CN107238838B - 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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- CN107238838B CN107238838B CN201710622902.2A CN201710622902A CN107238838B CN 107238838 B CN107238838 B CN 107238838B CN 201710622902 A CN201710622902 A CN 201710622902A CN 107238838 B CN107238838 B CN 107238838B
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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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- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geophysics (AREA)
- Acoustics & Sound (AREA)
- Traffic Control Systems (AREA)
Abstract
The embodiment of the present invention provides a kind of road barricade object detecting method and mobile unit, this method comprises: mobile unit identifies the shape information of stationary object on road in motor vehicles when driving on road, and the relative position of stationary object and motor vehicles, mobile unit are located on motor vehicles；Mobile unit judges whether stationary object is barrier；When stationary object is barrier, mobile unit obtains the location information of motor vehicles, and the physical location of stationary object is calculated according to location information and relative position；Mobile unit determines the corresponding server of stationary object according to shape information, and physical location is sent to server.The method and mobile unit provided through the embodiment of the present invention can reduce the discovery cost of barrier on road, improve discovery 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 technique
With China's rapid development of economy, the process of urbanization is getting faster.In the process of urbanization, to meet city
City's growth requirement, urban road network's scale is increasing, and complexity is higher and higher.On this basis, the trip to meet people
Demand, the vehicles such as more and more electric bicycles, battery-operated motor cycle, automobile appear on urban road, urban road
Blockage problem becomes increasingly severe.
On the reason of causing road congestion, except because on road the vehicles that travel excessively in addition to, go out when on road
Existing, influence vehicles normally travel barrier also becomes the major reason for causing road congestion.For example, big due to scraping
Wind, the extreme weathers such as rain heavily cause the barriers such as branch, dustbin to appear in road centre, influence the positive normal open of automobile
Row；In another example shared bicycle be parked in the positions such as car lane, parking stall leading to motor vehicles since people disorderly stop to leave about not
Energy normally travel cannot park in time, and then cause road congestion.
Currently, traffic police and related operator are (such as the fortune of shared bicycle for the road congestion problem as caused by barrier
Company, battalion) can only find the barrier of choke the road in such a way that the masses alarm or arrange related personnel's patrol, then into
Row cleaning.Since the modes such as masses' alarm or related personnel's patrol need certain man power and material, and tend not to send out in time
The barrier now to block the road, thus on road barrier discovery higher cost, efficiency is lower.
Summary 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 discovery efficiency.
The embodiment of the present invention provides a kind of road barricade object detecting method, comprising:
Mobile unit identifies the shape information of stationary object on the road in motor vehicles when driving on road, and
The relative position of the stationary object and the motor vehicles, the mobile unit are 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 location information of the motor vehicles, and root
The physical location of the stationary object is calculated according to the location 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 motor vehicles on road when driving
Identify the shape information of stationary object and the relative position of stationary object and motor vehicles on road；Mobile unit judges quiet
Only whether object is barrier；When stationary object is barrier, the location information of mobile unit acquisition motor vehicles, and according to
Location information and relative position calculate the physical location of stationary object；Mobile unit determines that stationary object is corresponding according to shape information
Server, and physical location is sent to server.Due to being identified by mobile unit quiet on road in the embodiment of the present invention
The physical location of stationary object is sent to corresponding server when only object is barrier, without additional arrangement manpower during this
Discovery barrier is removed with material resources, so the technical solution that the embodiment of the present invention mentions can reduce the discovery cost of road barrier.
In addition, the coverage rate based on motor vehicles on road is very high, this will enable the barrier being located on road find in time, mention
High discovery efficiency.
Optionally, in a kind of specific embodiment provided in an embodiment of the present invention, the mobile unit judges described quiet
Only whether object is barrier, comprising:
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 the calculating of 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.
Optionally, in a kind of specific embodiment provided in an embodiment of the present invention, the mobile unit judges described quiet
Only whether object is barrier, further includes:
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.
Optionally, in a kind of specific embodiment provided in an embodiment of the present invention, the shape information includes described quiet
The only image information of object, further includes:
When the stationary object is barrier, the image information is sent to the server by the mobile unit.
Optionally, in a kind of specific embodiment provided in an embodiment of the present invention, further includes:
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, the 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, comprising:
Identification module, for identifying that the form of stationary object on the road is believed when driving on road in motor vehicles
The relative position of breath and the stationary object and the motor vehicles, the mobile unit are located on the motor vehicles；
Judgment module, for judging whether the stationary object is barrier；
Locating module, for obtaining the location information of the motor vehicles, and root when the stationary object is barrier
The physical location of the stationary object is calculated according to the location 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 identify on road on road when driving in motor vehicles
The shape information and stationary object of stationary object and the relative position of motor vehicles；Whether judgment module judges stationary object
For barrier；Locating module obtains the location information of motor vehicles when stationary object is barrier, and according to location information and
The physical location of relative position calculating stationary object；Sending module determines the corresponding server of stationary object according to shape information,
And physical location is sent to server.Due to identifying that stationary object is on road by mobile unit in the embodiment of the present invention
The physical location of stationary object is sent to corresponding server when barrier, is gone without additional arrangement man power and material during this
It was found that barrier, so the technical solution that the embodiment of the present invention mentions can reduce the discovery cost of road barrier.In addition, being based on
Coverage rate of the motor vehicles on road is very high, this will enable the barrier being located on road find in time, improves discovery effect
Rate.
Optionally, in a kind of specific embodiment provided in an embodiment of the present invention, the judgment module is specifically used 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 for obtaining the motor vehicles, 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
It states in traveling target region；When the stationary object is located in the traveling target region, determine the stationary object for barrier
Hinder object.
Optionally, in a kind of specific embodiment provided in an embodiment of the present invention, the judgment module is also used to work as institute
When stating stationary object and being located 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, determine that the stationary object is barrier.
Optionally, in a kind of specific embodiment provided in an embodiment of the present invention, the shape information includes described quiet
The only image information of object, the sending module are also used to send out the image information when the stationary object is barrier
Give the server.
Optionally, in a kind of specific embodiment provided in an embodiment of the present invention, the locating module is also used to obtain
The road name information of the road and/or the transmits information of the motor vehicles, the sending module are also used to when described quiet
When only object is barrier, the road name information and/or the transmits information are sent to the server.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached 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；
Fig. 3 is a kind of flow chart of step S220 in road barricade object detecting method provided in an embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of mobile unit provided in an embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
The application scenarios of the embodiment of the present invention are illustrated with reference to the accompanying drawing.Referring to Fig. 1, mentioned for the embodiment of the present invention
A kind of application scenarios schematic diagram supplied includes mobile unit 11 and server 12 in the application scenarios.Wherein, mobile unit 11
In on each motor vehicles, mobile unit 11 can be mobile phone, tablet computer, laptop, car running computer (Electronic
Control Unit, abbreviation ECU) etc. electronic equipments, be also possible to the combination of these electronic equipments；Server 12 can be public affairs
The server of peace, traffic police's system, is also possible to the server (server of such as each shared bicycle company) of related operator.
What needs to be explained here is that mobile unit 11 can be fixedly connected on each motor vehicles, the fixation as motor vehicles is matched
It sets, can also be connected on each motor vehicles by various communication interfaces, it might even be possible to only be placed on mobile unit 11 respectively
On a motor vehicles, without having connection relationship 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, discovery efficiency is improved.
In embodiments of the present invention, mobile unit 11 identifies stationary object on road in motor vehicles when driving on road
Shape information and stationary object and motor vehicles relative position；Mobile unit 11 judges whether stationary object is obstacle
Object；When stationary object is barrier, mobile unit 11 obtains the location information of motor vehicles, and according to location information and relatively
The physical location of position calculating 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.Since coverage rate of the present motor vehicles on road is very high, so server 12
It, can the reality that blocks the road of timely learning stationary object after the information that mobile unit 11 is sent on receiving each motor vehicles
Position improves the discovery efficiency of barrier on road.In addition, being not necessarily to the ginseng of people during due to barrier discovery on road
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 referring to fig. 2, is a kind of flow chart of road barricade object detecting method provided in an embodiment of the present invention, the present invention is implemented
Example is executed by mobile unit 11.Specifically, the embodiment of the present invention may comprise steps of:
In step S210, mobile unit 11 identifies the shape of stationary object on road in motor vehicles when driving on road
The relative position of state information and stationary object and motor vehicles.
Wherein, mobile unit 11 is located on motor vehicles, and the stationary object on road refers to the opposite static object in ground,
Mobile unit 11 can identify whether there is stationary object on road by lane line, lane fence, the trees of road on both sides of the road etc.；Form
Information may include one of information such as the size, shape, color of stationary object or a variety of.It is embodied in inventive embodiments
During, mobile unit 11 can be by the sensors such as itself configuration radar, ultrasonic distance sensor, laser, camera
One or more acquisition stationary objects shape information and stationary object and motor vehicles relative position；Mobile unit
11 can also be sensed by radar that is connected to it, configuring on motor vehicles, ultrasonic distance sensor, laser, camera etc.
The relative position of one of device or a variety of shape informations for obtaining stationary object and stationary object and motor vehicles.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 calibration 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, the embodiment of step S220 can there are many.Example
Such as, shown in Figure 3, in a kind of specific embodiment of the embodiment of the present invention, step S220 may 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
It whether is candidate barrier.For example, in practical applications, mobile unit 11 know stationary object size be 0.5m to 1.5m it
Between, meet the size range of shared bicycle, then stationary object is determined as candidate barrier.In another example mobile unit 11 is known
The shape of stationary object be it is barrel-shaped, meet the shape of municipal refuse bucket, then stationary object is determined 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.If stationary object is not candidate barrier, then mobile unit stops
Execute 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 calculate the row of motor vehicles according to steering wheel angle signal, yawrate and speed
Sail target area.
Specifically, mobile unit 11 can obtain steering wheel angle signal by incuding 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 indicated by angular signal, yawrate and speed 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, after mobile unit 11 calculates the traveling target regions of motor vehicles in step S2202, using quiet
Only the relative position of object and motor vehicles judges whether stationary object is located in traveling target region, can also pass through 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, since mobile unit 11 is only when stationary object is located at the traveling of calculated motor vehicles
When in target area, determines that stationary object is barrier, increase the accuracy of barrier judgment.
In addition, in real life, when driver meets barrier, it the operation such as usually can all be turned to, be slowed down.Therefore,
For the confidence level for improving barrier judgment, in a kind of specific embodiment of the embodiment of the present invention, embodiment shown 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.
In addition, what needs to be explained here is that, during specific implementation of the embodiment of the present invention, step S220 is not limited to
Previous embodiment.Such as in a kind of specific embodiment of the invention, mobile unit 11 can pass through stationary object
Concrete shape judge whether it is barrier.For another example say, in another specific embodiment of the embodiment of the present invention, vehicle
Carry whether equipment 11 can be located at parking stall by judging stationary object, car lane determines whether it is barrier.Here lead to
It crosses specific embodiment to be illustrated, for example, mobile unit 11 identifies that stationary object includes that the forms such as two wheels, handlebars are special
Sign, mobile unit 11 determine that stationary object is shared bicycle, as barrier；In another example mobile unit 11 identify it is static
Object is located in parking stall, and its form is not automobile, then stationary object is determined as barrier by mobile unit 11.
In step S230, when stationary object is barrier, mobile unit 11 obtains the location information of motor vehicles, and
The physical location of stationary object is calculated according to location information and relative position.
Wherein, during the embodiment of the present invention is embodied, mobile unit 11 can be obtained motor-driven by positioning device
Vehicle position information, positioning device are located on motor vehicles.Wherein, positioning device can be the positioning mould inside mobile unit 11
Block is also possible to the electronic equipment with positioning function for being located at 11 outside of mobile unit and connecting with mobile unit 11.In addition,
Here without limitation to the positioning principle of positioning device.For example, positioning device here can be the positioning using base station location
Equipment is also possible to the positioning device using satellite positioning, the positioning that can also be while being positioned using base station and satellite
Equipment.After the location information that vehicle arrangement 11 obtains vehicle, according to the relative position obtained in location information and step S210
Calculate the physical location of stationary object.It is necessary to be noted that in practical applications, mobile unit 11 obtains motor vehicle
Location information can also be located at step S220 before, at this point, mobile unit 11 can be directly according to position in step S230
Information and relative position calculate the physical location of stationary object.Similarly, mobile unit 11 identifies stationary object 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
The physical location of information calculating 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 obtain it is quiet
Only after the physical location of object, prompting, distribution clean-up task etc. can be issued in time.For example, mobile unit 11 passes through shape information
When determining that stationary object is the barriers such as dustbin, branch, determine that the corresponding server 12 of stationary object is traffic police's system
Then the physical location of stationary object is sent to the server of traffic police's system by server, keep the server of traffic police's system timely
Know the physical location of stationary object, and then dustbin, the branch etc. for assigning corresponding personnel to block the traffic.In another example vehicle-mounted set
When determining that stationary object is the shared bicycle that A shares bicycle company 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 is then sent to the service that A shares bicycle
Device, the server timely learning for making A share bicycle share the physical location of bicycle, and then corresponding personnel's processing is assigned to block the traffic
Shared bicycle.
Road barricade object detecting method provided in an embodiment of the present invention, mobile unit motor vehicles on road when driving
Identify the shape information of stationary object and the relative position of stationary object and motor vehicles on road；Mobile unit judges quiet
Only whether object is barrier；When stationary object is barrier, the location information of mobile unit acquisition motor vehicles, and according to
Location information and relative position calculate the physical location of stationary object；Mobile unit determines that stationary object is corresponding according to shape information
Server, and physical location is sent to server.Due to being identified by mobile unit quiet on road in the embodiment of the present invention
The physical location of stationary object is sent to corresponding server when only object is barrier, without additional arrangement manpower during this
Discovery barrier is removed with material resources, so the technical solution that the embodiment of the present invention mentions can reduce the discovery cost of road barrier.
In addition, the coverage rate based on motor vehicles on road is very high, this will enable the barrier being located on road find in time, mention
High discovery efficiency.
Optionally, the shape information of stationary object is also in a kind of specific embodiment of the embodiment of the present invention, on road
It may include the image information of stationary object, image information here can be video, picture etc..At this point, 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 specific 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.
Optionally, in another specific embodiment of the embodiment of the present invention, mobile unit 11 can also obtain road
Road name information and/or motor vehicles transmits information.At this point, mobile unit 11 can when stationary object is barrier
Road name information and/or transmits information are sent to server 12.Wherein, mobile unit 11 can pass through automobile navigation, camera shooting
First-class mode obtains road name information and transmits information.In the specific embodiment, mobile unit 11 by road name information and/or
Transmits information is sent to server 12, combines the stationary object actual bit being calculated in step S230 convenient for server 12
The traffic route etc. that corresponding personnel are more rapidly accurately calculated is set, to handle barrier in time.
Relative to above method embodiment, the embodiment of the invention also provides the implementations of the device of corresponding mobile unit
Example.
It referring to fig. 4, is a kind of structural schematic diagram of mobile unit provided in an embodiment of the present invention.The mobile unit is for holding
The aforementioned road barricade object detecting method of row.The mobile unit may include identification module 410, judgment module 420, locating module
430 and sending module 440.
Wherein, the identification module 410 is used to identify resting on the road when driving on road in motor vehicles
The relative position of the shape information of body and the stationary object and the motor vehicles, the mobile unit are located at the machine
On motor-car；
The judgment module 420 is for judging whether the stationary object is barrier；
The locating module 430 is used to obtain the position letter of the motor vehicles when the stationary object is barrier
Breath, and the physical location of the stationary object is calculated with the relative position according to the positional information；
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 identify on road on road when driving in motor vehicles
The shape information and stationary object of stationary object and the relative position of motor vehicles；Whether judgment module judges stationary object
For barrier；Locating module obtains the location information of motor vehicles when stationary object is barrier, and according to location information and
The physical location of relative position calculating stationary object；Sending module determines the corresponding server of stationary object according to shape information,
And physical location is sent to server.Due to identifying that stationary object is on road by mobile unit in the embodiment of the present invention
The physical location of stationary object is sent to corresponding server when barrier, is gone without additional arrangement man power and material during this
It was found that barrier, so the technical solution that the embodiment of the present invention mentions can reduce the discovery cost of road barrier.In addition, being based on
Coverage rate of the motor vehicles on road is very high, this will enable the barrier being located on road find in time, improves discovery effect
Rate.
Optionally, in a kind of specific embodiment provided in an embodiment of the present invention, the judgment module 420 is specifically used 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.
Optionally, in a kind of specific embodiment provided in an embodiment of the present invention, the judgment module 420 is also used 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, determine that the stationary object is barrier.
Optionally, in a kind of specific 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 are also used to when the stationary object is barrier, by the image information
It is sent to the server.
Optionally, in a kind of specific embodiment provided in an embodiment of the present invention, the locating module 430 is also used 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 also used to work as institute
When to state stationary object be barrier, road name information and/or the transmits information are sent to the server.
The apparatus embodiments described above are merely exemplary, wherein described, unit can as illustrated by the separation member
It is physically separated with being or may not be, component shown as a unit may or may not be physics list
Member, it can it is in one place, or may be distributed over multiple network units.It can be selected according to the actual needs
In some or all of the modules achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying creativeness
Labour in the case where, it can understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It realizes by means of software and necessary general hardware platform, naturally it is also possible to pass through hardware.Based on this understanding, on
Stating technical solution, substantially the part that contributes to existing technology can be embodied in the form of software products in other words, should
Computer software product may be stored in a computer readable storage medium, such as ROM/RAM, magnetic disk, CD, including several fingers
It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation
Method described in certain 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
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (8)
1. a kind of road barricade object detecting method characterized by comprising
Mobile unit identifies on the road shape information of stationary object and described in motor vehicles when driving on road
The relative position of stationary object and the motor vehicles, the mobile unit are 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 location information of the motor vehicles, and according to institute
It states location 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；
The mobile unit judges whether the stationary object is barrier, comprising:
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
Object.
2. the method according to claim 1, wherein the mobile unit judges whether the stationary object is barrier
Hinder object, further includes:
When the stationary object is located in the traveling target region, the mobile unit judge the motor vehicles whether into
Row predetermined registration operation；
When the motor vehicles carry out predetermined registration operation, the mobile unit determines that the stationary object is barrier.
3. the method according to claim 1, wherein the shape information includes the image letter of the stationary object
Breath, further includes:
When the stationary object is barrier, the image information is sent to the server by the mobile unit.
4. method according to claim 1-3, which is characterized in that further 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, the road name information and/or the transmits information are sent to described by the mobile unit
Server.
5. a kind of mobile unit characterized by comprising
Identification module, for identifying the shape information of stationary object on the road when driving on road in motor vehicles, with
And the relative position of the stationary object and the motor vehicles, the mobile unit are located on the motor vehicles；
Judgment module, for judging whether the stationary object is barrier；
Locating module, for obtaining the location information of the motor vehicles, and according to institute when the stationary object is barrier
It states location 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
It sets and is sent to the server；
The judgment module is specifically used for judging whether the stationary object is candidate barrier according to the shape information；Work as institute
State stationary object be candidate barrier when, obtain steering wheel angle signal, yawrate and the speed of the motor vehicles, root
The traveling target region of the motor vehicles is calculated according to the steering wheel angle signal, the yawrate and the speed；
Judge whether the stationary object is located in the traveling target region；When the stationary object is located at the traveling target region
When interior, determine that the stationary object is barrier.
6. mobile unit according to claim 5, which is characterized in that the judgment module is also used to when the stationary object
When in the traveling target region, judge whether the motor vehicles carry out predetermined registration operation；When the motor vehicles carry out
When predetermined registration operation, determine that the stationary object is barrier.
7. mobile unit according to claim 5, which is characterized in that the shape information includes the shadow of the stationary object
As information, the sending module is also used to that the image information is sent to the clothes when the stationary object is barrier
Business device.
8. according to the described in any item mobile units of claim 5-7, which is characterized in that the locating module is also used to obtain institute
The road name information of road and/or the transmits information of the motor vehicles are stated, the sending module is also used to when described static
When object is barrier, the road name information and/or the transmits information are sent to the server.
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| CN110807565A (en) * | 2018-08-06 | 2020-02-18 | 宝沃汽车（中国）有限公司 | Server, vehicle and parking risk identification method and device thereof |
| CN108614254B (en) * | 2018-08-13 | 2021-06-29 | 北京经纬恒润科技股份有限公司 | Laser radar |
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