vehicle meets a preset distance condition with the vehicle;
• obtain an included angle (θij) between a first traveling direction and a relative traveling speed between the vehicle and the target vehicle based on the first traveling speed and the second traveling speed;
• obtain an initial complexity (f(θij)) corresponding to the target vehicle by substituting the included angle in the following equation:
• f
• ⁡
• (
• θ
• i
• ⁢
• j
• )
• =
• 1
• 2
• ⁢
• {
• 1
• -
• cos
• [
• (
• 1
• ⁢
• 8
• ⁢
• 0
• 6
• ⁢
• 7
• .
• 5
• )
• ·
• 2
• ⁢
• θ
• ij
• 3
• ·
• π
• 1
• ⁢
• 8
• ⁢
• 0
• +
• π
• 1
• ⁢
• 0
• ]
• }
• ;
• obtain, based on the initial complexity, a dynamic complexity of a traveling scenario of the vehicle;
• obtain, from a positioning system and a high-definition map, static information of each static factor in the traveling scenario;
• obtain, based on the static information, a static complexity of the traveling scenario;
• obtain, based on the dynamic complexity and the static complexity, a comprehensive complexity of the traveling scenario;
• and
• control a traveling decision of the vehicle based on the comprehensive complexity.

A computer program product comprising computer-executable instructions that are stored on a non-transitory computer-readable storage medium and that, when executed by a processor of a controller, cause the controller to:

• obtain, using a sensor, a first traveling speed of a vehicle and a second traveling speed of a target vehicle, wherein the target vehicle meets a preset distance condition with the vehicle;
• obtain an included angle (θij) between a first traveling direction and a relative traveling speed between the vehicle and the target vehicle based on the first traveling speed and the second traveling speed;
• obtain an initial complexity ((f(θij)) corresponding to the target vehicle by substituting the included angle in the following equation:
• f
• ⁡
• (
• θ
• i
• ⁢
• j
• )
• =
• 1
• 2
• ⁢
• {
• 1
• -
• cos
• [
• (
• 1
• ⁢
• 8
• ⁢
• 0
• 6
• ⁢
• 7
• .
• 5
• )
• ·
• 2
• ⁢
• θ
• ij
• 3
• ·
• π
• 1
• ⁢
• 8
• ⁢
• 0
• +
• π
• 1
• ⁢
• 0
• ]
• }
• ;
• obtain, based on the initial complexity, a dynamic complexity of a traveling scenario of the vehicle;
• obtain, from a positioning system and a high-definition map, static information of each static factor in the traveling scenario;
• obtain, based on the static information, a static complexity of the traveling scenario;
• obtain, based on the dynamic complexity and the static complexity, a comprehensive complexity of the traveling scenario;
• and
• control a traveling decision of the vehicle based on the comprehensive complexity.