CN111626164A - Vehicle collision information acquisition method, device, equipment and storage medium - Google Patents
Vehicle collision information acquisition method, device, equipment and storage medium Download PDFInfo
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Abstract
The invention discloses a method, a device, equipment and a storage medium for acquiring vehicle collision information, which relate to the technical field of vehicle collision and comprise the following steps: acquiring current vehicle information and road environment information; judging whether a target barrier exists on a current driving path or not according to the current vehicle information and the road environment information; when the target obstacle exists, determining position information corresponding to the target obstacle according to the road environment information; determining corresponding collision information through a preset collision geometric model according to the position information and the current vehicle information; and carrying out obstacle avoidance early warning prompt according to the collision information. The safety and the reliability of the automatic driving system are guaranteed, and the user experience is improved by determining the position information of the target obstacle, determining the collision information corresponding to the current vehicle according to the position information of the target obstacle and the information of the current vehicle and finally carrying out obstacle avoidance early warning prompt according to the collision information.
Description
Technical Field
The invention relates to the technical field of vehicle collision, in particular to a vehicle collision information acquisition method, device, equipment and storage medium.
Background
At present, a sensing layer is particularly important for an automatic driving system, and how the automatic driving system utilizes barrier information obtained after data fusion of a sensing sensor, wherein one key index is the collision distance between a barrier and a vehicle, and accurate planning and control can be performed by a local anti-collision algorithm and a decision-making system on the premise of accurately obtaining the collision distance.
In the prior art, regarding the calculation of the collision distance (distance to collision DTC), part of intelligent parking systems directly adopt 12-way ultrasonic waves or a straight-line distance DTV from an obstacle to the own vehicle, which is detected by a look-around camera, as the collision distance DTC, that is, DTC is DTV, part of medium-high speed automatic driving systems also directly adopt a straight-line distance DTV from the own vehicle, which is detected by a millimeter wave radar or a look-around camera, as the collision distance DTC, or part of suppliers adopt an iterative prediction model to control and obtain the collision distance of the obstacle in a recursion manner. However, the method reduces the complexity of software or algorithm, improves the operation and calculation efficiency of the model, and simultaneously sacrifices the purpose of accurate calculation of the collision distance to a certain extent. Therefore, how to acquire accurate vehicle collision information so as to realize accurate control of an automatic driving system according to the vehicle collision information is an urgent technical problem to be solved.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a vehicle collision information acquisition method, a vehicle collision information acquisition device, equipment and a storage medium, and aims to solve the technical problem that how to acquire accurate vehicle collision information so as to realize accurate control of an automatic driving system according to the vehicle collision information is urgent to solve.
In order to achieve the above object, the present invention provides a vehicle collision information acquisition method including the steps of:
acquiring current vehicle information and road environment information;
judging whether a target barrier exists on a current driving path or not according to the current vehicle information and the road environment information;
when the target obstacle exists, determining position information corresponding to the target obstacle according to the road environment information;
determining corresponding collision information through a preset collision geometric model according to the position information and the current vehicle information;
and carrying out obstacle avoidance early warning prompt according to the collision information.
Preferably, before the step of acquiring the current vehicle information and the road environment information, the method further includes:
acquiring sample vehicle information and sample road environment information;
determining sample vehicle coordinate information and sample obstacle coordinate information according to the sample vehicle information and the sample road environment information;
processing the sample vehicle coordinate information and the sample obstacle coordinate information to obtain a sample collision area and a sample collision distance;
and establishing a preset collision geometric model according to the sample collision area and the sample collision distance.
Preferably, after the step of determining whether a target obstacle exists on a current driving path according to the current vehicle information and the road environment information, the method further includes:
and returning to the step of acquiring the current vehicle information and the road environment information when the target obstacle does not exist.
Preferably, the step of determining the position information corresponding to the target obstacle according to the road environment information includes:
obtaining the type of the obstacle according to the road environment information;
and determining the position information corresponding to the target obstacle according to the obstacle type.
Preferably, the collision information includes a target collision region, a target collision distance, a target collision time, and a collision coordinate position;
the step of determining the corresponding collision information through a preset collision geometric model according to the position information and the current vehicle information comprises the following steps:
determining coordinate information of the target obstacle according to the position information;
obtaining the current vehicle type according to the current vehicle information, and determining vehicle coordinate information according to the current vehicle type;
determining the target collision area and the target collision distance through a preset collision geometric model according to the coordinate information of the target obstacle and the coordinate information of the vehicle;
acquiring current vehicle speed information;
and determining the target collision time and the collision coordinate position according to the current vehicle speed information, the target collision area and the target collision distance.
Preferably, the step of performing obstacle avoidance early warning prompt according to the collision information includes:
generating a collision route according to the current vehicle speed information, the target collision area and the collision coordinate position;
and carrying out obstacle avoidance early warning prompt according to the collision route.
Further, to achieve the above object, the present invention also proposes a vehicle collision information acquisition apparatus including:
the acquisition module is used for acquiring current vehicle information and road environment information;
the judging module is used for judging whether a target barrier exists on a current running path or not according to the current vehicle information and the road environment information;
the judging module is used for determining the position information corresponding to the target obstacle according to the road environment information when the target obstacle exists;
the determining module is used for determining corresponding collision information through a preset collision geometric model according to the position information and the current vehicle information;
and the early warning module is used for carrying out obstacle avoidance early warning prompt according to the collision information.
Preferably, the vehicle collision information acquisition device further includes an establishment module:
the establishing module is used for acquiring sample vehicle information and sample road environment information;
the establishing module is further used for determining sample vehicle coordinate information and sample obstacle coordinate information according to the sample vehicle information and the sample road environment information;
the establishing module is further used for processing the sample vehicle coordinate information and the sample obstacle coordinate information to obtain a sample collision area and a sample collision distance;
the establishing module is further used for establishing a preset collision geometric model according to the sample collision area and the sample collision distance.
Further, to achieve the above object, the present invention also proposes a vehicle collision information acquisition apparatus including: a memory, a processor, and a vehicle crash information acquisition program stored on the memory and executable on the processor, the vehicle crash information acquisition program when executed by the processor implementing the steps of the vehicle crash information acquisition method as described above.
Furthermore, to achieve the above object, the present invention also proposes a storage medium having stored thereon a vehicle collision information acquisition program that, when executed by a processor, implements the steps of the vehicle collision information acquisition method as described above.
The method comprises the steps of firstly obtaining current vehicle information and road environment information, then judging whether a target obstacle exists on a current running path according to the current vehicle information and the road environment information, when the target obstacle exists, determining position information corresponding to the target obstacle according to the road environment information, then determining corresponding collision information according to the position information and the current vehicle information and through a preset collision geometric model, and finally carrying out obstacle avoidance early warning prompt according to the collision information. In the mode, according to the target obstacle position information and the current vehicle information, accurate vehicle collision information is acquired through the preset collision geometric model, so that the safe driving of a driver is guaranteed, the accurate control of an automatic driving system is realized, and the user experience is improved.
Drawings
Fig. 1 is a schematic structural diagram of a vehicle collision information acquisition apparatus of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a vehicle collision information acquisition method according to a first embodiment of the present invention;
FIG. 3 is a schematic diagram of an interest area under a vehicle straight-ahead driving condition according to a first embodiment of a vehicle collision information obtaining method of the present invention;
FIG. 4 is a schematic diagram of a dotted obstacle under a vehicle straight-ahead driving condition according to a first embodiment of the vehicle collision information obtaining method of the present invention;
FIG. 5 is a schematic diagram of a linear obstacle under a vehicle straight-ahead driving condition according to a first embodiment of the vehicle collision information obtaining method of the present invention;
FIG. 6 is a schematic diagram of an interest area under a straight-line reverse driving condition of a vehicle according to a first embodiment of a vehicle collision information obtaining method of the present invention;
FIG. 7 is a schematic diagram of a point-like obstacle under a straight-line reverse driving condition of a vehicle according to a first embodiment of a vehicle collision information obtaining method of the present invention;
FIG. 8 is a schematic diagram of a linear obstacle under a straight-line reverse driving condition of a vehicle according to a first embodiment of a vehicle collision information acquisition method of the present invention;
FIG. 9 is a schematic diagram of a region of interest under a driving condition of a vehicle running right-turning and forward according to a first embodiment of the vehicle collision information obtaining method of the present invention;
FIG. 10 is a schematic diagram of a region of interest under a left-turn forward driving condition of a vehicle according to a first embodiment of a vehicle collision information obtaining method of the present invention;
FIG. 11 is a schematic diagram of a region of interest in a vehicle right-turn reverse driving condition according to a first embodiment of a vehicle collision information acquisition method of the present invention;
FIG. 12 is a schematic diagram of a region of interest under a left-turn reverse driving condition of a vehicle according to a first embodiment of a vehicle collision information acquisition method of the present invention;
FIG. 13 is a right side schematic view of a point-like obstacle located on a boundary1 when the vehicle collision information acquisition method of the present invention advances in a right turn;
FIG. 14 is a schematic view showing a first equivalent of the length calculation of the first embodiment of the vehicle collision information acquisition method according to the invention;
FIG. 15 is a schematic view showing a point-like obstacle located between the boundary1 and the boundary2 when the vehicle collision information acquisition method of the present invention advances while making a right turn;
FIG. 16 is a schematic view showing a point-like obstacle located between the boundary2 and the boundary3 when the vehicle collision information acquisition method of the present invention advances while making a right turn;
FIG. 17 is a right-side area schematic view of a point-like obstacle located on the boundary3 when the vehicle collision information acquisition method of the invention advances in a right turn;
FIG. 18 is a length calculation second equivalent diagram of the vehicle collision information acquisition method according to the first embodiment of the invention;
fig. 19 is a schematic diagram of a left region of the boundary1 where the linear obstacle is located when the vehicle collision information acquisition method of the invention proceeds on a right turn, according to the first embodiment;
FIG. 20 is a schematic view showing a linear obstacle crossing a boundary1 when the vehicle collision information acquisition method of the present invention proceeds on a right turn, according to the first embodiment of the vehicle collision information acquisition method;
FIG. 21 is a schematic view showing the collision point calculation principle of the first embodiment of the vehicle collision information acquisition method of the invention;
FIG. 22 is a schematic view showing a linear obstacle falling within the boundary1 and boundary2 regions when the vehicle collision information acquisition method of the present invention proceeds in a right turn;
FIG. 23 is a schematic view showing a linear obstacle crossing a boundary2 when the vehicle collision information acquisition method of the present invention proceeds in a right turn;
FIG. 24 is a schematic view showing a linear obstacle crossing a boundary3 when the vehicle collision information acquisition method of the present invention proceeds in a right turn;
FIG. 25 is a schematic view showing a linear obstacle crossing the entire front area when the vehicle collision information acquisition method of the present invention proceeds in a right turn in accordance with the first embodiment;
fig. 26 is a block diagram showing the construction of the first embodiment of the vehicle collision information acquiring apparatus of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a vehicle collision information acquisition apparatus in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the vehicle collision information acquiring apparatus may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), and the optional user interface 1003 may further include a standard wired interface and a wireless interface, and the wired interface for the user interface 1003 may be a USB interface in the present invention. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory or a Non-volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of the vehicle collision information acquiring apparatus, and may include more or less components than those shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, a memory 1005, identified as one type of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a vehicle collision information acquisition program.
In the vehicle collision information acquisition apparatus shown in fig. 1, the network interface 1004 is mainly used for connecting to a backend server and communicating data with the backend server; the user interface 1003 is mainly used for connecting user equipment; the vehicle collision information acquisition apparatus calls a vehicle collision information acquisition program stored in the memory 1005 by the processor 1001 and executes a vehicle collision information acquisition method provided by an embodiment of the present invention.
Based on the above hardware structure, an embodiment of the vehicle collision information acquisition method of the present invention is provided.
Referring to fig. 2, fig. 2 is a flowchart illustrating a first embodiment of a vehicle collision information acquisition method according to the present invention.
In the first embodiment, the vehicle collision information acquisition method includes the steps of:
step S10: and acquiring current vehicle information and road environment information.
It should be noted that the executing subject of this embodiment is the vehicle collision information obtaining device, where the vehicle collision information obtaining device may obtain current vehicle information, road environment information, and target obstacle position information, and a vehicle collision information obtaining device such as an on-vehicle controller or an on-vehicle server that determines collision information corresponding to the current vehicle through a preset collision geometric model according to the target obstacle position information and the current vehicle information, or may be other devices, which is not limited in this embodiment.
The current vehicle information includes position information, vehicle speed information and the like, and the road environment information includes target obstacle information, traffic information and the like.
The road environment information can acquire target obstacle information and traffic information through a vehicle-mounted environment sensor (including machine vision and radar).
The method comprises the steps of obtaining current vehicle information and road environment information, determining sample vehicle coordinate information and sample obstacle coordinate information according to the sample vehicle information and the sample road environment information, carrying out information processing on the sample vehicle coordinate information and the sample obstacle coordinate information to obtain a sample collision area and a sample collision distance, and establishing a preset collision geometric model according to the sample collision area and the sample collision distance.
Step S20: and judging whether a target obstacle exists on the current driving path or not according to the current vehicle information and the road environment information.
And returning to the step of acquiring the current vehicle information and the road environment information when the target obstacle does not exist after the step of judging whether the target obstacle exists on the current running path according to the current vehicle information and the road environment information.
Step S30: and when the target obstacle exists, determining the position information corresponding to the target obstacle according to the road environment information.
And the step of determining the position information corresponding to the target obstacle according to the road environment information comprises the steps of obtaining the type of the obstacle according to the road environment information and determining the position information of the target obstacle according to the type of the obstacle.
Step S40: and determining corresponding collision information through a preset collision geometric model according to the position information and the current vehicle information.
The collision information includes a target collision region, a target collision distance, a target collision time, and a collision coordinate position.
The step of determining the corresponding collision information through a preset collision geometric model according to the position information and the current vehicle information comprises the steps of determining target obstacle coordinate information according to the target obstacle position information, obtaining the current vehicle type corresponding to the current vehicle according to the vehicle information, determining the vehicle coordinate information according to the vehicle type, determining a target collision area and a target collision distance through the preset collision geometric model according to the target obstacle coordinate information and the vehicle coordinate information, obtaining the current vehicle speed information corresponding to the current vehicle, and determining the target collision time and the collision coordinate position according to the current vehicle speed information, the target collision area and the target collision distance.
Further, for ease of understanding, the following is exemplified:
the invention provides a geometric model mode for accurately calculating the collision information of the obstacle from the vehicle; in a two-dimensional plane, a vehicle coordinate system and a vehicle boundary model are constructed, according to obstacle positioning information fed back by a sensing module in an automatic driving system and according to the geometrical relationship between an obstacle and a vehicle, the shortest straight line distance DTV between the obstacle and the vehicle, the distance DTB between the obstacle and a vehicle running track, the collision distance between the obstacle and the vehicle, the collision time TTC between the obstacle and the vehicle and the nearest collision point coordinate PTC are calculated in real time. The upper layer local obstacle avoidance system and the decision control module of the automatic driving system can make an all-round protection and safe and reliable decision mechanism according to the information.
Working condition 1: operating mode of straight-ahead running of vehicle
In this operating condition, referring to fig. 3, fig. 3 is a schematic diagram of the region of interest In the vehicle straight-ahead driving condition according to the first embodiment of the vehicle collision information acquiring method of the present invention, that is, the collision distance DTC between the obstacle and the own vehicle is calculated only for the region of interest (In Scope shown In fig. 3).
Aiming at the working condition that the obstacle is a cone, a standard rod and other objects, the obstacle can be equivalently a point, namely, referring to figure 4, fig. 4 is a schematic view of a point-like obstacle under a straight-ahead driving condition of a vehicle according to a first embodiment of the vehicle collision information acquisition method of the present invention, in fig. 4, defining the obstacle 1 as point P1 and the obstacle 2 as point P2, it can be determined from the y-axis coordinates of point P1 that point P1 falls within the area consisting of Boundary (Boundary)1 and Boundary (Boundary)2, namely, the difference between the x-axis coordinate of the point P1 and the x-axis coordinates of the points A and B of the vehicle boundary box is the distance DTV between the obstacle and the vehicle and the collision distance DTC between the obstacle and the vehicle, according to the y-axis coordinate of the point P1 and the points A and B of the vehicle frame, the position of the coordinate of the collision point E on the front boundary of the vehicle consisting of the points A and B, namely the coordinate of the collision point E (PTC) of the obstacle, can be determined. According to the y-axis coordinate of the point P2, the point P2 can be determined to fall on the right side of Boundary2, namely, the distance between the point P2 and the point B is the distance DTV between the obstacle and the vehicle, and the difference between the y-axis coordinate of the point P2 and the y-axis coordinate of the point B is the distance DTB between the obstacle and the running track of the vehicle.
Aiming at the working condition that the obstacles are walls, garbage cans and other objects and can be equivalent to the working condition that the obstacles are linear, as shown in figure 5, fig. 5 is a schematic diagram of a linear obstacle under a straight-ahead driving condition of a vehicle according to a first embodiment of the vehicle collision information acquisition method of the present invention, in fig. 5, the obstacle is defined as an obstacle composed of points P1 and P2, and the coordinates of the collision distance DTC from the vehicle and the collision point e (ptc) of the obstacle corresponding to the point P1 are calculated according to the operating condition of the point of the obstacle, and the coordinates of the collision distance DTC from the vehicle and the collision point f (ptc) of the obstacle corresponding to the point P2 are calculated, and (3) comparing the collision distance information of the point P1 and the point P2, finding the collision distance with the minimum value of the point P2, and feeding back the coordinates of the obstacle collision point F and the obstacle collision distance DTC of the point P2.
Working condition 2: working condition of straight backward running of self vehicle
In this condition, as shown In fig. 6, fig. 6 is a schematic view of the region of interest In the vehicle straight-ahead reverse driving condition according to the first embodiment of the vehicle collision information acquisition method of the present invention, that is, the calculation of the collision distance DTC of the obstacle from the own vehicle will be calculated only for the region of interest (In Scope shown In fig. 6).
For the condition that the obstacle is a cone, a standard pole, etc., it is equivalent to the condition that the obstacle is a point, that is, as shown in fig. 7, where fig. 7 is a schematic diagram of a point-shaped obstacle under the condition that the vehicle travels straight backward according to the first embodiment of the vehicle collision information acquisition method of the present invention, in fig. 7, the obstacle 1 is defined as point P1, the obstacle 2 is defined as point P2, it can be determined from the y-axis coordinates of point P1 that the point P1 falls within the area formed by Boundary1 and Boundary2, that is, the difference between the x-axis coordinates of point P1 and the x-axis coordinates of the vehicle Boundary frame C and D is the distance DTV from the obstacle to the vehicle and the collision distance DTC from the obstacle to the vehicle, and it can be determined from the y-axis coordinates of point P1 and the vehicle Boundary frame C and D, that the ptc coordinate of the collision point E on the front Boundary of the two points C and D is the position of the obstacle collision point E (ptc), (ptc). According to the y-axis coordinate of the point P2, the point P2 can be determined to fall on the right side of Boundary2, namely, the distance between the point P2 and the point C is the distance DTV between the obstacle and the vehicle, and the difference between the y-axis coordinate of the point P2 and the y-axis coordinate of the point C is the distance DTB between the obstacle and the running track of the vehicle.
As for the condition that the obstacle is a wall, a trash can, or the like, and the obstacle is a linear obstacle, as shown in fig. 8, fig. 8 is a schematic view of the linear obstacle under the condition that the vehicle travels straight backwards according to the first embodiment of the vehicle collision information obtaining method of the present invention. In fig. 8, an obstacle is defined as an obstacle composed of a point P1 and a point P2, the collision distance DTC from the vehicle and the coordinates of an obstacle collision point F (ptc) are calculated according to the operating condition that the obstacle is a point P1, the collision distance DTC from the vehicle and the coordinates of an obstacle collision point e (ptc) are calculated according to the operating condition that the obstacle is a point P2, the collision distance DTC from the vehicle and the coordinates of the obstacle collision point e (ptc) are found by comparing the collision distance information of the point P1 and the point P2, the minimum value is the collision distance of the point P1, and the coordinates of the obstacle collision point F and the obstacle collision distance DTC of the point P1 are fed back.
Working condition 3: working condition of right-turning and forward running of self vehicle
In this operating condition, as shown In fig. 9, where fig. 9 is a schematic view of the region of interest In the vehicle right-turn forward driving condition according to the first embodiment of the vehicle collision information acquisition method of the present invention, the collision distance DTC between the obstacle and the own vehicle will be calculated only for the region of interest (In Scope shown In fig. 9).
Working condition 4: working condition of left-turning and forward running of self vehicle
In this operating condition, as shown In fig. 10, fig. 10 is a schematic view of the region of interest In the vehicle left-turn forward driving condition according to the first embodiment of the vehicle collision information acquisition method of the present invention, that is, the collision distance DTC between the obstacle and the own vehicle is calculated only for the region of interest (In Scope shown In fig. 10).
Working condition 5: working condition of vehicle turning right and running backwards
In this operating condition, as shown In fig. 11, where fig. 11 is a schematic view of the region of interest In the vehicle right-turn reverse driving condition according to the first embodiment of the vehicle collision information acquisition method of the present invention, the calculation of the collision distance DTC of the obstacle from the own vehicle will be calculated only for the region of interest (In Scope shown In fig. 11).
Working condition 6: working condition of self vehicle left-turning and backward running
In this operating condition, as shown In fig. 12, where fig. 12 is a schematic view of the region of interest In the vehicle left-turn reverse driving condition according to the first embodiment of the vehicle collision information acquisition method of the present invention, the collision distance DTC between the obstacle and the own vehicle will be calculated only for the region of interest (In Scope shown In fig. 12).
The theory of the geometric model of the working condition 3, the working condition 4, the working condition 5 and the working condition 6 is basically consistent, so the geometric model of the working condition 3 that the vehicle turns right and runs under the working condition is taken as an example for detailed explanation:
step 1: and judging whether an obstacle exists around the vehicle according to the obstacle information fed back by the automatic driving system sensing layer, if so, entering Step2, and if not, staying at Step1 for continuous monitoring.
Step 2: selecting a corresponding geometric model according to the type of the obstacle, entering Step3 if the obstacle is a point-shaped obstacle such as a cone, a standard rod and the like, and entering Step4 if the obstacle is a linear obstacle such as a wall, a garbage bin and the like.
Step 3: if the obstacle is a point-like object, defined as an obstacle point P, the detailed calculation steps are as follows:
step3.1: and determining a y axis according to a right-hand spiral rule by taking the central point of the rear axle of the vehicle as an origin point O and the advancing direction of the vehicle as an x axis, converting the y axis into a geometric object of a two-dimensional plane, and constructing four corner point coordinates of vehicle frames A, B, C and D.
Step3.2: from the current steering wheel angle, the turning radius is calculated, and the position of the center point coordinate O1 is determined therefrom. I.e. the whole vehicle surrounds O1The point makes a circular arc motion.
Step3.3: according to O1The coordinates of the points and the coordinates of the points A, B, C and D of the angular point can obtain O1A，O1B，O1C，O1The length of D is the turning radius of four corner points A, B, C and D, A1，B1，C1The four corner points A, B and C of the vehicle frame are points on the driving track of the vehicle, namely O1A1＝O1A，O1B1＝O1B，O1C1＝O1C, wherein the obstacle is characterized by point P. Point P falls on A1B1On the connecting line or fall on B1C1On the connecting line of (2). In the triangle O1A1B1，O1B1C1The method comprises the following steps:
① Case1 if O1The length of P is greater than O1A1I.e. means that the point of the obstacle P falls within the left region of the Boundary1, condition 1. As shown in fig. 13, fig. 13 is a schematic diagram of the vehicle collision information acquisition method according to the first embodiment of the present invention, in which the point-like obstacle is located on the right side of the boundary1 when the vehicle is making a right turn forward.
For Case1, there is no collision risk, so the collision distance DTC and the collision time TTC are default values, but the distance DTB of the obstacle from the running track is A1The length of P.
As shown in fig. 14, fig. 14 is the present inventionLength calculation first equivalent diagram of first embodiment of clear vehicle collision information acquisition method, wherein A1The length of P is the distance value of the obstacle from the running track DTB. The calculation principle is shown in fig. 14. Wherein O is1A1＝O1A，O1B1＝O1B, center of circle O1Point and obstacle point P are both known quantities, per O1As A1B1Perpendicular line of (A) intersects with O2At right triangle O1PO2Right triangle O1A1O2Right triangle O1B1O2In (1), A can be calculated1The length of P. Thereby acquiring the length of the distance DTB of the obstacle point P from the running track.
② Case2 if O1P has a length less than O1A1And O is1The length of P is greater than O1B1It means that the point of the obstacle P falls within the region consisting of condition 2, Boundary1 and Boundary 2. As shown in fig. 15, fig. 15 is a schematic view illustrating a point-like obstacle located between a boundary1 and a boundary2 when the vehicle collision information acquisition method according to the first embodiment of the present invention advances while making a right turn.
For Case2, there is a risk of collision, so the collision distance DTC is the arc length EP formed by the collision point E and the obstacle point P. The time to collision TTC is the ratio of the collision distance DTC to the current speed per hour.
As shown in FIG. 15, the arc length EP is the barrier collision distance DTC, and the triangle O1B1P and the triangle O1BE is congruent triangle, triangle O1PA1And triangle O1EA is an congruent triangle, so that the coordinates of the collision point E can be determined, and the arc length formed by the collision point E and the obstacle point P is centered at the center O1Radius of O1P, i.e. by cosine theorem or vector calculation, to obtain an angle of camber ∠ EO1P, thereby calculating the arc length EP by using an arc length formula. From this, the specific values of the collision distance DTC, the collision time TTC and the collision point PTC of the obstacle point P can be determined.
③ Case3 if O1P has a length less than O1B1And O is1The length of P is greater than O1C1It means that the point of the obstacle P falls within the region consisting of condition 3, Boundary2 and Boundary 3. As shown in fig. 16, fig. 16 is a schematic diagram illustrating a point-like obstacle located between the boundary2 and the boundary3 when the vehicle collision information acquisition method according to the first embodiment of the present invention advances while making a right turn.
For Case3, there is a risk of collision, so the collision distance DTC is the arc length EP formed by the collision point E and the obstacle point P. The time to collision TTC is the ratio of the collision distance DTC to the current speed per hour.
Wherein the arc length EP is the collision distance DTC of the barrier and the triangle O1B1P and triangle O1BE is congruent triangle, triangle O1PC1And triangle O1EC is congruent triangle, so that the coordinate of the collision point E can be determined, and the arc length formed by the collision point E and the obstacle point P is taken as the center of circle O1Radius O1P, i.e. by cosine theorem or vector calculation, to obtain the camber angle ∠ EO1P, thereby calculating the arc length EP by using an arc length formula. From this, the specific values of the collision distance DTC, the collision time TTC and the collision point PTC of the obstacle point P can be determined.
④ Case4 if O1P has a length less than O1C1It means that the point of obstacle P falls within the right-hand region of the Boundary3, condition 4. As shown in fig. 17, fig. 17 is a schematic diagram of the right area of the boundary3 where the point-like obstacle is located when the vehicle collision information acquisition method according to the first embodiment of the present invention proceeds on a right turn.
For Case4, there is no collision risk, so the collision distance DTC and the collision time TTC are default values, but the distance DTB of the obstacle from the running track is C1The length of P.
Wherein, C1The length of P is the distance value of the obstacle from the running track DTB. The calculation principle is shown in fig. 18, and fig. 18 is a length calculation second equivalent diagram of the first embodiment of the vehicle collision information acquisition method according to the present invention. Wherein O is1B1＝O1B，O1C1＝O1C, center of circle O1Point and obstacle point P are both known quantities, per O1As B1C1Perpendicular line of (A) intersects with O2At right triangle O1PO2Right triangle O1B1O2Right triangle O1C1O2In, C can be calculated1The length of P. Thereby acquiring the length of the distance DTB of the obstacle point P from the running track.
Step 4: if the obstacle is a linear object, it is defined as the point P of the obstacle1And an obstacle point P2The detailed calculation procedure of the composed linear obstacle is as follows:
step4.1: and determining a y axis according to a right-hand spiral rule by taking the central point of the rear axle of the vehicle as an origin point O and the advancing direction of the vehicle as an x axis, converting the y axis into a geometric object of a two-dimensional plane, and constructing four corner point coordinates of vehicle frames A, B, C and D.
Step4.2: from the current steering wheel angle, the turning radius is calculated, and the position of the center point coordinate O1 is determined therefrom. I.e. the whole vehicle surrounds O1The point makes a circular arc motion.
Step4.3: according to the coordinates of O1 point and the coordinates of the points A, B, C and D of the corner point, O can be obtained1A，O1B，O1C，O1The length of D is the turning radius of four corner points A, B, C and D, A1，B1，C1The four corner points A, B and C of the vehicle frame are points on the driving track of the vehicle, namely O1A1＝O1A，O1B1＝O1B，O1C1＝O1C, wherein the obstacle is a point P1And point P2To characterize. The point P can be respectively calculated according to the working condition that the barrier is in a point shape1And the location and collision distance DTC, the time to collision TTC, the distance to the running track DTB and the coordinates of the collision point PTC.
① Case1 that the entire obstacle falls within the left area of the Boundary line Boundary1 fig. 19 shows a Case where the linear obstacle is located in the left area of the Boundary1 when the vehicle collision information acquisition method according to the first embodiment of the present invention proceeds on a right turn, as shown in fig. 19The obstacle P is calculated by the calculation principle of the point-shaped obstacles1Point-corresponding track distance DTB and obstacle P2And the corresponding running track distance DTB is the running track distance DTB corresponding to the barrier.
② Case2 that the obstacle has one end falling to the left of the Boundary Boundary1 and the other end falling within the area consisting of the Boundary Boundary1 and Boundary2, FIG. 20 is a schematic view showing the linear obstacle crossing the Boundary1 when the right turn is made forward in the first embodiment of the vehicle collision information acquisition method of the present invention2The arc length of E is the collision distance DTC with the collision point E, and the calculation principle is similar to that of a point-shaped obstacle. And the collision point F is coincident with the corner point A of the vehicle frame. With a collision distance FA1Arc length distance of (a). Wherein A is1The principle of calculating points is shown in fig. 21, and fig. 21 is a schematic view showing the principle of calculating collision points in the first embodiment of the vehicle collision information acquisition method according to the present invention. Per O1Make P1P2Perpendicular line of (A) intersects with O2At right triangle O1P1O2Right triangle O1P2O2Right triangle O1A1O2In (1), P can be calculated1A1Length of (d). And according to P1Point sum P2Coordinate determination of points A1The coordinates of the points. Thereby calculating FA according to the arc length calculation formula1The arc length of the collision point T is the collision distance DTC of the collision point F, the smaller of the collision distance DTC of the collision point E and the collision distance DTC of the collision point F is compared to be defined as the collision distance DTC of the obstacle, and then the coordinates of the collision TTC and the latest collision point PTC can be calculated.
③ Case3 in which the entire obstacle falls within the area consisting of the Boundary1 and the Boundary2, as shown in fig. 22, where fig. 22 shows the linear obstacle falling on the Boundary1 when the vehicle collision information acquisition method according to the first embodiment of the present invention is advanced in a right turnAnd a schematic within the boundary2 region. The calculation principle of the point-shaped obstacles is utilized to respectively calculate the point P of the obstacle1The collision distance DTC and the collision time TTC and the coordinates of the collision point F, the point P where the obstacle is2And coordinates of the collision distance DTC, the collision time TTC and the collision point E are compared and returned to be shorter, and the coordinates of the collision point PTC are the collision information of the obstacle.
④ Case4 as shown in fig. 23, where fig. 23 is a schematic diagram of a linear obstacle crossing the Boundary of the Boundary2 when the vehicle collision information acquisition method of the present invention proceeds right-turning, one end of the obstacle falls within the region consisting of the Boundary1 and the Boundary2, and the other end thereof falls within the region consisting of the Boundary2 and the Boundary3, where there are three collision points, the corner point P of the obstacle1Corresponding collision point F, obstacle corner point P2A corresponding impact point E and an impact point G on the Boundary2, wherein the impact point G coincides with the corner point B of the vehicle frame. P can be calculated respectively according to the principle of point-like obstacles1Collision information and P of point correspondences2And (3) the collision information corresponding to the points, and the calculation principle of the collision information of the collision point G is equal to that of the linear barrier Case2, and the smaller value of the returned collision distance is the specific collision information of the barrier.
⑤ Case5 referring to FIG. 24, the FIG. 24 is a schematic diagram showing a linear obstacle crossing a boundary3 when a right turn is made to proceed, and an obstacle corner point P is shown as a corner point P in the boundary3 according to the first embodiment of the vehicle collision information acquisition method of the present invention1Falling within the region formed by the Boundary Boundary2 and the Boundary Boundary3, and the corner point P of the obstacle2Falls to the right of Boundary 3. It is thus determined that there are collision point E and collision point F at the collision points thereof, the principle of calculation of collision point E is equivalent to a point-like obstacle, the coordinate calculation of collision point F is equivalent to Case2 of a linear obstacle, and a smaller collision distance DTC is returned as the specific collision information of the obstacle.
⑥ Case6 referring to fig. 25, the fig. 25 is a schematic view showing a linear obstacle crossing the entire front area and an obstacle angle when a right turn is made to proceed according to the first embodiment of the vehicle collision information acquisition method of the present inventionPoint P1Falling to the left of the Boundary1, and the corner point P of the obstacle2Falling to the right side of the Boundary3, the obstacle has a collision point E which coincides with the vehicle frame corner point C, a collision point F which coincides with the vehicle frame corner point A, and a collision point G which coincides with the vehicle frame corner point B. According to the calculation principle of the previous working conditions, the collision information corresponding to the three collision points E, F and G can be comprehensively calculated, and the returned smaller collision distance DTC is the collision information of the obstacle.
Step S50: and carrying out obstacle avoidance early warning prompt according to the collision information.
And the step of carrying out obstacle avoidance early warning prompting according to the collision information comprises the steps of generating a collision route according to the vehicle speed information, the target collision area and the collision coordinate position, and carrying out obstacle avoidance early warning prompting on the current vehicle according to the collision route.
The collision route may be a route from the current position of the vehicle to the obstacle position, or multiple routes from the current position of the vehicle to the obstacle position.
That is, the theoretical method using the geometric model is used to accurately and rapidly calculate the closest collision distance and time between the obstacle and the vehicle, and can be used as a trigger mechanism for the low-speed emergency braking function and the medium-high speed automatic emergency braking function.
The method is used for accurately and quickly calculating the coordinates of the closest collision point between the obstacle and the vehicle by utilizing a theoretical method of a geometric model, can be used as a reference for low-speed anti-collision local path planning and a medium-speed obstacle avoidance automatic driving system, and can be used for carrying out reasonable route planning after the upper-layer system determines the coordinates of the collision point.
The method is used for accurately and quickly calculating the nearest distance information between the obstacle and the running track of the vehicle by using a theoretical method of a geometric model, and the information can be used as a reference basis for a side anti-collision protection mechanism of an automatic driving system in a full speed domain.
In this embodiment, current vehicle information and road environment information are first acquired, whether a target obstacle exists is then determined according to the current vehicle information and the road environment information, when the target obstacle exists, position information corresponding to the target obstacle is determined according to the road environment information, then collision information corresponding to the current vehicle is determined according to the position information and the vehicle information through a preset collision geometric model, and finally obstacle avoidance early warning prompt is performed according to the collision information. By the mode, accurate vehicle collision information is acquired through the preset collision geometric model according to the target obstacle position information and the current vehicle information, so that an upper layer local obstacle avoidance system and a decision control module of the automatic driving system can make an all-around protection and safe and reliable decision mechanism according to the vehicle collision information, and user experience is improved.
Furthermore, an embodiment of the present invention also proposes a storage medium having stored thereon a vehicle collision information acquisition program that, when executed by a processor, implements the steps of the vehicle collision information acquisition method as described above.
Further, referring to fig. 26, an embodiment of the present invention also proposes a vehicle collision information acquisition apparatus including: an obtaining module 2001, configured to obtain current vehicle information and road environment information; a judging module 2002, configured to judge whether a target obstacle exists on a current driving path according to the current vehicle information and the road environment information; a determining module 2003, configured to determine, when the target obstacle exists, position information corresponding to the target obstacle according to the road environment information; a determining module 2004, configured to determine, according to the position information and the current vehicle information, corresponding collision information through a preset collision geometric model; and the early warning module 2005 is configured to perform obstacle avoidance early warning prompting according to the collision information.
The acquiring module 2001 is used for an operation of acquiring current vehicle information and road environment information.
It should be noted that the executing subject of this embodiment is the vehicle collision information obtaining device, where the vehicle collision information obtaining device may obtain current vehicle information, road environment information, and target obstacle position information, and a vehicle collision information obtaining device such as an on-vehicle controller or an on-vehicle server that determines collision information corresponding to the current vehicle through a preset collision geometric model according to the target obstacle position information and the current vehicle information, or may be other devices, which is not limited in this embodiment.
The current vehicle information includes position information, vehicle speed information and the like, and the road environment information includes target obstacle information, traffic information and the like.
The road environment information can acquire target obstacle information and traffic information through a vehicle-mounted environment sensor (including machine vision and radar).
The method comprises the steps of obtaining current vehicle information and road environment information, determining sample vehicle coordinate information and sample obstacle coordinate information according to the sample vehicle information and the sample road environment information, carrying out information processing on the sample vehicle coordinate information and the sample obstacle coordinate information to obtain a sample collision area and a sample collision distance, and establishing a preset collision geometric model according to the sample collision area and the sample collision distance.
The determining module 2002 is configured to determine whether an operation of a target obstacle exists on a current driving path according to the current vehicle information and the road environment information.
And returning to the step of acquiring the current vehicle information and the road environment information when the target obstacle does not exist after the step of judging whether the target obstacle exists on the current running path according to the current vehicle information and the road environment information.
The determination module 2003 is configured to determine, when the target obstacle exists, an operation of determining position information corresponding to the target obstacle according to the road environment information.
And the step of determining the position information corresponding to the target obstacle according to the road environment information comprises the steps of obtaining the type of the obstacle according to the road environment information and determining the position information of the target obstacle according to the type of the obstacle.
The determining module 2004 is configured to determine, according to the target obstacle position information and the vehicle information, an operation of determining collision information corresponding to the current vehicle through a preset collision geometric model.
The collision information includes a target collision region, a target collision distance, a target collision time, and a collision coordinate position.
The step of determining the corresponding collision information through a preset collision geometric model according to the position information and the current vehicle information comprises the steps of determining target obstacle coordinate information according to the target obstacle position information, obtaining the current vehicle type corresponding to the current vehicle according to the vehicle information, determining the vehicle coordinate information according to the vehicle type, determining a target collision area and a target collision distance through the preset collision geometric model according to the target obstacle coordinate information and the vehicle coordinate information, obtaining the current vehicle speed information corresponding to the current vehicle, and determining the target collision time and the collision coordinate position according to the current vehicle speed information, the target collision area and the target collision distance.
Further, for ease of understanding, the following is exemplified:
the invention provides a geometric model mode for accurately calculating the collision information of the obstacle from the vehicle; in a two-dimensional plane, a vehicle coordinate system and a vehicle boundary model are constructed, according to obstacle positioning information fed back by a sensing module in an automatic driving system and according to the geometrical relationship between an obstacle and a vehicle, the shortest straight line distance DTV between the obstacle and the vehicle, the distance DTB between the obstacle and a vehicle running track, the collision distance between the obstacle and the vehicle, the collision time TTC between the obstacle and the vehicle and the nearest collision point coordinate PTC are calculated in real time. The upper layer local obstacle avoidance system and the decision control module of the automatic driving system can make an all-round protection and safe and reliable decision mechanism according to the information.
The early warning module 2005 is configured to perform an operation of obstacle avoidance early warning prompt according to the collision information.
And the step of carrying out obstacle avoidance early warning prompting according to the collision information comprises the steps of generating a collision route according to the vehicle speed information, the target collision area and the collision coordinate position, and carrying out obstacle avoidance early warning prompting on the current vehicle according to the collision route.
That is, the theoretical method using the geometric model is used to accurately and rapidly calculate the closest collision distance and time between the obstacle and the vehicle, and can be used as a trigger mechanism for the low-speed emergency braking function and the medium-high speed automatic emergency braking function.
The method is used for accurately and quickly calculating the coordinates of the closest collision point between the obstacle and the vehicle by utilizing a theoretical method of a geometric model, can be used as a reference for low-speed anti-collision local path planning and a medium-speed obstacle avoidance automatic driving system, and can be used for carrying out reasonable route planning after the upper-layer system determines the coordinates of the collision point.
The method is used for accurately and quickly calculating the nearest distance information between the obstacle and the running track of the vehicle by using a theoretical method of a geometric model, and the information can be used as a reference basis for a side anti-collision protection mechanism of an automatic driving system in a full speed domain.
In this embodiment, current vehicle information and road environment information are first acquired, whether a target obstacle exists is then determined according to the current vehicle information and the road environment information, when the target obstacle exists, position information corresponding to the target obstacle is determined according to the road environment information, then collision information corresponding to the current vehicle is determined according to the position information and the vehicle information through a preset collision geometric model, and finally obstacle avoidance early warning prompt is performed according to the collision information. By the mode, accurate vehicle collision information is acquired through the preset collision geometric model according to the target obstacle position information and the current vehicle information, so that an upper layer local obstacle avoidance system and a decision control module of the automatic driving system can make an all-around protection and safe and reliable decision mechanism according to the vehicle collision information, and user experience is improved.
Other embodiments or specific implementation manners of the vehicle collision information acquiring device of the present invention may refer to the above method embodiments, and are not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order, but rather the words first, second, third, etc. are to be interpreted as names.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be substantially implemented or a part contributing to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g., a Read Only Memory (ROM)/Random Access Memory (RAM), a magnetic disk, an optical disk), and includes several instructions for enabling a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A vehicle collision information acquisition method, characterized by comprising:
acquiring current vehicle information and road environment information;
judging whether a target barrier exists on a current driving path or not according to the current vehicle information and the road environment information;
when the target obstacle exists, determining position information corresponding to the target obstacle according to the road environment information;
determining corresponding collision information through a preset collision geometric model according to the position information and the current vehicle information;
and carrying out obstacle avoidance early warning prompt according to the collision information.
2. The method of claim 1, wherein the step of obtaining current vehicle information and road environment information is preceded by the step of:
acquiring sample vehicle information and sample road environment information;
determining sample vehicle coordinate information and sample obstacle coordinate information according to the sample vehicle information and the sample road environment information;
processing the sample vehicle coordinate information and the sample obstacle coordinate information to obtain a sample collision area and a sample collision distance;
and establishing a preset collision geometric model according to the sample collision area and the sample collision distance.
3. The method of claim 1, wherein after the step of determining whether a target obstacle exists on a current driving path based on the current vehicle information and the road environment information, further comprising:
and returning to the step of acquiring the current vehicle information and the road environment information when the target obstacle does not exist.
4. The method of claim 1, wherein the step of determining the position information corresponding to the target obstacle based on the road environment information comprises:
obtaining the type of the obstacle according to the road environment information;
and determining the position information corresponding to the target obstacle according to the obstacle type.
5. The method of claim 1, wherein the collision information includes a target collision zone, a target collision distance, a target collision time, and a collision coordinate location;
the step of determining the corresponding collision information through a preset collision geometric model according to the position information and the current vehicle information comprises the following steps:
determining coordinate information of the target obstacle according to the position information;
obtaining the current vehicle type according to the current vehicle information, and determining vehicle coordinate information according to the current vehicle type;
determining the target collision area and the target collision distance through a preset collision geometric model according to the coordinate information of the target obstacle and the coordinate information of the vehicle;
acquiring current vehicle speed information;
and determining the target collision time and the collision coordinate position according to the current vehicle speed information, the target collision area and the target collision distance.
6. The method of claim 5, wherein the step of performing obstacle avoidance warning prompting based on the collision information comprises:
generating a collision route according to the current vehicle speed information, the target collision area and the collision coordinate position;
and carrying out obstacle avoidance early warning prompt according to the collision route.
7. A vehicle collision information acquisition apparatus, characterized by comprising:
the acquisition module is used for acquiring current vehicle information and road environment information;
the judging module is used for judging whether a target barrier exists on a current running path or not according to the current vehicle information and the road environment information;
the judging module is used for determining the position information corresponding to the target obstacle according to the road environment information when the target obstacle exists;
the determining module is used for determining corresponding collision information through a preset collision geometric model according to the position information and the current vehicle information;
and the early warning module is used for carrying out obstacle avoidance early warning prompt according to the collision information.
8. The apparatus according to claim 7, wherein the vehicle collision information acquisition apparatus further comprises a building module that:
the establishing module is used for acquiring sample vehicle information and sample road environment information;
the establishing module is further used for determining sample vehicle coordinate information and sample obstacle coordinate information according to the sample vehicle information and the sample road environment information;
the establishing module is further used for processing the sample vehicle coordinate information and the sample obstacle coordinate information to obtain a sample collision area and a sample collision distance;
the establishing module is further used for establishing a preset collision geometric model according to the sample collision area and the sample collision distance.
9. A vehicle collision information acquisition apparatus, characterized by comprising: a memory, a processor, and a vehicle collision information acquisition program stored on the memory and executable on the processor, the vehicle collision information acquisition program when executed by the processor implementing the steps of the vehicle collision information acquisition method according to any one of claims 1 to 6.
10. A storage medium characterized in that a vehicle collision information acquisition program is stored thereon, which when executed by a processor implements the steps of the vehicle collision information acquisition method according to any one of claims 1 to 6.
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