CN106970395B - The method and apparatus for determining Obstacle Position - Google Patents
The method and apparatus for determining Obstacle Position Download PDFInfo
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- CN106970395B CN106970395B CN201710317929.0A CN201710317929A CN106970395B CN 106970395 B CN106970395 B CN 106970395B CN 201710317929 A CN201710317929 A CN 201710317929A CN 106970395 B CN106970395 B CN 106970395B
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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Abstract
The invention discloses a kind of method and apparatus of determining Obstacle Position, belong to field of computer technology.The described method includes: determining that every the second radar laser of beam corresponds to the three-dimensional coordinate information of reflection point according to every the second radar laser of beam；According to the abscissa information and ordinate information of each reflection point, determine that each reflection point corresponding grid in two-dimensional grid map, two-dimensional grid map include multiple subregions respectively, each subregion includes multiple grids；Determine whether the first grid includes barrier according to the corresponding maximum height information of the first grid and minimum constructive height information and the corresponding minimum constructive height information of the second grid, first grid is any of two-dimensional grid map grid, and the second grid and the first grid are in same subregion；If determining position of the barrier relative to vehicle according to the position of the position of the first grid and vehicle including barrier.The present invention solves the problems, such as that driver in the related technology or automatic driving vehicle can not hide obstacles around the vehicle.
Description
Technical field
The present invention relates to field of computer technology, in particular to a kind of method and apparatus of determining Obstacle Position.
Background technique
In the driving process of automobile, more complicated road conditions may be encountered, such as there are more obstacle (ratios on road surface
Such as, rubble), curb etc..When encountering complex road condition, driver's driving Reduced Speed Now or avoiding barrier are needed,
To avoid the strenuous vibration of automobile.Otherwise, the strenuous vibration of automobile will cause the parts such as car transmissions, running gear damage
It is bad, directly threaten traffic safety.
In the process of moving, driver be limited by the reason of observation visual angle be difficult to check on motor vehicle environment and road surface own
Barrier need to provide instruction motor vehicle environment Obstacle Position to driver and showing to improve the traffic safety of automobile
It is intended to, so that driver is according to schematic diagram driving avoiding barrier.If automobile is automatic driving vehicle, the automobile
It is also required to obtain the position of motor vehicle environment barrier, draws oneself up and hide these barriers.
Summary of the invention
In order to solve the problems, such as that driver in the prior art or automatic driving vehicle can not hide obstacles around the vehicle,
The embodiment of the invention provides a kind of method and apparatus of determining Obstacle Position.The technical solution is as follows:
In a first aspect, providing a kind of method of determining Obstacle Position, which comprises
Emit the first radar laser of multi beam to vehicle periphery, receives at least a branch of the second radar laser reflected；
Every beam is determined according to the second radar laser of every beam at least a branch of second radar laser reflected
Second radar laser corresponds to the three-dimensional coordinate information of reflection point, and the three-dimensional coordinate information of reflection point includes the horizontal seat of the reflection point
Mark information, ordinate information and elevation information；
According to the abscissa information and ordinate information of each reflection point, determine each reflection point in two-dimensional grid respectively
Incident point in lattice map determines that the grid where each incident point, the two-dimensional grid map include multiple subregions, Mei Gefen
Area includes multiple grids；
It obtains the corresponding maximum height information of the first grid and minimum constructive height information and the second grid of acquisition is corresponding most
Low height information, the corresponding maximum height information of first grid and minimum constructive height information are in first grid respectively
Maximum value and minimum value in the elevation information of the corresponding reflection point in each incident point, the corresponding minimum constructive height of second grid
Information is the minimum value in the elevation information of the corresponding reflection point in each incident point in second grid, first grid
For any of two-dimensional grid map grid, second grid and first grid are in same subregion；
It is corresponding according to the corresponding maximum height information of first grid and minimum constructive height information and second grid
Minimum constructive height information determine whether first grid includes barrier；
If determining the barrier according to the position of the position of first grid and the vehicle including barrier
Position relative to the vehicle.
Optionally, described according to the corresponding maximum height information of first grid and minimum constructive height information and described
The corresponding minimum constructive height information of two grids determines whether first grid includes barrier, comprising:
From the corresponding minimum constructive height information of first grid and the corresponding minimum constructive height information of second grid
Determine minimum value；
Calculate the difference between the corresponding maximum height information of first grid and the minimum value；
When the difference is higher than the first preset height, determine that first grid includes barrier；
When the difference is lower than first preset height, determine that first grid does not include barrier.
Optionally, the abscissa information and ordinate information according to each reflection point determines described each anti-respectively
Incident point of the exit point in two-dimensional grid map, determines the grid where each incident point, comprising:
According to the abscissa information and ordinate information of a reflection point, the reflection point pair is calculated using following calculation formula
The grid coordinate of grid where the incident point answered:
Wherein, y is the ordinate information, and x is the abscissa information, and G is grid length, and M is the two-dimensional grid
Grid line number of the map on axis of abscissas direction, N are grid columns of the two-dimensional grid map on axis of abscissas direction,
I is grid coordinate of the grid on axis of abscissas direction, and j is grid coordinate of the grid on axis of ordinates direction,
[a] is bracket function；When x > 0, sign (x)=1；When x=0, sign (x)=0；When x < 0, sign (x)=- 1.
Optionally, it is described according to the position of first grid and the position of the vehicle determine the barrier relative to
The position of the vehicle, comprising:
World coordinates of the barrier in the global coordinate system of the vehicle is calculated using following calculation formula:
Wherein, X is the abscissa information of the barrier, and Y is the ordinate information of the barrier, the world coordinates
The negative direction of longitudinal coordinate axle is vehicle forward direction in system, and the origin of the global coordinate system is located in the vehicle；
According to the world coordinates, position of the origin in the vehicle of the global coordinate system, the vehicle vehicle
Body length and width determine position of the barrier relative to the vehicle.
Optionally, it in the abscissa information and ordinate information according to each reflection point, determines respectively described each
Reflection point before the incident point in two-dimensional grid map, the method also includes:
According to the elevation information of reflection point, the three-dimensional coordinate information of the reflection point by height higher than 2.5m is deleted.
Second aspect, provides a kind of device of determining Obstacle Position, and described device includes:
Laser radar module receives at least a branch of reflected for emitting multi beam the first radar laser to vehicle periphery
Second radar laser；
First determining module, at least a branch of the second radar reflected for being received according to the laser radar module
The second radar laser of every beam in laser determines that second radar laser of every beam corresponds to the three-dimensional coordinate information of reflection point, reflection
The three-dimensional coordinate information of point includes the abscissa information, ordinate information and elevation information of the reflection point；
Second determining module, the abscissa information of each reflection point for being determined according to first determining module and
Ordinate information determines incident point of each reflection point in two-dimensional grid map respectively, determines each incident point place
Grid, the two-dimensional grid map includes multiple subregions, and each subregion includes multiple grids；
Module is obtained, for obtaining the corresponding maximum height information of the first grid and minimum constructive height information and acquisition second
The corresponding minimum constructive height information of grid, the corresponding maximum height information of first grid and minimum constructive height information are described respectively
Maximum value and minimum value in the elevation information of the corresponding reflection point in each incident point in first grid, second grid pair
The minimum constructive height information answered is the minimum value in the elevation information of the corresponding reflection point in each incident point in second grid,
First grid is any of two-dimensional grid map grid, and second grid and first grid are at same point
In area；
Third determining module, for getting the corresponding maximum height information of the first grid and most according to the acquisition module
Low height information and the acquisition module get the corresponding minimum constructive height information of the second grid and determine that first grid is
No includes barrier；
4th determining module, if for including barrier, according to the position of first grid and the vehicle
Position determines position of the barrier relative to the vehicle.
Optionally, the third determining module, comprising:
First determination unit, for corresponding from the corresponding minimum constructive height information of first grid and second grid
Minimum constructive height information in determine minimum value；
First computing unit, for calculating the corresponding maximum height information of first grid and first determination unit
The difference between minimum value determined；
First judging unit, for sentencing when the calculated difference of the first computing unit is higher than the first preset height
Fixed first grid includes barrier；
Second judging unit, for being lower than first preset height in the calculated difference of the first computing unit
When, determine that first grid does not include barrier.
Optionally, second determining module, is also used to:
According to the abscissa information and ordinate information of a reflection point, the reflection point pair is calculated using following calculation formula
The grid coordinate of grid where the incident point answered:
Wherein, y is the ordinate information, and x is the abscissa information, and G is grid length, and M is the two-dimensional grid
Grid line number of the map on axis of abscissas direction, N are grid columns of the two-dimensional grid map on axis of abscissas direction,
I is grid coordinate of the grid on axis of abscissas direction, and j is grid coordinate of the grid on axis of ordinates direction,
[a] is bracket function；When x > 0, sign (x)=1；When x=0, sign (x)=0；When x < 0, sign (x)=- 1.
Optionally, the 4th determining module, comprising:
Second computing unit, for calculating the barrier in the global coordinate system of the vehicle using following calculation formula
In world coordinates:
Wherein, X is the abscissa information of the barrier, and Y is the ordinate information of the barrier, the world coordinates
The negative direction of longitudinal coordinate axle is vehicle forward direction in system, and the origin of the global coordinate system is located in the vehicle；
Second determination unit, for according to the calculated world coordinates of second computing unit, the global coordinate system
Position of the origin in the vehicle, the vehicle length of wagon and width, determine the barrier relative to described
The position of vehicle.
Optionally, described device further include:
Removing module, for the elevation information according to reflection point, the three-dimensional coordinate of the reflection point by height higher than 2.5m is believed
Breath is deleted.
Technical solution provided in an embodiment of the present invention has the benefit that
By emitting the first radar laser to vehicle periphery, according to the second radar laser by reflection point reflection received
The three-dimensional coordinate information for determining reflection point further determines that the corresponding grid of each reflection point；According to the first grid (two-dimensional grid
Any grid in map) maximum elevation information, the first grid in corresponding reflection point correspond to the smallest height in reflection point
Information and the second grid correspond to the smallest elevation information in reflection point, can estimate out the first grid correspond on road surface and
The distance on top highest point to road surface, and further determine that whether first grid includes barrier, according to including barrier
The position of first grid, the position of vehicle can determine that position of the obstacles around the vehicle relative to vehicle；Solves related skill
The problem of driver or automatic driving vehicle can not hide obstacles around the vehicle in art has reached the effect for improving traffic safety
Fruit.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is a kind of flow chart of the method for determining Obstacle Position shown according to an exemplary embodiment；
Fig. 2 is a kind of flow chart of the method for the determining Obstacle Position shown according to another exemplary embodiment；
Fig. 3 is a kind of schematic diagram of laser radar for showing according to another exemplary embodiment in roof installation site；
Fig. 4 be show according to another exemplary embodiment it is a kind of in a covering of the fan and meanwhile transmitting the first radar laser
Maximum elevation between horizontal plane and the schematic diagram of the maximum depression between horizontal plane；
Fig. 5 is a kind of schematic diagram of reflection point for showing according to another exemplary embodiment in three-dimensional system of coordinate；
Fig. 6 be the first grid of a kind of determination for showing according to another exemplary embodiment whether include barrier process
Figure；
Fig. 7 is a kind of process of the position of determining barrier for showing according to another exemplary embodiment relative to vehicle
Figure；
Fig. 8 is a kind of block diagram of the device of determining Obstacle Position shown according to an exemplary embodiment.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
Referring to Figure 1, Fig. 1 is a kind of process of the method for determining Obstacle Position shown according to an exemplary embodiment
Figure, the method for the determination Obstacle Position can be applied to car-mounted terminal, and the method for the determination Obstacle Position may include as follows
Several steps.
Step 101, emit the first radar laser of multi beam to vehicle periphery, receive at least a branch of the second radar reflected and swash
Light.
Step 102, every beam is determined according to the second radar laser of every beam at least a branch of the second radar laser reflected
Second radar laser corresponds to the three-dimensional coordinate information of reflection point, and the three-dimensional coordinate information of reflection point includes the abscissa of the reflection point
Information, ordinate information and elevation information.
Step 103, according to the abscissa information of each reflection point and ordinate information, determine each reflection point two respectively
The incident point in grating map is tieed up, determines that the grid where each incident point, two-dimensional grid map include multiple subregions, Mei Gefen
Area includes multiple grids.
Step 104, the corresponding maximum height information of the first grid and minimum constructive height information are obtained and obtains the second grid
Corresponding minimum constructive height information, the corresponding maximum height information of the first grid and minimum constructive height information are in the first grid respectively
Maximum value and minimum value in the height of the corresponding reflection point in each incident point, the corresponding minimum constructive height information of the second grid is
Minimum value in the height of the corresponding reflection point in each incident point in two grids, the first grid are any in two-dimensional grid map
A grid, the second grid and the first grid are in same subregion.
Step 105, corresponding according to the corresponding maximum height information of the first grid and minimum constructive height information and the second grid
Minimum constructive height information determine whether the first grid includes barrier；
Step 106, if include barrier, according to the position of the position of the first grid and vehicle determine barrier relative to
The position of vehicle.
In conclusion the method for the determination Obstacle Position provided in the embodiment of the present disclosure, by emitting to vehicle periphery
First radar laser, according to the three-dimensional coordinate information for being determined reflection point by the second radar laser of reflection point reflection received,
Further determine that the corresponding grid of each reflection point；According to the first grid (any grid in two-dimensional grid map) corresponding reflection point
In maximum elevation information, the first grid correspond to the smallest elevation information in reflection point and the corresponding reflection of the second grid
The smallest elevation information in point can estimate out the first grid and correspond on road surface and the distance on top highest point to road surface, and
Further determine that whether first grid includes barrier, according to the position of the first grid comprising barrier, the position of vehicle
It can determine that position of the obstacles around the vehicle relative to vehicle；Solve driver in the related technology or automatic driving vehicle
The problem of obstacles around the vehicle can not be hidden, has achieved the effect that improve traffic safety.
Fig. 2 is referred to, Fig. 2 is a kind of stream of the method for the determining Obstacle Position shown according to another exemplary embodiment
The method of Cheng Tu, the determination Obstacle Position can be applied to car-mounted terminal, the method for the determination Obstacle Position may include as
Under several steps.
Step 201, emit the first radar laser of multi beam to vehicle periphery using laser radar, receive at least a branch of reflected
The second radar laser.
In general, the mountable any position on the roof of vehicle of laser radar.The present embodiment with laser radar with
Be equidistant on the left of vehicle body, between right side, between front of the car at a distance from be the half of its distance between rear vehicle end to illustrate.
For example, as shown in figure 3, the block diagram that label 31 indicates is the top view of vehicle, position indicated by label 32
For the installation site of laser radar.Laser radar on the left of vehicle body at a distance to be also d at a distance from the right side of d, with vehicle body.Laser thunder
Up to being D with the distance between front of the car, the distance between laser radar and rear vehicle end are 2D.
The first radar laser of multi beam that laser radar is launched forms multiple covering of the fans, and the plane where each covering of the fan is vertical
In road surface.Wherein, the first radar laser in covering of the fan emits simultaneously, the maximum between the first radar laser and horizontal plane of transmitting
The elevation angle and the maximum depression between horizontal plane, can be set by system developer, also be can be customized by users.
For example, Fig. 4 is referred to, laser radar 41 is mounted on roof, and maximum elevation is set to 60 degree, maximum depression
45 degree are set to, then laser radar is in a plane perpendicular to road surface, between 45 degree of 60 degree of the elevation angle and the angle of depression simultaneously
Emit at least a branch of first radar laser.
Such covering of the fan is there may be multiple, and the value range of the angle between each covering of the fan and vehicle forward direction is
[0,360°).The value of angle between all covering of the fans and vehicle forward direction can be uniformly distributed in the value range.
Laser radar can successively emit simultaneously the first radar laser according to sequence clockwise or counterclockwise on each covering of the fan,
The single pass to vehicle-periphery is completed after all covering of the fans emit the first radar laser.Laser radar is to vehicle week
The period that collarette border carries out single pass can be set by system developer, can also be adjusted by user.
Laser radar usually emits at least a branch of first radar laser in a new covering of the fan at predetermined time intervals.Laser
Radar emitted in a covering of the fan in the predetermined time after at least a branch of first radar laser, so that it may quickly receive in the covering of the fan
Multiple second radar laser that multiple first radar laser obtain after being reflected.
Step 202, it is determined according to the second radar laser of every beam at least a branch of second radar laser reflected every
The second radar laser of beam corresponds to the three-dimensional coordinate information of reflection point, and the three-dimensional coordinate information of reflection point includes the horizontal seat of the reflection point
Mark information, ordinate information and elevation information.
Laser radar record emits the launch time of the first radar laser simultaneously in a covering of the fan every time, receives the covering of the fan
Multiple second radar laser that interior multiple first radar laser obtain after being reflected, when recording the reception of each second radar laser
Between and receiving direction.
Wherein, when laser radar receives the second radar laser, after the receiving direction and the vehicle that detect the second radar laser
Move back the level angle between direction, detect the vertical angle between the receiving direction and horizontal plane, using the level angle and
Vertical angle indicates the receiving direction of the second radar laser.Optionally, when the receiving direction of the second radar laser is on a left side for vehicle body
When side, level angle is less than 0；When right side of the receiving direction of the second radar laser in vehicle body, level angle is greater than 0；When
For the receiving direction of two radar laser at the top of laser radar, vertical angle is greater than 0；When the receiving direction of the second radar laser
At the lower section of laser radar, vertical angle is less than 0.
Laser radar is after receiving the second radar laser, when also according to the last transmitting for emitting the first radar laser
Between and second radar laser receiving time, calculate second radar laser correspond between reflection point and laser radar away from
From S.Wherein, the corresponding reflection point of the second radar laser is the point that the first radar laser is emitted as to second radar laser, is led to
It is often a bit a little or on road barrier object table face on vehicle periphery road surface.
Specifically, using calculation formula: S=(receiving time-launch time) × light velocity ÷ 2.
Laser radar is by the corresponding vertical angle of each second radar laser, level angle and corresponding reflection point and therebetween
Distance S be sent to car-mounted terminal, so that car-mounted terminal determines that each second radar laser corresponds to reflection point in three-dimensional system of coordinate
Middle three-dimensional coordinate information.
The present embodiment is located at the origin of three-dimensional system of coordinate, axis of abscissas x, the equal position axis of ordinates y with the position of laser radar
The horizontal plane where laser radar, the negative direction of axis of ordinates x are vehicle forward direction, and axis of abscissas y positive direction is directed toward vehicle body
Right side illustrates.
Car-mounted terminal corresponds to vertical angle, level angle and S according to the second radar laser, calculates the second radar laser pair
Answer the three-dimensional coordinate information of reflection point.For example, Fig. 5 is referred to, the second radar laser that label 51 indicates passes through reflection point
52 reflections return to origin (that is, position where laser radar), then the abscissa information X of reflection point 5252=S*cos β * sin
α, ordinate information Y52=S*cos β * cos α, elevation information Z52=S*sin β.
Step 203, according to the elevation information of reflection point, the three-dimensional coordinate information of the reflection point by height higher than 2.5m is deleted
It removes.
Three-dimensional system of coordinate origin is still located to illustrate with laser radar, laser radar is typically installed at fixed position,
Its height between road surface is also fixed height, and car-mounted terminal can store the difference between 2.5m and the fixed height, will be high
The three-dimensional coordinate information for spending the reflection point that information is higher than the difference is deleted.
Reflection point due to height higher than 2.5m is already higher than the height of most of vehicle, which may be trees
On surface a bit, it is also possible to be a bit on the surface of leaf, it is also possible to for a bit, vehicle can not on the direction board above road
It collides with it, avoids object where the reflection point being determined as barrier.The barrier detected in the present embodiment can be with
The object being located on road surface, such as road surface stone, rubble etc., can also be wall, can also be the curb by road, can also
It is other vehicles etc..
Step 204, according to the abscissa information of each reflection point and ordinate information, determine each reflection point two respectively
The incident point in grating map is tieed up, determines the primary grid where each incident point.
Wherein, two-dimensional grid map is made of multiple primary grids, a change in coordinate axis direction of two-dimensional grid map and three
Dimension coordinate system x-axis direction is identical, another change in coordinate axis direction is identical as three-dimensional system of coordinate y-axis.Therefore, where two-dimensional grid map
Plane is parallel with the plane that three-dimensional system of coordinate x-axis, y-axis form.
Assuming that two grating maps are located at the plane of three-dimensional system of coordinate x-axis, y-axis composition, two-dimensional grid map is in abscissa
Primary grid line number in axis direction is M, and primary grid columns of the two-dimensional grid map on axis of abscissas direction is N, primary
The grid length of grid is G, then the distance of the origin of three-dimensional system of coordinate to two-dimensional grid map y-axis isAnd arrive three-dimensional
The distance of coordinate system x-axis isIt is this then according to the point of the abscissa information of each reflection point and ordinate information composition
Reflection point plane x in three-dimensional system of coordinate0Incident point on y may further determine that out according to the abscissa information and ordinate information
Primary grid of the incident point where in two grating maps.
Specifically, the reflection can be calculated using following formula according to the abscissa information x of reflection point, ordinate information y
The grid coordinate of primary grid where the corresponding incident point of point:
Wherein, i is the grid coordinate of the primary grid on axis of abscissas direction, and j is the primary grid in axis of ordinates
Grid coordinate on direction, [a] are bracket function；When x > 0, sign (x)=1；When x=0, sign (x)=0；When x < 0,
Sign (x)=- 1, G, M, N are preset by system developer or user.
Step 205, the corresponding maximum height information of the first grid and minimum constructive height information are obtained and obtains the second grid
Corresponding minimum constructive height information, according to the corresponding maximum height information of the first grid and minimum constructive height information and the second grid pair
The minimum constructive height information answered determines whether the first grid includes barrier.
In the present embodiment, multiple subregions are established in two-dimensional grid map, each subregion includes multiple primary grids, In
It can be realized by following two mode when establishing subregion.
The first establishes secondary grid in two-dimensional grid map, and the grid length of each secondary grid is nG.Wherein, n
By system developer or the customized positive integer of user, such as system developer 3 can be set by n.
One secondary grid is a subregion, includes n in a secondary grid2A primary grid.
Second, grid primary for each of two-dimensional grid map, by the primary grid and the primary grid week
(the n enclosed2- 1) a primary grid is as a subregion.
In the present embodiment, can will any primary grid is as the first grid in two-dimensional grid map, where the first grid
Other primary grids in subregion are as the second grid.Obtain the corresponding maximum height information of the first grid and minimum constructive height information
And the corresponding minimum constructive height information of the second grid is obtained, believed according to the corresponding maximum height information of the first grid and minimum constructive height
Breath and the corresponding minimum constructive height information of the second grid determine whether the first grid includes barrier.Specifically, can be by following
Two ways is realized:
The first, obtains the elevation information that incident point in each primary grid corresponds to reflection point, by each primary grid pair
Maximum height information of the maximum value as each primary grid in elevation information is answered, each primary grid respective heights are believed
Minimum constructive height information of the minimum value as each primary grid in breath；According to the corresponding maximum height information of the first grid and
Minimum constructive height information and the corresponding minimum constructive height information of the second grid determine whether the first grid includes barrier.
It second, obtains incident point in the first grid and corresponds to the maximum value in the elevation information of reflection point, obtain the first grid
The corresponding maximum height information of lattice；It obtains incident point in each second grid and corresponds to minimum value in the elevation information of reflection point,
Obtain the corresponding minimum constructive height information of each second grid；According to the corresponding maximum height information of the first grid and minimum constructive height
Information and the corresponding minimum constructive height information of the second grid determine whether the first grid includes barrier.
According to the corresponding maximum height information of the first grid and minimum constructive height information and the corresponding minimum of the second grid
When elevation information determines whether the first grid includes barrier, it can be realized by several steps as described in Figure 6.
Step 2051, from the corresponding minimum constructive height information of the first grid and the corresponding minimum constructive height information of the second grid
It determines minimum value, calculates the difference between the corresponding maximum height information of the first grid and the minimum value.
Step 2052, when the difference is higher than the first preset height, determine that the first grid includes barrier.
Wherein, the first preset height is set by system developer.
Optionally, when system developer sets the first preset height, the value of the first preset height can be slightly below curb
Height.
It should be noted that from the corresponding minimum constructive height information of the first grid and the corresponding minimum constructive height letter of the second grid
Minimum value, usually elevation information of the road surface in three-dimensional system of coordinate are determined in breath.The corresponding maximum height letter of first grid
Breath may correspond to the elevation information on road surface for the first grid, it is also possible to be the height letter that the first grid corresponds to barrier on road surface
Breath.Therefore, the difference between the corresponding maximum height information of the first grid and the minimum value may be considered the height of barrier,
When the difference be higher than the first preset height when, can determine that the first grid memory in barrier, and the barrier may be curb,
It could also be possible that barrier more higher than curb.
For example, the fixed height between laser radar and road surface is 1.5m, and the height of general curb is no more than 0.3m,
Height is more than that the object of 0.3m is regarded as barrier.From the corresponding minimum constructive height information of the first grid and the second grid pair
It determines that minimum value is -1.5m in the minimum constructive height information answered, it is minimum in reflection point to show that subregion where the first grid corresponds to
Elevation information of the point in three-dimensional system of coordinate is -1.5m；The corresponding maximum height information of first grid is -0.4m, shows first
The elevation information that grid corresponds to the highest point in reflection point is -0.4m, then the difference in height between the highest point and the minimum point is
1.1m, that is to say, that first grid corresponds to the height between highest point and road surface on road surface and is greater than or equal to 1.1m, long-range
In the height 0.3m of curb, then show the first grid memory in barrier.
In order to distinguish curb and other barriers, the realization of this step can be with are as follows: is higher than the first default height in the difference
When spending and being lower than the second preset height, determine that the first grid includes curb；When difference is higher than the second preset height, first is determined
Grid includes barrier, and the barrier is not curb.Wherein, when system developer sets the second preset height, second is pre-
If the value of height can be slightly higher than the height of curb.
Step 2053, when the difference is lower than the first preset height, determine that the first grid does not include barrier, or, determining
First grid is road surface.
In the case where establishing secondary grid in the two-dimensional grid map of the present embodiment, the abscissa with secondary grid is
Ii, ordinate are jj come when indicating, the first preset height is T1, and the second preset height is T2, and templow is from the first grid pair
Minimum value, zmax are determined in the corresponding minimum constructive height information of minimum constructive height information and the second grid answeredi,jIt is the first grid
Corresponding maximum height information, difference of grid [i, the j] .diffheight between the maximum height information and the minimum value,
Then the realization code of step 204 and step 205 can be with are as follows:
Step 206, if include barrier, according to the position of the position of the first grid and vehicle determine barrier relative to
The position of vehicle.
Specifically, this step can be realized by several steps as shown in Figure 7.
Step 2061, world coordinates of the barrier in the global coordinate system of vehicle is calculated.
For each primary grid including barrier, the primary grid is calculated in office's coordinate of vehicle using following formula
World coordinates in system:
Wherein, X is abscissa information of the barrier in global coordinate system, and Y is that barrier indulges seat in global coordinate system
Information is marked, longitudinal coordinate axle negative direction is vehicle forward direction in global coordinate system, and the origin of global coordinate system is laser radar
Incident point on road surface.
Optionally, determine include the primary grid of barrier world coordinates after, produce one include world coordinates
These world coordinates are marked or are highlighted wherein by the barrier schematic diagram of system, which is shown
On the display screen of car-mounted terminal.Optionally, the top view of vehicle is shown in the barrier schematic diagram.
Step 2062, according to the length of wagon of world coordinates, the origin position in the car of global coordinate system, vehicle with
And width, determine position of the barrier relative to vehicle.
For example, if calculated world coordinates is (0.8,0.8), the length of automobile body is 1.2m, and width is
0.6m, then the distance between rear vehicle end and laser radar are 0.8m, and distance is 0.3m between laser radar and vehicle body right side, then
Show there is a barrier at rear vehicle end, right side 0.5m.
Optionally, after determining barrier relative to the position of vehicle, the position of voice broadcast barrier is utilized.It is optional
, only broadcast the position of the smallest barrier of distance between vehicle.
Optionally, if the car-mounted terminal can control the vehicle driving, can position according to barrier relative to vehicle, control
Vehicle hides these barriers.
In conclusion the method for the determination Obstacle Position provided in the embodiment of the present disclosure, by emitting to vehicle periphery
First radar laser, according to the three-dimensional coordinate information for being determined reflection point by the second radar laser of reflection point reflection received,
Further determine that the corresponding grid of each reflection point；According to the first grid (any grid in two-dimensional grid map) corresponding reflection point
In maximum elevation information, the first grid correspond to the smallest elevation information in reflection point and the corresponding reflection of the second grid
The smallest elevation information in point can estimate out the first grid and correspond on road surface and the distance on top highest point to road surface, and
Further determine that whether first grid includes barrier, according to the position of the first grid comprising barrier, the position of vehicle
It can determine that position of the obstacles around the vehicle relative to vehicle；Solve driver in the related technology or automatic driving vehicle
The problem of obstacles around the vehicle can not be hidden, has achieved the effect that improve traffic safety.
Following is embodiment of the present disclosure, can be used for executing embodiments of the present disclosure.It is real for disclosure device
Undisclosed details in example is applied, embodiments of the present disclosure is please referred to.
Fig. 8 is a kind of block diagram of the device of determining Obstacle Position shown according to an exemplary embodiment, such as Fig. 8 institute
Show, the device of the determination Obstacle Position may include: laser radar module 801, the determining mould of the first determining module 802, second
Block 803 obtains module 804, third determining module 805 and the 4th determining module 806.
Laser radar module 801 receives at least a branch of reflected for emitting the first radar laser of multi beam to vehicle periphery
The second radar laser；
First determining module 802, at least a branch of the second thunder reflected for being received according to laser radar module 801
Determine that every the second radar laser of beam corresponds to the three-dimensional coordinate information of reflection point, reflection point up to the second radar laser of every beam in laser
Three-dimensional coordinate information include reflection point abscissa information, ordinate information and elevation information；
Second determining module 803, the abscissa information of each reflection point for being determined according to the first determining module 802
With ordinate information, the incident point of each reflection point in two-dimensional grid map is determined respectively, determines each incident point place
Grid, which includes multiple subregions, and each subregion includes multiple grids；
Module 804 is obtained, for obtaining the corresponding maximum height information of the first grid and minimum constructive height information and acquisition
The corresponding minimum constructive height information of second grid, the corresponding maximum height information of the first grid and minimum constructive height information are first respectively
Maximum value and minimum value in the elevation information of the corresponding reflection point in each incident point in grid, the corresponding minimum of the second grid
Elevation information is the minimum value in the elevation information of the corresponding reflection point in each incident point in the second grid, and the first grid is two
Any of grating map grid is tieed up, the second grid and the first grid are in same subregion；
Third determining module 805, the corresponding maximum height information of the first grid for being got according to module 804 is obtained
Minimum constructive height information corresponding with the second grid that minimum constructive height information and acquisition module 804 are got determines that the first grid is
No includes barrier；
4th determining module 806, if determining that first grid includes barrier, root for the third module
Position of the barrier relative to vehicle is determined according to the position of the first grid and the position of vehicle.
Optionally, third determining module 805, comprising: the first determination unit, the first computing unit, the first judging unit and
Second judging unit.
First determination unit, for corresponding minimum high from the corresponding minimum constructive height information of the first grid and two grid
Minimum value is determined in degree information；
First computing unit, for calculating the corresponding maximum height information of the first grid and the first determination unit determines
Difference between minimum value；
First judging unit, for determining the when the calculated difference of the first computing unit is higher than the first preset height
One grid includes barrier；
Second judging unit, for determining the when the calculated difference of the first computing unit is lower than the first preset height
One grid does not include barrier.
Optionally, the second determining module 803, is also used to:
According to the abscissa information and ordinate information of a reflection point, it is corresponding that the reflection point is calculated using following calculation formula
Incident point where grid grid coordinate:
Wherein, y is the ordinate information of reflection point, and x is the abscissa information of reflection point, and G is grid length, and M is two dimension
Grid line number of the grating map on axis of abscissas direction, N are grid columns of the two-dimensional grid map on axis of abscissas direction,
I is grid coordinate of the grid on axis of abscissas direction, and j is grid coordinate of the grid on axis of ordinates direction, and [a] is
Bracket function；When x > 0, sign (x)=1；When x=0, sign (x)=0；When x < 0, sign (x)=- 1.
Optionally, the 4th determining module 806, comprising: the second computing unit and the second determination unit.
Second computing unit hinders object in the world coordinates of vehicle for calculating the first grid cataract or glaucoma using following calculation formula
World coordinates in system:
Wherein, X is that the first grid cataract or glaucoma hinders abscissa information of the object in global coordinate system, and Y is that the first grid cataract or glaucoma hinders
Ordinate information of the object in global coordinate system, the negative direction of longitudinal coordinate axle is vehicle forward direction in global coordinate system, entirely
The origin of office's coordinate system is located in vehicle；
Second determination unit, for being existed according to the origin of the calculated world coordinates of the second computing unit, global coordinate system
The length of wagon and width of position, vehicle in vehicle determine the position that the first grid cataract or glaucoma hinders object relative to vehicle.
Optionally, the device of the determination Obstacle Position further include: removing module.
Removing module, for the elevation information according to reflection point, the three-dimensional coordinate of the reflection point by height higher than 2.5m is believed
Breath is deleted.
In conclusion the device of the determination Obstacle Position provided in the embodiment of the present disclosure, by emitting to vehicle periphery
First radar laser, according to the three-dimensional coordinate information for being determined reflection point by the second radar laser of reflection point reflection received,
Further determine that the corresponding grid of each reflection point；According to the first grid (any grid in two-dimensional grid map) corresponding reflection point
In maximum elevation information, the first grid correspond to the smallest elevation information in reflection point and the corresponding reflection of the second grid
The smallest elevation information in point can estimate out the first grid and correspond on road surface and the distance on top highest point to road surface, and
Further determine that whether first grid includes barrier, according to the position of the first grid comprising barrier, the position of vehicle
It can determine that position of the obstacles around the vehicle relative to vehicle；Solve driver in the related technology or automatic driving vehicle
The problem of obstacles around the vehicle can not be hidden, has achieved the effect that improve traffic safety.
It should be understood that the device of the determination Obstacle Position provided in above-described embodiment is determining Obstacle Position
When, only the example of the division of the above functional modules, in practical application, it can according to need and divide above-mentioned function
With being completed by different functional modules, i.e., the internal structure of car-mounted terminal is divided into different functional modules, more than completing
The all or part of function of description.In addition, the device of determining Obstacle Position provided by the above embodiment and determining barrier
The embodiment of the method for position belongs to same design, and specific implementation process is detailed in embodiment of the method, and which is not described herein again.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
Those of ordinary skill in the art will appreciate that realizing that all or part of the steps of above-described embodiment can pass through hardware
It completes, relevant hardware can also be instructed to complete by program, the program can store in a kind of computer-readable
In storage medium, storage medium mentioned above can be read-only memory, disk or CD etc..
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of method of determining Obstacle Position, which is characterized in that the described method includes:
Emit the first radar laser of multi beam to vehicle periphery, receives at least a branch of the second radar laser reflected；
Every beam second is determined according to the second radar laser of every beam at least a branch of second radar laser reflected
Radar laser corresponds to the three-dimensional coordinate information of reflection point, and the three-dimensional coordinate information of reflection point includes the abscissa letter of the reflection point
Breath, ordinate information and elevation information；
According to the abscissa information and ordinate information of each reflection point, each reflection point is determined respectively in two-dimensional grid
Incident point in figure determines that the grid where each incident point, the two-dimensional grid map include multiple subregions, each subregion packet
Include multiple grids；
It obtains the corresponding maximum height information of the first grid and minimum constructive height information and obtains the corresponding minimum height of the second grid
Spend information, the corresponding maximum height information of first grid and minimum constructive height information are each of in first grid respectively
Maximum value and minimum value in the elevation information of the corresponding reflection point in incident point, the corresponding minimum constructive height information of second grid
It is the minimum value in the elevation information of the corresponding reflection point in each incident point in second grid, first grid is institute
Any of two-dimensional grid map grid is stated, second grid and first grid are in same subregion；
It is corresponding most according to the corresponding maximum height information of first grid and minimum constructive height information and second grid
Low height information determines whether first grid includes barrier；
If determining that the barrier is opposite according to the position of the position of first grid and the vehicle including barrier
In the position of the vehicle,
The abscissa information and ordinate information according to each reflection point, determines each reflection point described two respectively
The incident point in grating map is tieed up, determines the grid where each incident point, comprising:
According to the abscissa information and ordinate information of a reflection point, it is corresponding that the reflection point is calculated using following calculation formula
The grid coordinate of grid where incident point:
Wherein, y is the ordinate information, and x is the abscissa information, and G is grid length, and M is the two-dimensional grid map
Grid line number on axis of abscissas direction, N are grid columns of the two-dimensional grid map on axis of ordinates direction, and i is
Grid coordinate of the grid on axis of abscissas direction, j are grid coordinate of the grid on axis of ordinates direction, [a]
For bracket function；When x > 0, sign (x)=1；When x=0, sign (x)=0；When x < 0, sign (x)=- 1.
2. the method according to claim 1, wherein described believe according to the corresponding maximum height of first grid
It ceases minimum constructive height information corresponding with minimum constructive height information and second grid and determines whether first grid includes barrier
Hinder object, comprising:
It is determined from the corresponding minimum constructive height information of first grid and the corresponding minimum constructive height information of second grid
Minimum value out；
Calculate the difference between the corresponding maximum height information of first grid and the minimum value；
When the difference is higher than the first preset height, determine that first grid includes barrier；
When the difference is lower than first preset height, determine that first grid does not include barrier.
3. the method according to claim 1, wherein the position according to first grid and the vehicle
Position determine position of the barrier relative to the vehicle, comprising:
World coordinates of the barrier in the global coordinate system of the vehicle is calculated using following calculation formula:
Wherein, X is the abscissa information of the barrier, and Y is the ordinate information of the barrier, in the global coordinate system
The negative direction of axis of ordinates is vehicle forward direction, and the origin of the global coordinate system is located in the vehicle；
According to the world coordinates, position of the origin in the vehicle of the global coordinate system, the vehicle vehicle body length
Degree and width, determine position of the barrier relative to the vehicle.
4. method according to any one of claims 1 to 3, which is characterized in that in the horizontal seat according to each reflection point
Mark information and ordinate information, determine respectively each reflection point before the incident point in two-dimensional grid map, the side
Method further include:
According to the elevation information of reflection point, the three-dimensional coordinate information of the reflection point by height higher than 2.5m is deleted.
5. a kind of device of determining Obstacle Position, which is characterized in that described device includes:
Laser radar module receives at least a branch of second reflected for emitting the first radar laser of multi beam to vehicle periphery
Radar laser；
First determining module, at least a branch of the second radar laser reflected for being received according to the laser radar module
In the second radar laser of every beam determine that second radar laser of every beam corresponds to the three-dimensional coordinate information of reflection point, reflection point
Three-dimensional coordinate information includes the abscissa information, ordinate information and elevation information of the reflection point；
Second determining module, the abscissa information of each reflection point for being determined according to first determining module and vertical seat
Information is marked, incident point of each reflection point in two-dimensional grid map is determined respectively, determines the grid where each incident point
Lattice, the two-dimensional grid map include multiple subregions, and each subregion includes multiple grids；
Module is obtained, for obtaining the corresponding maximum height information of the first grid and minimum constructive height information and obtaining the second grid
Corresponding minimum constructive height information, the corresponding maximum height information of first grid and minimum constructive height information are described first respectively
Maximum value and minimum value in the elevation information of the corresponding reflection point in each incident point in grid, second grid are corresponding
Minimum constructive height information is the minimum value in the elevation information of the corresponding reflection point in each incident point in second grid, described
First grid is any of two-dimensional grid map grid, and second grid and first grid are in same subregion
It is interior；
Third determining module, for getting the corresponding maximum height information of the first grid and minimum height according to the acquisition module
Degree information and the acquisition module get the corresponding minimum constructive height information of the second grid and determine whether first grid wraps
Include barrier；
4th determining module, if for including barrier, according to the position of the position of first grid and the vehicle
Determine position of the barrier relative to the vehicle,
Second determining module, is also used to:
According to the abscissa information and ordinate information of a reflection point, it is corresponding that the reflection point is calculated using following calculation formula
The grid coordinate of grid where incident point:
Wherein, y is the ordinate information, and x is the abscissa information, and G is grid length, and M is the two-dimensional grid map
Grid line number on axis of abscissas direction, N are grid columns of the two-dimensional grid map on axis of ordinates direction, and i is
Grid coordinate of the grid on axis of abscissas direction, j are grid coordinate of the grid on axis of ordinates direction, [a]
For bracket function；When x > 0, sign (x)=1；When x=0, sign (x)=0；When x < 0, sign (x)=- 1.
6. device according to claim 5, which is characterized in that the third determining module, comprising:
First determination unit, for corresponding most from the corresponding minimum constructive height information of first grid and second grid
Minimum value is determined in low height information；
First computing unit is determined for calculating the corresponding maximum height information of first grid and first determination unit
The difference between minimum value out；
First judging unit, for determining institute when the calculated difference of the first computing unit is higher than the first preset height
Stating the first grid includes barrier；
Second judging unit, for sentencing when the calculated difference of the first computing unit is lower than first preset height
Fixed first grid does not include barrier.
7. device according to claim 5, which is characterized in that the 4th determining module, comprising:
Second computing unit, for calculating the barrier in the global coordinate system of the vehicle using following calculation formula
World coordinates:
Wherein, X is the abscissa information of the barrier, and Y is the ordinate information of the barrier, in the global coordinate system
The negative direction of axis of ordinates is vehicle forward direction, and the origin of the global coordinate system is located in the vehicle；
Second determination unit, for the original according to the calculated world coordinates of second computing unit, the global coordinate system
Position of the point in the vehicle, the vehicle length of wagon and width, determine the barrier relative to the vehicle
Position.
8. according to the device any in claim 5 to 7, which is characterized in that described device further include:
Removing module, the three-dimensional coordinate information for the elevation information according to reflection point, the reflection point by height higher than 2.5m are deleted
It removes.
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| CN108253968B (en) * | 2017-12-08 | 2024-02-06 | 国网浙江省电力公司温州供电公司 | Barrier winding method based on three-dimensional laser |
| CN108303089A (en) * | 2017-12-08 | 2018-07-20 | 浙江国自机器人技术有限公司 | Based on three-dimensional laser around barrier method |
| CN109085608A (en) * | 2018-09-12 | 2018-12-25 | 奇瑞汽车股份有限公司 | Obstacles around the vehicle detection method and device |
| CN111095024A (en) * | 2018-09-18 | 2020-05-01 | 深圳市大疆创新科技有限公司 | Height determination method, height determination device, electronic equipment and computer-readable storage medium |
| CN109114746A (en) * | 2018-09-30 | 2019-01-01 | 珠海格力电器股份有限公司 | Object detection system, method, air-conditioning system and computer readable storage medium |
| CN109583384A (en) * | 2018-11-30 | 2019-04-05 | 百度在线网络技术（北京）有限公司 | Barrier-avoiding method and device for automatic driving car |
| CN110426714B (en) * | 2019-07-15 | 2021-05-07 | 北京智行者科技有限公司 | Obstacle identification method |
| CN112785909B (en) * | 2019-11-06 | 2022-12-02 | 北京地平线机器人技术研发有限公司 | Determination method and device for occupying grid map |
| WO2021217352A1 (en) * | 2020-04-27 | 2021-11-04 | 深圳市大疆创新科技有限公司 | Control method and device for movable platform, and movable platform |
| CN111913183A (en) * | 2020-07-27 | 2020-11-10 | 中国第一汽车股份有限公司 | Vehicle lateral obstacle avoidance method, device and equipment and vehicle |
| CN112014830B (en) * | 2020-09-17 | 2024-03-29 | 苏州三六零机器人科技有限公司 | Reflection filtering method of radar laser, sweeping robot, equipment and storage medium |
| CN116994457B (en) * | 2023-09-26 | 2023-12-29 | 深圳海星智驾科技有限公司 | Detection method and device for vehicle collision prevention, computer equipment and storage medium |
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