Abstract: A method and a device for determining traffic stream information, electronic equipment and a storage medium are provided. The method includes: grouping each of target vehicles based on motion information of a host vehicle and state information of one or more of the target vehicles to obtain grouping information; determining a fitting weight for each of the target vehicles based on the state information and the grouping information for each of the target vehicles; and generating, by the fitting, one or more pieces of current traffic stream information based on the motion information of the host vehicle, the state information of each of the target vehicles, the fitting weights and the grouping information of each of the target vehicles. The method can generate the current traffic stream information to achieve the sensing of traffic stream.

Abstract: A guardrail estimation method based on multi-sensor data fusion is provided. The guardrail estimation method comprises acquiring multi-sensor data and vehicle information, determining a traveling track of the vehicle based on the vehicle information, determining multiple guardrail sample points based on the multi-sensor data and the traveling track, and estimating guardrail information based on the multiple guardrail sample points. When the vehicle is controlled laterally, the guardrail information is used for correcting a lane line of poor quality; and when the lane line cannot be detected, the guardrail information is used for a lateral control downgrade processing, and the guardrail information also facilitates aided realization of fast and accurate expressway lane-level localization and realization of a higher-level aided driving function.

Abstract: A multi-vehicle coordination-based vehicle scheduling system and method, an electronic apparatus, and a storage medium. The scheduling system includes a parameter module configured for determining a scheduling parameter; a scheduling module configured for determining a scheduling result; a coordination module configured for determining a coordination impact value; a correction module configured for correcting the scheduling parameter, the correction module judging whether the coordination impact value is no less than a preset threshold, correcting the scheduling parameter based on a judgment result that the coordination impact value is no less than the preset threshold, and re-determining the scheduling result and the coordination impact value based on the corrected scheduling parameter; and an output module configured for outputting the scheduling result based on the judgment result that the coordination impact value is less than the preset threshold.

Abstract: An objective of the present application is to provide a road characterization method, comprising: acquiring a target road, wherein the target road comprises one or more road segments; determining one or more atomic lanes corresponding to the road segments according to the road segment attribute information of the road segments; and determining lane association information related to the atomic lanes corresponding to the target road; wherein the one or more atomic lanes and the lane association information are used for characterizing the target road. The method can functionally completely describe objective connections of lanes within a target area, including lane connectivity and lane change feasibility.