CN112882014B - Boss pit identification method and system - Google Patents

Boss pit identification method and system Download PDF

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Publication number
CN112882014B
CN112882014B CN202110076431.6A CN202110076431A CN112882014B CN 112882014 B CN112882014 B CN 112882014B CN 202110076431 A CN202110076431 A CN 202110076431A CN 112882014 B CN112882014 B CN 112882014B
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measurement
target
pit
point
points
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CN112882014A (en
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刘春华
李明虎
李停停
卢鹏飞
胡华军
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Dongfeng Motor Corp
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Dongfeng Motor Corp
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/04—Interpretation of pictures
    • G01C11/30—Interpretation of pictures by triangulation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Multimedia (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Measurement Of Optical Distance (AREA)

Abstract

The application provides a boss pit identification method, which comprises the following steps: acquiring measurement distances between a plurality of measurement points in a target measurement area and a target vehicle, and acquiring a measurement azimuth angle and a measurement pitch angle of each measurement point; acquiring measurement heights of a plurality of measurement points in the target measurement area according to the measurement distance, the measurement azimuth angle and the measurement pitch angle of each measurement point; and obtaining the boss pit condition of the target measurement area according to the measurement heights of the measurement points. The boss pit identification method provided by the application comprises the steps of obtaining the measurement distance, the measurement azimuth angle and the measurement pitch angle, obtaining the measurement height according to the measurement distance, the measurement azimuth angle and the measurement pitch angle, obtaining the boss pit condition according to the measurement height, judging the front pit or the boss in advance, and providing effective guarantee for driving safety.

Description

Boss pit identification method and system
Technical Field
The application relates to the field, in particular to a method and a system for identifying pits of a boss.
Background
The uneven road surface can bring hidden danger to driving safety, leads to the traffic accident to increase constantly.
In the prior art, by setting a detection distance and carrying out recess detection on the ground in front of a vehicle in the process of advancing the vehicle, measuring and calculating the depth of the recess and the width of the recess along the direction perpendicular to the running direction of the vehicle; when the depth of the concave is larger than the minimum distance of the vehicle, or the width of the concave along the direction perpendicular to the running direction of the vehicle is larger than the direct distance of the transverse tires of the vehicle, corresponding prompt information is displayed and sent out on the vehicle-mounted multimedia.
However, the distance of the detected pit is set directly in combination with the size of the vehicle and the traveling speed or calculated by the inclination angle of the distance measuring device, and since the pits may be different in size, the distance of the detected vehicle from the pit may be different, the inclination angle may be different, and the measurement result may be not accurate. Meanwhile, the problem of larger calculation error by adopting two-dimensional data exists.
Disclosure of Invention
The application aims to overcome the defects of the background technology and provide a method and a system for identifying boss pits.
In a first aspect, the present application provides a method for identifying a boss pit, including the steps of:
acquiring measurement distances between a plurality of measurement points in a target measurement area and a target vehicle, and acquiring a measurement azimuth angle and a measurement pitch angle of each measurement point;
acquiring measurement heights of a plurality of measurement points in the target measurement area according to the measurement distance, the measurement azimuth angle and the measurement pitch angle of each measurement point;
and obtaining the boss pit condition of the target measurement area according to the measurement heights of the measurement points.
According to a first aspect, in a first possible implementation manner of the first aspect, the step of acquiring the concave-convex condition of the target measurement area according to the measurement heights of a plurality of measurement points specifically includes the following steps:
according to the measurement heights of the measurement points, obtaining the convex point and concave point conditions of each measurement point;
and obtaining the boss pit conditions of the target measurement area according to the boss pit conditions of a plurality of measurement points in the target measurement area.
In a second possible implementation manner of the first aspect, the step of acquiring the bump pit condition of each measurement point according to the measurement heights of a plurality of measurement points specifically includes the following steps:
analyzing the convex point and concave point conditions of each measuring point according to the measuring heights of a plurality of measuring points;
when the measured height of the measuring point is detected to be larger than a first preset height threshold value, judging that the measuring point is a salient point;
and when the measured height of the measuring point is detected to be smaller than a second preset height threshold value, judging that the measuring point is concave.
According to the first aspect, in a third possible implementation manner of the first aspect, the step of acquiring the land pit situation of the target measurement area according to the land pit situations of a plurality of measurement points in the target measurement area specifically includes the following steps:
analyzing the actual convex point quantity and the actual concave point quantity in the target measurement area according to convex point concave point conditions of a plurality of measurement points in the target measurement area;
when the actual bump number in the target measurement area is detected to be larger than the calibrated bump number S 1 When the target measuring area is judged to be a boss;
when the actual pit number in the target measurement area is detected to be larger than the calibrated pit number S 2 And judging the target measurement area as a pit.
In a fourth possible implementation manner of the first aspect, the "obtaining measurement distances between a plurality of measurement points in a target measurement area and a target vehicle, and obtaining a measurement azimuth angle and a measurement pitch angle of each measurement point; according to the measured distance, the measured azimuth angle and the measured pitch angle of each measuring point, a step of obtaining the measured heights of a plurality of measuring points in the target measuring area, specifically comprising the following steps:
in a space rectangular coordinate systemBased on the first measured position (x 0 ，y 0 ，z 0 ) At the position of the target measuring region, the measuring distances L between a plurality of measuring points and the first measuring position are obtained based on the second measuring position (x 1 ，y 1 ，z 1 ) Acquiring a measurement azimuth angle a of each measurement point 1m And measuring pitch angle b 1m ；
Assuming that the ground height is 0, selecting a ground point as the origin of coordinates, assuming that the coordinates of any one of the measurement points are (x 2m ，y 2m ，z 2m ) M=1, 2, 3, …, n; in combination with the first measuring position (x 0 ，y 0 ，z 0 ) Said second measuring position (x 1 ，y 1 ，z 1 ) The following relationship can be obtained:
L 2 ＝(x 2m -x 0 ) 2 +(y 2m -y 0 ) 2 +(z 2m -z 0 ) 2 formula (1);
from the above formulas (1), (2) and (3), Z at any one of the measurement points can be calculated 2m The value is that the measurement height of a plurality of measurement points in the target measurement area is Z 2m 。
In a fifth possible implementation manner of the first aspect, after the step of determining that the target measurement area is the boss when the actual number of bumps in the target measurement area is detected to be greater than the calibrated number of bumps, the method specifically includes the following steps:
the boss height of the target measurement area is calculated according to the following equation (4):
G convex part ＝g 1 z 21 +g 2 z 22 +…+g m z 2m Formula (4);
wherein g 1 +g 2 +…+g m K, k is the sum of weighting coefficients, g 1 …g m As a weighting coefficient, z 21 …z 2m Is the Z-axis coordinate value of all the salient points in the boss.
In a sixth possible implementation manner of the first aspect, after the step of determining that the target measurement area is a pit when the actual number of pits in the target measurement area is detected to be greater than the calibrated number of pits, the method further includes the steps of:
the pit depth of the target vehicle region is calculated according to the following equation (5):
G concave recess ＝g 1 z 21 +g 2 z 22 +…+g n z 2mn Formula (5);
wherein g 1 +g 2 +…+g n K, k is the sum of weighting coefficients, g 1 …g n As a weighting coefficient, z 21 …z 2mn Is the Z-axis coordinate value of all pits in the pit.
According to the first aspect, in a seventh possible implementation manner of the first aspect, after the step of analyzing the actual number of bumps and the actual number of pits in the target measurement area according to the bump pit conditions of the plurality of measurement points in the target measurement area, the method further includes the steps of:
according to the following formula (6), calculating and obtaining the calibration quantity S of the convex points or the concave points:
wherein L is 1 For the projection length value of the tire on the ground, B 1 For the projection width value of the tire on the ground, x min For the minimum grid point distance in X direction corresponding to the projection length value of the tire, y min The tire projection width value corresponds to the minimum grid point distance in the Y direction;
calculated according to the following formula (7)Calibrating the number S of the convex points 1 ：
|S 1 S is less than or equal to 0.5 formula (7);
wherein S is 1 Is a positive integer;
according to the following formula (8), the number S of the calibration pits is calculated 2 ：
|S 2 S is less than or equal to 0.5 formula (8);
wherein S is 2 Is a positive integer.
In a second aspect, the present application provides a land pit identification system, comprising:
the first acquisition module is used for acquiring the measurement distances between a plurality of measurement points in a target measurement area and a target vehicle, and acquiring a measurement azimuth angle and a measurement pitch angle of each measurement point;
the second acquisition module is in communication connection with the first acquisition module and is used for acquiring the measurement heights of a plurality of measurement points in the target measurement area according to the measurement distance, the measurement azimuth angle and the measurement pitch angle of each measurement point; the method comprises the steps of,
and the third acquisition module is in communication connection with the second acquisition module and is used for acquiring the boss pit condition of the target measurement area according to the measurement heights of the plurality of measurement points.
In a first possible implementation manner of the second aspect according to the second aspect, the method further includes:
the first acquisition unit is in communication connection with the second acquisition module and is used for acquiring the convex point and concave point condition of each measuring point according to the measuring heights of a plurality of measuring points;
the second acquisition unit is in communication connection with the first acquisition unit, and acquires the boss pit conditions of the target measurement area according to the boss pit conditions of the plurality of measurement points in the target measurement area.
Compared with the prior art, the application has the following advantages:
the boss pit identification method provided by the application comprises the steps of obtaining the measurement distance, the measurement azimuth angle and the measurement pitch angle, obtaining the measurement height according to the measurement distance, the measurement azimuth angle and the measurement pitch angle, obtaining the boss pit condition according to the measurement height, judging the front pit or the boss in advance, and providing effective guarantee for driving safety.
Drawings
FIG. 1 is a schematic flow diagram of a method according to an embodiment of the present application;
FIG. 2 is a schematic flow diagram of another method according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a binocular camera ranging;
fig. 4 is a functional block diagram of an embodiment of the present application.
Fig. 5 is a schematic diagram of a measurement scenario according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to the present embodiments of the application, examples of which are illustrated in the accompanying drawings. While the application will be described in conjunction with the specific embodiments, it will be understood that it is not intended to limit the application to the described embodiments. On the contrary, it is intended to cover alternatives, modifications, and equivalents as may be included within the spirit and scope of the application as defined by the appended claims. It should be noted that the method steps described herein may be implemented by any functional block or arrangement of functions, and any functional block or arrangement of functions may be implemented as a physical entity or a logical entity, or a combination of both.
The present application will be described in further detail below with reference to the drawings and detailed description for the purpose of enabling those skilled in the art to understand the application better.
Note that: the examples to be described below are only one specific example, and not as limiting the embodiments of the present application necessarily to the following specific steps, values, conditions, data, sequences, etc. Those skilled in the art can, upon reading the present specification, make and use the concepts of the application to construct further embodiments not mentioned in the specification.
Referring to fig. 1, the present application provides a method for identifying a boss pit, comprising the following steps:
s100, acquiring measurement distances between a plurality of measurement points in a target measurement area and a target vehicle, and acquiring a measurement azimuth angle and a measurement pitch angle of each measurement point;
s200, acquiring measurement heights of a plurality of measurement points in the target measurement area according to the measurement distance, the measurement azimuth angle and the measurement pitch angle of each measurement point;
s300, obtaining boss pit conditions of the target measurement area according to the measurement heights of the measurement points.
In some embodiments, the step of acquiring the concave-convex condition of the target measurement area according to the measurement heights of the measurement points specifically includes the following steps:
s310, according to the measurement heights of a plurality of measurement points, obtaining convex point concave point conditions of each measurement point;
s320, obtaining boss pit conditions of the target measurement area according to the convex point pit conditions of the plurality of measurement points in the target measurement area.
In some embodiments, the step of acquiring the bump pit condition of each measurement point according to the measurement heights of a plurality of measurement points specifically includes the following steps:
analyzing the convex point and concave point conditions of each measuring point according to the measuring heights of a plurality of measuring points;
when the measured height of the measuring point is detected to be larger than a first preset height threshold h, judging that the measuring point is a salient point;
and when the measured height of the measuring point is detected to be smaller than a second preset height threshold value-h, judging that the measuring point is concave.
In an embodiment, the first preset height threshold h is set according to a soil pile, stones dropped from a road surface, roadblocks and the like, and the second preset height threshold-h is set according to a missing pit, a pit generated after road surface damage, a bullet pit and the like.
In some embodiments, the step of acquiring the land pit condition of the target measurement area according to the land pit conditions of a plurality of measurement points in the target measurement area specifically includes the following steps:
analyzing the actual convex point quantity and the actual concave point quantity in the target measurement area according to convex point concave point conditions of a plurality of measurement points in the target measurement area;
when the actual bump number in the target measurement area is detected to be larger than the calibrated bump number S 1 When the target measuring area is judged to be a boss;
when the actual pit number in the target measurement area is detected to be larger than the calibrated pit number S 2 And judging the target measurement area as a pit.
In some embodiments, z through the measurement point 2m Comparing the measured points with h and-h, checking whether the measured points are convex points or concave points, and comparing z 2m >The points of h are classified as boss point sets, and z is calculated 2m <The point set of H is classified as a pit set, when the number of salient point set points in the target measurement area is greater than the nominal salient point number S 1 When the pit condition of the boss in the target measuring area is judged to be the boss, and when the pit collecting point number in the target measuring area is larger than the calibration pit number S 2 And judging the condition of the boss pit of the target measurement area as the pit.
In some embodiments, the method includes obtaining measurement distances between a plurality of measurement points in a target measurement area and a target vehicle, and obtaining a measurement azimuth angle and a measurement pitch angle of each measurement point; according to the measured distance, the measured azimuth angle and the measured pitch angle of each measuring point, a step of obtaining the measured heights of a plurality of measuring points in the target measuring area, specifically comprising the following steps:
in a space rectangular coordinate system, a measurement distance L between a plurality of measurement points in a target measurement area and a first measurement position is acquired based on a first measurement position (x 0, y0, z 0) of a vehicle, and a measurement distance L between the plurality of measurement points and the first measurement position is acquired based on a second measurement position (x 1 ，y 1 ，z 1 ) Acquiring a measurement azimuth angle a of each measurement point 1m And measuring pitch angle b 1m ；
Assuming a ground level of 0, selecting a ground point as the origin of coordinates, assuming any of the measurement pointsThe coordinates are (x) 2m ，y 2m ，z 2m ) M=1, 2, 3, …, n; in combination with the first measuring position (x 0 ，y 0 ，z 0 ) Said second measuring position (x 1 ，y 1 ，z 1 ) The following relationship can be obtained:
L 2 ＝(x 2m -x 0 ) 2 +(y 2m -y 0 ) 2 +(z 2m -z 0 ) 2 formula (1);
from the above formulas (1), (2) and (3), Z at any one of the measurement points can be calculated 2m The value is that the measurement height of a plurality of measurement points in the target measurement area is Z 2m 。
The application obtains the measuring azimuth angle a of each measuring point 1m And measuring pitch angle b 1m And a first measured position coordinate value (x 0 ，y 0 ，z 0 ) A second measurement position coordinate value (x 1 ，y 1 ，z 1 ) Accurately calculating the coordinate value (x 2m ，y 2m ，z 2m ) M=1, 2, 3, …, n, there is no occurrence of insufficient accuracy of the measurement structure due to the difference in detection distance of the vehicle from the target detection area and the difference in inclination angle.
In some embodiments, after the step of determining that the target measurement area is the boss when the actual number of the bumps in the target measurement area is detected to be greater than the calibrated number of the bumps, the method specifically includes the following steps:
the boss height of the target measurement area is calculated according to the following equation (4):
G convex part ＝g 1 z 21 +g 2 z 22 +…+g m z 2m Formula (4);
wherein g 1 +g 2 +…+g m K, k is the sum of weighting coefficients, g 1 …g m As a weighting coefficient, z 21 …z 2m Is the Z-axis coordinate value of all the salient points in the boss.
As described above, according to the application, k is a preset value, the boss height is obtained through the calculation of the formula (4), and an accurate roadblock height basis is provided for driving safety, so that a driver can conveniently and effectively make an effective and accurate avoidance strategy according to the roadblock boss height, and the driving safety is accurately and effectively ensured.
In some embodiments, after the step of determining that the target measurement area is a pit when the actual pit number in the target measurement area is detected to be greater than the calibration pit number, the method further includes the steps of:
the pit depth of the target vehicle region is calculated according to the following equation (5):
G concave recess ＝g 1 z 21 +g 2 z 22 +…+g n z 2mn Formula (5);
wherein g 1 +g 2 +…+g n K, k is the sum of weighting coefficients, g 1 …g n As a weighting coefficient, Z 21 …Z 2mn Is the Z-axis coordinate value of all pits in the pit.
As described above, k is a preset value, the depth of the pit is calculated according to the formula (5), and an accurate pit depth basis is provided for driving safety, so that a driver can make an effective and accurate avoidance strategy according to the pit depth, and driving safety is accurately and effectively guaranteed.
In an embodiment, after the step of analyzing the actual number of bumps and the actual number of pits in the target measurement area according to the bump pit conditions of the plurality of measurement points in the target measurement area, the method further includes the steps of:
according to the following formula (6), calculating and obtaining the calibration quantity S of the convex points or the concave points:
wherein L1 is the projected length value of the tire on the ground, B1 is the projected width value of the tire on the ground, and x min For the minimum grid point distance in X direction corresponding to the projection length value of the tire, y min The tire projection width value corresponds to the minimum grid point distance in the Y direction;
according to the following formula (7), calculating the number S of the calibration convex points 1 ：
|S 1 S is less than or equal to 0.5 formula (7);
wherein S is 1 Is a positive integer;
according to the following formula (8), the number S of the calibration pits is calculated 2 ：
|S 2 S is less than or equal to 0.5 formula (8);
wherein S is 2 Is a positive integer.
Based on the same inventive concept, the application provides a boss pit identification system, which comprises a first acquisition module 100, a second acquisition module 200 and a third acquisition module 300, wherein the first acquisition module is used for acquiring measurement distances between a plurality of measurement points in a target measurement area and a target vehicle, and acquiring a measurement azimuth angle and a measurement pitch angle of each measurement point; the second acquisition module is in communication connection with the first acquisition module and is used for acquiring the measurement heights of a plurality of measurement points in the target measurement area according to the measurement distance, the measurement azimuth angle and the measurement pitch angle of each measurement point; the third acquisition module is in communication connection with the second acquisition module and is used for acquiring boss pit conditions of the target measurement area according to the measurement heights of the measurement points.
In an embodiment, the first obtaining module includes a binocular camera 500 and a millimeter radar 600, the binocular camera is used to obtain the measured distances between a plurality of measurement points in a target measurement area on the ground 400 and the target vehicle, and the millimeter radar is used to obtain the measured azimuth angle and the measured pitch angle of each measurement point.
In one embodiment, the ground level is set to 0,setting any point on the ground as a coordinate origin, and setting a coordinate position of the binocular camera mounted on the vehicle to be (x) as a coordinate value relative to the coordinate origin 0 ，y 0 ，z 0 )。
By obtaining the distance D between the two cameras of the binocular camera, the focal length f of the camera, the parallax D of the two cameras, please refer to fig. 3, a is the target measurement point, B1 is the optical axis of the first camera of the binocular camera, O1 is the center point position of the first camera, B2 is the optical axis of the second camera of the binocular camera, O2 is the center point position of the second camera, X L For the first camera to observe the X-axis coordinate position of the target measuring point, X r Observing the X-axis coordinate position of the target measurement point for the second camera, d=x r -X L Using triangulation ranging distance, D, f and d conform to equation (8):
carrying out parameter conversion on the formula (8), and calculating to obtain the distance L between the target measuring point and the binocular camera:
as described above, the distance value L between the target measurement point and the first measurement position, that is, the distance value L between the binocular cameras can be quickly and accurately obtained by using the binocular cameras.
As described above, the measured azimuth angle a between the target measurement point and the second measurement position can be quickly and accurately obtained by using the millimeter radar 1m And measuring pitch angle b 1m 。
In some embodiments, the system further includes a first acquiring unit and a second acquiring unit, where the first acquiring unit is communicatively connected to the second acquiring module, and is configured to acquire a bump pit condition of each of the measurement points according to the measurement heights of the plurality of measurement points; the second acquisition unit is in communication connection with the first acquisition unit, and acquires the boss pit conditions of the target measurement area according to the boss pit conditions of a plurality of measurement points in the target measurement area.
Based on the same inventive concept, the embodiments of the present application also provide a computer-readable storage medium, on which a computer program is stored, which when being executed by a processor implements all or part of the method steps of the above method.
The present application may be implemented by implementing all or part of the above-described method flow, or by instructing the relevant hardware by a computer program, which may be stored in a computer readable storage medium, and which when executed by a processor, may implement the steps of the above-described method embodiments. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, executable files or in some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the content of the computer readable medium can be appropriately increased or decreased according to the requirements of the jurisdiction's jurisdiction and the patent practice, for example, in some jurisdictions, the computer readable medium does not include electrical carrier signals and telecommunication signals according to the jurisdiction and the patent practice.
Based on the same inventive concept, the embodiment of the application also provides an electronic device, which comprises a memory and a processor, wherein the memory stores a computer program running on the processor, and the processor executes the computer program to realize all or part of the method steps in the method.
The processor may be a central processing unit (Central Processing Unit, CPU), other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, the processor being a control center of the computer device, and the various interfaces and lines connecting the various parts of the overall computer device.
The memory may be used to store computer programs and/or modules, and the processor implements various functions of the computer device by running or executing the computer programs and/or modules stored in the memory, and invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function (e.g., a sound playing function, an image playing function, etc.); the storage data area may store data (e.g., audio data, video data, etc.) created according to the use of the handset. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart Media Card (SMC), secure Digital (SD) Card, flash Card (Flash Card), at least one disk storage device, flash memory device, or other volatile solid-state storage device.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, server, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, magnetic disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), servers and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

Claims (6)

1. The boss pit identification method is characterized by comprising the following steps of:
acquiring measurement distances between a plurality of measurement points in a target measurement area and a target vehicle, and acquiring a measurement azimuth angle and a measurement pitch angle of each measurement point;
acquiring measurement heights of a plurality of measurement points in the target measurement area according to the measurement distance, the measurement azimuth angle and the measurement pitch angle of each measurement point;
obtaining boss pit conditions of the target measurement area according to the measurement heights of the measurement points;
the step of acquiring the concave-convex condition of the target measurement area according to the measurement heights of a plurality of measurement points specifically comprises the following steps:
according to the measurement heights of the measurement points, obtaining the convex point and concave point conditions of each measurement point;
obtaining boss pit conditions of the target measurement area according to the boss pit conditions of a plurality of measurement points in the target measurement area;
the step of acquiring the boss pit condition of the target measurement area according to the boss pit conditions of a plurality of measurement points in the target measurement area comprises the following steps:
analyzing the actual convex point quantity and the actual concave point quantity in the target measurement area according to convex point concave point conditions of a plurality of measurement points in the target measurement area;
when the actual bump number in the target measurement area is detected to be larger than the calibrated bump number S 1 When the target measuring area is judged to be a boss;
when the actual pit number in the target measurement area is detected to be larger than the calibrated pit number S 2 When the target measuring area is judged to be a pit;
after the step of determining that the target measurement area is the boss when the actual number of the bosses in the target measurement area is detected to be larger than the calibrated number of the bosses, the method specifically comprises the following steps:
the boss height of the target measurement area is calculated according to the following equation (4):
G convex part ＝g 1 z 21 +g 2 z 22 +…+g m z 2m Formula (4);
wherein g 1 +g 2 +…+g m K, k is the sum of weighting coefficients, g 1 …g m As a weighting coefficient, z 21 …z 2m Is the Z-axis coordinate value of all the salient points in the boss.
2. The land pit identification method of claim 1, wherein said step of acquiring the land pit condition of each of said measurement points based on said measurement heights of a plurality of said measurement points, comprises the steps of:
analyzing the convex point and concave point conditions of each measuring point according to the measuring heights of a plurality of measuring points;
when the measured height of the measuring point is detected to be larger than a first preset height threshold value, judging that the measuring point is a salient point;
and when the measured height of the measuring point is detected to be smaller than a second preset height threshold value, judging that the measuring point is concave.
3. The land pit identification method of claim 1, wherein said "obtaining measured distances between a plurality of measurement points in a target measurement area and a target vehicle, and obtaining a measured azimuth angle and a measured pitch angle for each of said measurement points; according to the measured distance, the measured azimuth angle and the measured pitch angle of each measuring point, a step of obtaining the measured heights of a plurality of measuring points in the target measuring area, specifically comprising the following steps:
in a space rectangular coordinate system, a first measurement position (x 0 ，y 0 ，z 0 ) At the position of the target measuring region, the measuring distances L between a plurality of measuring points and the first measuring position are obtained based on the second measuring position (x 1 ，y 1 ，z 1 ) Acquiring a measurement azimuth angle a of each measurement point 1m And measuring pitch angle b 1m ；
Assuming that the ground height is 0, selecting a ground point as the origin of coordinates, assuming that the coordinates of any one of the measurement points are (x 2m ，y 2m ，z 2m ) M=1, 2, 3, …, n; in combination with the first measuring position (x 0 Y0, z 0), the second measurement position (x 1, y1, z 1 ) The following relationship can be obtained:
L 2 ＝(x 2m -x 0 ) 2 +(y 2m -y 0 ) 2 +(z 2m -z 0 ) 2 formula (1);
from the above formulas (1), (2) and (3), Z at any one of the measurement points can be calculated 2m The value is that the measurement height of a plurality of measurement points in the target measurement area is Z 2m 。
4. The land pit identification method of claim 3, wherein after the step of determining that the target measurement area is a pit when it is detected that the actual pit number in the target measurement area is greater than the nominal pit number, further comprising the steps of:
the pit depth of the target vehicle region is calculated according to the following equation (5):
G concave recess ＝g 1 z 21 +g 2 z 22 +…+g n z 2mn Formula (5);
wherein g 1 +g 2 +…+g n K, k is the sum of weighting coefficients, g 1 …g n As a weighting coefficient, Z 21 …Z 2mn Is the Z-axis coordinate value of all pits in the pit.
5. The land pit identification method of claim 1, wherein after the step of analyzing the actual number of bumps and the actual number of pits in the target measurement area according to the bump pit conditions of a plurality of the measurement points in the target measurement area, further comprising the steps of:
according to the following formula (6), calculating and obtaining the calibration quantity S of the convex points or the concave points:
wherein L is 1 For the projection length value of the tire on the ground, B 1 For the projection width value of the tire on the ground, x min For the minimum grid point distance in X direction corresponding to the projection length value of the tire, y min The tire projection width value corresponds to the minimum grid point distance in the Y direction;
according to the following formula (7), calculating the number S of the calibration convex points 1 ：
|S 1 S is less than or equal to 0.5 formula (7);
wherein S is 1 Is a positive integer;
according to the following formula (8), the number S of the calibration pits is calculated 2 ：
|S 2 S is less than or equal to 0.5 formula (8);
wherein S is 2 Is a positive integer.
6. A boss pit identification system, comprising:
the first acquisition module is used for acquiring the measurement distances between a plurality of measurement points in a target measurement area and a target vehicle, and acquiring a measurement azimuth angle and a measurement pitch angle of each measurement point;
the second acquisition module is in communication connection with the first acquisition module and is used for acquiring the measurement heights of a plurality of measurement points in the target measurement area according to the measurement distance, the measurement azimuth angle and the measurement pitch angle of each measurement point; the method comprises the steps of,
the third acquisition module is in communication connection with the second acquisition module and is used for acquiring boss pit conditions of the target measurement area according to the measurement heights of the plurality of measurement points;
the step of obtaining the concave-convex condition of the target measurement area according to the measurement heights of the measurement points specifically includes:
according to the measurement heights of the measurement points, obtaining the convex point and concave point conditions of each measurement point;
obtaining boss pit conditions of the target measurement area according to the boss pit conditions of a plurality of measurement points in the target measurement area;
the step of obtaining the boss pit condition of the target measurement area according to the boss pit conditions of a plurality of measurement points in the target measurement area specifically comprises the following steps:
analyzing the actual convex point quantity and the actual concave point quantity in the target measurement area according to convex point concave point conditions of a plurality of measurement points in the target measurement area;
when the actual bump number in the target measurement area is detected to be larger than the calibrated bump number S 1 When the target measuring area is judged to be a boss;
when the actual pit number in the target measurement area is detected to be larger than the calibrated pit number S 2 When the target measuring area is judged to be a pit;
when the actual bump number in the target measurement area is detected to be larger than the calibrated bump number, after the target measurement area is determined to be the boss, the method further comprises:
the boss height of the target measurement area is calculated according to the following equation (4):
G convex part ＝g 1 z 21 +g 2 z 22 +…+g m z 2m Formula (4);
wherein g 1 +g 2 +…+g m K, k is the sum of weighting coefficients, g 1 …g m As a weighting coefficient, z 21 …z 2m Is the Z-axis coordinate value of all the salient points in the boss.
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