CN107238838A - A kind of road barricade object detecting method and mobile unit - Google Patents
A kind of road barricade object detecting method and mobile unit Download PDFInfo
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- CN107238838A CN107238838A CN201710622902.2A CN201710622902A CN107238838A CN 107238838 A CN107238838 A CN 107238838A CN 201710622902 A CN201710622902 A CN 201710622902A CN 107238838 A CN107238838 A CN 107238838A
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- 230000004888 barrier function Effects 0.000 claims abstract description 107
- 238000010586 diagram Methods 0.000 description 2
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Classifications
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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
- G01S13/88—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
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geophysics (AREA)
- Traffic Control Systems (AREA)
Abstract
The embodiment of the present invention provides a kind of road barricade object detecting method and mobile unit, and this method includes：Mobile unit recognizes the shape information of stationary object on road when motor vehicles are travelled on road, and stationary object and motor vehicles relative position, mobile unit is located on motor vehicles；Mobile unit judges whether stationary object is barrier；When stationary object is barrier, mobile unit obtains the positional information of motor vehicles, and according to positional information and the physical location of relative position calculating stationary object；Mobile unit determines the corresponding server of stationary object according to shape information, and physical location is sent into server.By method provided in an embodiment of the present invention and mobile unit, the discovery cost of barrier on road can be reduced, improves and finds efficiency.
Description
Technical field
The present embodiments relate to technical field of transportation, more particularly to a kind of road barricade object detecting method and vehicle-mounted set
It is standby.
Background technology
With China's rapid development of economy, the process of urbanization is more and more faster.In the process of urbanization, to meet city
City's growth requirement, urban road network's scale is increasing, complexity more and more higher.On this basis, to meet the trip of people
Demand, the vehicles such as increasing electric bicycle, battery-operated motor cycle, automobile are appeared on urban road, urban road
Blockage problem becomes increasingly severe.
On the reason for causing road congestion, except because on road the vehicles that travel excessively in addition to, go out when on road
The barrier of existing, influence vehicles normally travel also turns into the major reason for causing road congestion.For example, big due to scraping
Wind, the extreme weather such as rain heavily cause the barriers such as branch, dustbin to appear in road centre, influence the positive normal open of automobile
OK；In another example, shared bicycle is parked in the positions such as car lane, parking stall causes motor vehicles because people disorderly stop to leave about not
Energy normally travel can not be parked in time, and then cause road congestion.
At present, for the road congestion problem as caused by barrier, traffic police and related operator are (such as the fortune of shared bicycle
Company of battalion) barrier of choke the road, Ran Houjin can only be found masses' alarm or by way of arranging related personnel's patrol
Row cleaning.Because the mode such as masses' alarm or related personnel's patrol needs certain man power and material, and tend not to hair in time
The barrier now blocked the road, so the discovery cost of barrier is higher on road, it is less efficient.
The content of the invention
The embodiment of the present invention provides a kind of road barricade object detecting method and mobile unit, to reduce barrier on road
It was found that cost, improves and finds efficiency.
The embodiment of the present invention provides a kind of road barricade object detecting method, including：
Mobile unit recognizes the shape information of stationary object on the road when motor vehicles are travelled on road, and
The relative position of the stationary object and the motor vehicles, the mobile unit is located on the motor vehicles；
The mobile unit judges whether the stationary object is barrier；
When the stationary object is barrier, the mobile unit obtains the positional information of the motor vehicles, and root
The physical location of the stationary object is calculated according to the positional information and the relative position；
The mobile unit determines the corresponding server of the stationary object according to the shape information, and by the reality
Position is sent to the server.
Road barricade object detecting method provided in an embodiment of the present invention, mobile unit is when motor vehicles are travelled on road
Recognize road on stationary object shape information, and stationary object and motor vehicles relative position；Mobile unit judges quiet
Only whether object is barrier；When stationary object is barrier, the positional information of mobile unit acquisition motor vehicles, and according to
Positional information and relative position calculate the physical location of stationary object；Mobile unit determines stationary object correspondence according to shape information
Server, and physical location is sent to server.Due in the embodiment of the present invention, being recognized by mobile unit quiet on road
The physical location of stationary object is sent to corresponding server when only object is barrier, without additionally arrange manpower during this
Go to find barrier with material resources, so the technical scheme that the embodiment of the present invention is carried can reduce the discovery cost of road barrier.
In addition, the coverage rate based on motor vehicles on road is very high, this finds the barrier for enabling to be located on road in time, carries
High discovery efficiency.
Alternatively, in a kind of embodiment provided in an embodiment of the present invention, the mobile unit judges described quiet
Only whether object is barrier, including：
The mobile unit judges whether the stationary object is candidate barrier according to the shape information；
When the stationary object is candidate barrier, the mobile unit obtains the steering wheel angle of the motor vehicles
Signal, yawrate and speed, according to being calculated the steering wheel angle signal, the yawrate and the speed
The traveling target region of motor vehicles；
The mobile unit judges whether the stationary object is located in the traveling target region；
When the stationary object is located in the traveling target region, the mobile unit determines that the stationary object is
Barrier.
Alternatively, in a kind of embodiment provided in an embodiment of the present invention, the mobile unit judges described quiet
Only whether object is barrier, in addition to：
When the stationary object is located in the traveling target region, the mobile unit judges that the motor vehicles are
No carry out predetermined registration operation；
When the motor vehicles carry out predetermined registration operation, the mobile unit determines that the stationary object is barrier.
Alternatively, in a kind of embodiment provided in an embodiment of the present invention, the shape information includes described quiet
The only image information of object, in addition to：
When the stationary object is barrier, the image information is sent to the server by the mobile unit.
Alternatively, in a kind of embodiment provided in an embodiment of the present invention, in addition to：
The mobile unit obtains the road name information of the road and/or the transmits information of the motor vehicles, when
When the stationary object is barrier, road name information and/or the transmits information are sent to by the mobile unit
The server.
The embodiment of the present invention also provides a kind of mobile unit, including：
Identification module, for recognizing that the form of stationary object on the road is believed when motor vehicles are travelled on road
Breath, and the stationary object and the motor vehicles relative position, the mobile unit is located on the motor vehicles；
Judge module, for judging whether the stationary object is barrier；
Locating module, for when the stationary object is barrier, obtaining the positional information of the motor vehicles, and root
The physical location of the stationary object is calculated according to the positional information and the relative position；
Sending module, for determining the corresponding server of the stationary object according to the shape information, and by the reality
Border position is sent to the server.
Mobile unit provided in an embodiment of the present invention, identification module is recognized on road when motor vehicles are travelled on road
The shape information of stationary object, and stationary object and motor vehicles relative position；Whether judge module judges stationary object
For barrier；Locating module obtains the positional information of motor vehicles when stationary object is barrier, and according to positional information and
Relative position calculates the physical location of stationary object；Sending module determines the corresponding server of stationary object according to shape information,
And physical location is sent to server.Due in the embodiment of the present invention, recognizing that stationary object is on road by mobile unit
The physical location of stationary object is sent to corresponding server during barrier, gone without additionally arrangement man power and material during this
It was found that barrier, so the technical scheme that the embodiment of the present invention is carried can reduce the discovery cost of road barrier.In addition, being based on
Coverage rate of the motor vehicles on road is very high, and this finds the barrier for enabling to be located on road in time, improves and finds effect
Rate.
Alternatively, in a kind of embodiment provided in an embodiment of the present invention, the judge module is specifically for root
Judge whether the stationary object is candidate barrier according to the shape information；When the stationary object is candidate barrier,
Steering wheel angle signal, yawrate and the speed of the motor vehicles are obtained, according to the steering wheel angle signal, described
Yawrate and the speed calculate the traveling target region of the motor vehicles；Judge whether the stationary object is located at institute
State in traveling target region；When the stationary object is located in the traveling target region, it is barrier to determine the stationary object
Hinder thing.
Alternatively, in a kind of embodiment provided in an embodiment of the present invention, the judge module is additionally operable to work as institute
When stating stationary object in the traveling target region, judge whether the motor vehicles carry out predetermined registration operation；When the machine
When motor-car carries out predetermined registration operation, it is barrier to determine the stationary object.
Alternatively, in a kind of embodiment provided in an embodiment of the present invention, the shape information includes described quiet
The only image information of object, the sending module is additionally operable to, when the stationary object is barrier, the image information be sent out
Give the server.
Alternatively, in a kind of embodiment provided in an embodiment of the present invention, the locating module is additionally operable to obtain
The road name information and/or the transmits information of the motor vehicles of the road, the sending module are additionally operable to when described quiet
When only object is barrier, road name information and/or the transmits information are sent to the server.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are this hairs
Some bright embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can be with root
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is a kind of application scenarios schematic diagram provided in an embodiment of the present invention；
Fig. 2 is a kind of flow chart of road barricade object detecting method provided in an embodiment of the present invention；
A kind of flow chart that Fig. 3 is step S220 in road barricade object detecting method provided in an embodiment of the present invention；
Fig. 4 is a kind of structural representation of mobile unit provided in an embodiment of the present invention.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
A part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
The application scenarios of the embodiment of the present invention are illustrated below in conjunction with the accompanying drawings.It is that the embodiment of the present invention is carried referring to Fig. 1
A kind of application scenarios schematic diagram supplied, the application scenarios include mobile unit 11 and server 12.Wherein, mobile unit 11
In on each motor vehicles, mobile unit 11 can be mobile phone, tablet personal computer, notebook computer, car running computer (Electronic
Control Unit, abbreviation ECU) etc. electronic equipment or these electronic equipments combination；Server 12 can be public
The server (such as server of each shared bicycle company) of peace, the server of traffic police's system or related operator.
Explanation is needed exist for, mobile unit 11 can be fixedly connected on each motor vehicles, match somebody with somebody as the fixation of motor vehicles
Put, can also be connected to by various communication interfaces on each motor vehicles, it might even be possible to be only placed on mobile unit 11 respectively
On individual motor vehicles, without having annexation with each motor vehicles.
Under application scenarios shown in Fig. 1, the embodiment of the present invention provides a kind of road barricade object detecting method and mobile unit,
To reduce the discovery cost of barrier on road, improve and find efficiency.
In embodiments of the present invention, mobile unit 11 recognizes stationary object on road when motor vehicles are travelled on road
Shape information, and stationary object and motor vehicles relative position；Mobile unit 11 judges whether stationary object is obstacle
Thing；When stationary object is barrier, mobile unit 11 obtains the positional information of motor vehicles, and according to positional information and relatively
Position calculates the physical location of stationary object；Mobile unit 11 determines the corresponding server 12 of stationary object according to shape information,
And physical location is sent to server 12.Because coverage rate of the present motor vehicles on road is very high, so server 12
After the information that mobile unit 11 is sent on each motor vehicles is received, the reality that stationary object blocks the road can be known in time
Position, improves the discovery efficiency of barrier on road.Further, since the ginseng during barrier is found on road without people
With so cost is relatively low.
For convenience of understanding, the operating process of mobile unit 11 is described in detail below by embodiment illustrated in fig. 2.
It is a kind of flow chart of road barricade object detecting method provided in an embodiment of the present invention referring to Fig. 2, the present invention is implemented
Example is performed by mobile unit 11.Specifically, the embodiment of the present invention may comprise steps of：
In step S210, mobile unit 11 recognizes the shape of stationary object on road when motor vehicles are travelled on road
State information, and stationary object and motor vehicles relative position.
Wherein, mobile unit 11 is located on motor vehicles, and the stationary object on road refers to the object of relative ground static,
Mobile unit 11 can recognize whether there is stationary object on road by lane line, track fence, the trees of road on both sides of the road etc.；Form
Information can include the one or more in the information such as size, shape, the color of stationary object.In inventive embodiments specific implementation
During, mobile unit 11 can be by itself configuration radar, ultrasonic distance sensor, laser, the first-class sensor of shooting
One or more shape informations for obtaining stationary objects, and stationary object and motor vehicles relative position；Mobile unit
11 can also pass through the radar configured on connected, motor vehicles, ultrasonic distance sensor, laser, the first-class sensing of shooting
One or more shape informations for obtaining stationary objects in device, and stationary object and motor vehicles relative position.For example,
When being configured with camera on mobile unit 11, mobile unit 11 can obtain the photo of stationary object on road by camera,
Then the shape informations such as size, shape, the color of stationary object are obtained by picture recognition, are calculated by demarcation and image recognition
The relative position of stationary object and motor vehicles.
In step S220, mobile unit 11 judges whether stationary object is barrier.
Wherein, during the embodiment of the present invention is embodied, step S220 embodiment can have a variety of.Example
Such as, shown in Figure 3, in a kind of embodiment of the embodiment of the present invention, step S220 can include：
In step S2201, mobile unit 11 judges whether stationary object is candidate barrier according to shape information.
Specifically, mobile unit 11 can judge stationary object according to shape informations such as the sizes, shape, color of stationary object
Whether it is candidate barrier.For example, in actual applications, mobile unit 11 know the size of stationary object for 0.5m to 1.5m it
Between, meet the size range of shared bicycle, then stationary object is defined as candidate barrier.In another example, mobile unit 11 is known
Being shaped as stationary object is barrel-shaped, meets the shape of municipal refuse bucket, then stationary object is defined as candidate by mobile unit 11
Barrier.Further for example, mobile unit 11 knows that the size of stationary object is less than 0.1m, the dimensional standard of barrier is not met, then
Mobile unit 11 determines that stationary object is not candidate barrier.Such as stationary object is not candidate barrier, then mobile unit stops
Perform the subsequent step in embodiment illustrated in fig. 3.
When stationary object is candidate barrier, in step S2202, mobile unit 11 obtains the steering wheel of motor vehicles
Angular signal, yawrate and speed, the row of motor vehicles is calculated according to steering wheel angle signal, yawrate and speed
Sail target area.
Specifically, mobile unit 11 can obtain steering wheel angle signal by sensing the sensor of steering wheel angle, pass through
Vehicular motion sensor obtains yawrate, obtains speed etc. by wheel speed sensors, then vehicle arrangement utilization orientation disk
Steering wheel angle, yawrate and speed indicated by angular signal calculate the traveling target region of motor vehicles.
In step S2203, mobile unit 11 judges whether stationary object is located in traveling target region.
When stationary object is located in traveling target region, in step S2204, mobile unit 11 determines that stationary object is
Barrier.
Specifically, mobile unit 11 is calculated in step S2202 behind the traveling target region of motor vehicles, using quiet
Only the relative position of object and motor vehicles judges whether stationary object is located in traveling target region, also can be by the side of scanning
Formula determines whether stationary object is located in traveling target region.When stationary object is located in traveling target region, mobile unit
11 determine that stationary object is barrier.When stationary object is located at outside traveling target region, mobile unit 11 determines stationary object
It is not barrier.
In present embodiment, because mobile unit 11 is only when stationary object is located at the traveling of the motor vehicles calculated
When in target area, it is barrier to determine stationary object, adds the accuracy of barrier judgment.
In addition, in real life, when driver meets barrier, it the operation such as generally can all be turned to, be slowed down.Therefore,
To improve the confidence level of barrier judgment, in a kind of embodiment of the embodiment of the present invention, in embodiment illustrated in fig. 3
On the basis of, step S220 can also include：
When mobile unit 11 judges that stationary object is located in traveling target region in step S2203, mobile unit is sentenced
Whether disconnected motor vehicles carry out predetermined registration operation, and when motor vehicles carry out predetermined registration operation, mobile unit 11 determines that stationary object is
Barrier.Wherein, predetermined registration operation here can be the operation such as steering, deceleration, and mobile unit can pass through the fortune on motor vehicles
Dynamic sensor knows whether motor vehicles carry out predetermined registration operation.
Further, explanation is needed exist for, during the embodiment of the present invention is embodied, step S220 is not limited to
Previous embodiment.Such as, in a kind of embodiment of the present invention, mobile unit 11 can pass through stationary object
Concrete shape judge whether it is barrier.And such as, in another embodiment of the embodiment of the present invention, car
Carrying equipment 11 can determine whether it is barrier by judging whether stationary object is located at parking stall, car lane.Here lead to
Cross specific embodiment to illustrate, for example, mobile unit 11 identifies that stationary object includes the forms such as two wheels, handlebars spy
Levy, mobile unit 11 determines that stationary object is shared bicycle, as barrier；In another example, mobile unit 11 identifies static
Object is located in parking stall, and its form is not automobile, then stationary object is defined as barrier by mobile unit 11.
In step S230, when stationary object is barrier, mobile unit 11 obtains the positional information of motor vehicles, and
The physical location of stationary object is calculated according to positional information and relative position.
Wherein, during the embodiment of the present invention is embodied, mobile unit 11 can obtain motor-driven by location equipment
Vehicle position information, location equipment is located on motor vehicles.Wherein, location equipment can be the positioning mould inside mobile unit 11
Block or the electronic equipment with positioning function being connected outside mobile unit 11 and with mobile unit 11.In addition,
Here the positioning principle of location equipment is not limited.For example, location equipment here can be the positioning using architecture
Equipment or the location equipment using satellite fix, can also be the positioning while being positioned using base station and satellite
Equipment.After the positional information that vehicle arrangement 11 obtains vehicle, according to the relative position obtained in positional information and step S210
Calculate the physical location of stationary object.Special instruction is needed exist for, in actual applications, mobile unit 11 obtains motor vehicle
Positional information can also be located at step S220 before, now, mobile unit 11 can be directly according to position in step S230
Information and relative position calculate the physical location of stationary object.Similarly, the identification stationary object of mobile unit 11 and motor vehicles
Relative position the step of can also be located at step S220 after, as long as do not influence mobile unit 11 utilize relative position and position
Information calculates the physical location of stationary object.
In step S240, mobile unit 11 determines the corresponding server 12 of stationary object according to shape information, and will be real
Border position is sent to server 12.
In this step, mobile unit can determine quiet according to the shape information (such as size, color, shape) of stationary object
The only corresponding server 12 of object, and the physical location of stationary object is sent to the server 12.Server 12 is obtaining quiet
Only after the physical location of object, prompting, distribution clean-up task etc. can be sent in time.For example, mobile unit 11 passes through shape information
When determining stationary object for barriers such as dustbin, branches, it is traffic police's system to determine the corresponding server 12 of stationary object
The physical location of stationary object, is then sent to the server of traffic police's system by server, makes the server of traffic police's system timely
Know the physical location of stationary object, and then assign dustbin, branch that corresponding personnel block the traffic etc..In another example, it is vehicle-mounted to set
When determining that stationary object shares the shared bicycle of bicycle company for A by shape information for 11, determine that stationary object is corresponding
Server 12 is the server that A shares bicycle company, and the physical location of stationary object then is sent into the service that A shares bicycle
Device, the server for making A share bicycle knows the physical location of shared bicycle in time, and then assigns corresponding personnel's processing to block the traffic
Shared bicycle.
Road barricade object detecting method provided in an embodiment of the present invention, mobile unit is when motor vehicles are travelled on road
Recognize road on stationary object shape information, and stationary object and motor vehicles relative position；Mobile unit judges quiet
Only whether object is barrier；When stationary object is barrier, the positional information of mobile unit acquisition motor vehicles, and according to
Positional information and relative position calculate the physical location of stationary object；Mobile unit determines stationary object correspondence according to shape information
Server, and physical location is sent to server.Due in the embodiment of the present invention, being recognized by mobile unit quiet on road
The physical location of stationary object is sent to corresponding server when only object is barrier, without additionally arrange manpower during this
Go to find barrier with material resources, so the technical scheme that the embodiment of the present invention is carried can reduce the discovery cost of road barrier.
In addition, the coverage rate based on motor vehicles on road is very high, this finds the barrier for enabling to be located on road in time, carries
High discovery efficiency.
Alternatively, the shape information of stationary object is also in a kind of embodiment of the embodiment of the present invention, on road
The image information of stationary object can be included, image information here can be video, picture etc..Now, embodiment illustrated in fig. 2
Road barricade object detecting method can also include：When stationary object is barrier, mobile unit 11 is by the shadow of stationary object
As information is sent to server 12.In the embodiment, image information is sent to server 12 by mobile unit 11, service
Device 12 can reaffirm whether stationary object belongs to our unit's processing according to image information.
Alternatively, in another embodiment of the embodiment of the present invention, mobile unit 11 can also obtain road
Road name information and/or motor vehicles transmits information.Now, when stationary object is barrier, mobile unit 11 can
Road name information and/or transmits information are sent to server 12.Wherein, mobile unit 11 can pass through automobile navigation, shooting
First-class mode obtains road name information and transmits information.In the embodiment, mobile unit 11 by road name information and/or
Transmits information is sent to server 12, is easy to server 12 to combine in step S230 and calculates obtained stationary object actual bit
Put and more rapidly calculate traffic route of corresponding personnel etc. exactly, to handle barrier in time.
Relative to above method embodiment, the device that the embodiment of the present invention additionally provides corresponding mobile unit is implemented
Example.
It is a kind of structural representation of mobile unit provided in an embodiment of the present invention referring to Fig. 4.The mobile unit is used to hold
The foregoing road barricade object detecting method of row.The mobile unit can include identification module 410, judge module 420, locating module
430 and sending module 440.
Wherein, the identification module 410 is used to recognize resting on the road when motor vehicles are travelled on road
The shape information of body, and the stationary object and the motor vehicles relative position, the mobile unit is located at the machine
On motor-car；
The judge module 420 is used to judge whether the stationary object is barrier；
The locating module 430 is used for the position letter that the motor vehicles are obtained when the stationary object is barrier
Breath, and according to the positional information and the physical location of the relative position calculating stationary object；
The sending module 440 is used to determine the corresponding server of the stationary object according to the shape information, and will
The physical location is sent to the server.
Mobile unit provided in an embodiment of the present invention, identification module is recognized on road when motor vehicles are travelled on road
The shape information of stationary object, and stationary object and motor vehicles relative position；Whether judge module judges stationary object
For barrier；Locating module obtains the positional information of motor vehicles when stationary object is barrier, and according to positional information and
Relative position calculates the physical location of stationary object；Sending module determines the corresponding server of stationary object according to shape information,
And physical location is sent to server.Due in the embodiment of the present invention, recognizing that stationary object is on road by mobile unit
The physical location of stationary object is sent to corresponding server during barrier, gone without additionally arrangement man power and material during this
It was found that barrier, so the technical scheme that the embodiment of the present invention is carried can reduce the discovery cost of road barrier.In addition, being based on
Coverage rate of the motor vehicles on road is very high, and this finds the barrier for enabling to be located on road in time, improves and finds effect
Rate.
Alternatively, in a kind of embodiment provided in an embodiment of the present invention, the judge module 420 specifically for
Judge whether the stationary object is candidate barrier according to the shape information；When the stationary object is candidate barrier
When, obtain steering wheel angle signal, yawrate and the speed of the motor vehicles, according to the steering wheel angle signal,
The yawrate and the speed calculate the traveling target region of the motor vehicles；Judge the stationary object whether position
In in the traveling target region；When the stationary object is located in the traveling target region, the stationary object is determined
For barrier.
Alternatively, in a kind of embodiment provided in an embodiment of the present invention, the judge module 420 is additionally operable to work as
When the stationary object is located in the traveling target region, judge whether the motor vehicles carry out predetermined registration operation；When described
When motor vehicles carry out predetermined registration operation, it is barrier to determine the stationary object.
Alternatively, in a kind of embodiment provided in an embodiment of the present invention, the shape information includes described quiet
The only image information of object, the sending module 440 is additionally operable to when the stationary object is barrier, by the image information
It is sent to the server.
Alternatively, in a kind of embodiment provided in an embodiment of the present invention, the locating module 430 is additionally operable to obtain
The road name information of the road and/or the transmits information of the motor vehicles are taken, the sending module 440 is additionally operable to work as institute
When stating stationary object for barrier, road name information and/or the transmits information are sent to the server.
Device embodiment described above is only schematical, wherein the unit illustrated as separating component can
To be or may not be physically separate, the part shown as unit can be or may not be physics list
Member, you can with positioned at a place, or can also be distributed on multiple NEs.It can be selected according to the actual needs
In some or all of module realize the purpose of this embodiment scheme.Those of ordinary skill in the art are not paying creativeness
Work in the case of, you can to understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
Realized by the mode of software plus required general hardware platform, naturally it is also possible to pass through hardware.Understood based on such, on
The part that technical scheme substantially in other words contributes to prior art is stated to embody in the form of software product, should
Computer software product can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disc, CD, including some fingers
Order is to cause a computer equipment (can be personal computer, server, or network equipment etc.) to perform each implementation
Method described in some parts of example or embodiment.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：It still may be used
To be modified to the technical scheme described in foregoing embodiments, or equivalent substitution is carried out to which part technical characteristic；
And these modification or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical scheme spirit and
Scope.
Claims (10)
1. a kind of road barricade object detecting method, it is characterised in that including：
Mobile unit recognizes the shape information of stationary object on the road when motor vehicles are travelled on road, and described
The relative position of stationary object and the motor vehicles, the mobile unit is located on the motor vehicles；
The mobile unit judges whether the stationary object is barrier；
When the stationary object is barrier, the mobile unit obtains the positional information of the motor vehicles, and according to institute
State positional information and the relative position calculates the physical location of the stationary object；
The mobile unit determines the corresponding server of the stationary object according to the shape information, and by the physical location
It is sent to the server.
2. according to the method described in claim 1, it is characterised in that the mobile unit judges whether the stationary object is barrier
Hinder thing, including：
The mobile unit judges whether the stationary object is candidate barrier according to the shape information；
When the stationary object is candidate barrier, the mobile unit obtains the steering wheel angle letter of the motor vehicles
Number, yawrate and speed, the machine is calculated according to the steering wheel angle signal, the yawrate and the speed
The traveling target region of motor-car；
The mobile unit judges whether the stationary object is located in the traveling target region；
When the stationary object is located in the traveling target region, the mobile unit determines that the stationary object is obstacle
Thing.
3. method according to claim 2, it is characterised in that the mobile unit judges whether the stationary object is barrier
Hinder thing, in addition to：
When the stationary object is located in the traveling target region, the mobile unit judges whether the motor vehicles enter
Row predetermined registration operation；
When the motor vehicles carry out predetermined registration operation, the mobile unit determines that the stationary object is barrier.
4. according to the method described in claim 1, it is characterised in that the image that the shape information includes the stationary object is believed
Breath, in addition to：
When the stationary object is barrier, the image information is sent to the server by the mobile unit.
5. the method according to claim any one of 1-4, it is characterised in that also include：
The mobile unit obtains the road name information of the road and/or the transmits information of the motor vehicles, when described
When stationary object is barrier, road name information and/or the transmits information are sent to described by the mobile unit
Server.
6. a kind of mobile unit, it is characterised in that including：
Identification module, the shape information for recognizing stationary object on the road when motor vehicles are travelled on road, with
And the relative position of the stationary object and the motor vehicles, the mobile unit is on the motor vehicles；
Judge module, for judging whether the stationary object is barrier；
Locating module, for when the stationary object is barrier, obtaining the positional information of the motor vehicles, and according to institute
State positional information and the relative position calculates the physical location of the stationary object；
Sending module, for determining the corresponding server of the stationary object according to the shape information, and by the actual bit
Put and be sent to the server.
7. mobile unit according to claim 6, it is characterised in that the judge module is specifically for according to the form
Information judges whether the stationary object is candidate barrier；When the stationary object is candidate barrier, the machine is obtained
Steering wheel angle signal, yawrate and the speed of motor-car, according to the steering wheel angle signal, the yawrate
The traveling target region of the motor vehicles is calculated with the speed；Judge whether the stationary object is located at the traveling target
In region；When the stationary object is located in the traveling target region, it is barrier to determine the stationary object.
8. mobile unit according to claim 7, it is characterised in that the judge module is additionally operable to work as the stationary object
When in the traveling target region, judge whether the motor vehicles carry out predetermined registration operation；When the motor vehicles are carried out
During predetermined registration operation, it is barrier to determine the stationary object.
9. mobile unit according to claim 6, it is characterised in that the shape information includes the shadow of the stationary object
As information, the sending module is additionally operable to, when the stationary object is barrier, the image information is sent into the clothes
Business device.
10. the mobile unit according to claim any one of 6-9, it is characterised in that the locating module is additionally operable to obtain
The road name information and/or the transmits information of the motor vehicles of the road, the sending module are additionally operable to when described quiet
When only object is barrier, road name information and/or the transmits information are sent to the server.
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| CN107238838B (en) | 2019-11-05 |
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