Traffic congestion sensing method and apparatus, electronic device and storage medium

A device for sensing a traffic congestion, comprising:

• an environment information acquisition unit configured for acquiring driving environment information comprising lane line information of a lane in which a host vehicle is located, host vehicle driving information, and vehicle information of surrounding vehicles;
• a driving path determining unit configured for determining a driving path of the host vehicle based on the lane line information and the host vehicle driving information;
• an effective vehicle determination unit configured for determining an effective vehicle on at least one side of the host vehicle from the surrounding vehicles based on the host vehicle driving path and the vehicle information of the surrounding vehicles;
• and
• a congestion state determination unit configured for determining a current congestion state of a corresponding lane based on vehicle information of the effective vehicle on at least one side of the host vehicle and a historical congestion state of the corresponding lane;
• wherein the lane line information comprises a lane line lateral position, a lane line slope, a lane line curvature, a lane line effective length, and a lane line confidence;
• the host vehicle driving information comprises a host vehicle steering wheel angle, a host vehicle yaw velocity and a host vehicle speed;
• the vehicle information of the surrounding vehicle comprises a vehicle longitudinal position, a vehicle lateral position, a vehicle longitudinal speed, a vehicle lateral speed, and a vehicle confidence;
• wherein the determining a driving path of the host vehicle based on the lane line information and the host vehicle driving information comprises:
• determining an effective lane line of a lane in which the host vehicle is located based on the lane line information;
• determining a driving path curvature of the host vehicle based on the host vehicle driving information in combination with Kalman filtering;
• determining a target path curvature of the host vehicle and a target path slope of the host vehicle based on the lane line slope and the lane line curvature of the effective lane line, and the driving path curvature of the host vehicle;
• and
• determining the host vehicle driving path based on the target path curvature of the host vehicle and the target path slope of the host vehicle;
• wherein the determining an effective vehicle on at least one side of the host vehicle from the surrounding vehicles based on the host vehicle driving path and the vehicle information of the surrounding vehicles comprises:
• determining an effective vehicle from the surrounding vehicles based on the vehicle information of the surrounding vehicles;
• and
• determining an effective vehicle on at least one side of the host vehicle based on the host vehicle driving path and the vehicle information of the effective vehicle;
• wherein the determining an effective vehicle from the surrounding vehicles based on the vehicle information of the surrounding vehicles comprises:
• determining that one or more vehicles are effective vehicles when the vehicle longitudinal position of the one or more vehicles corresponding to the vehicle information of the surrounding vehicles is within a first preset range, the vehicle lateral position thereof is within a second preset range, the vehicle longitudinal speed thereof is greater than a first speed threshold, and the vehicle confidence thereof is greater than a first confidence threshold.