CN107703505A - 利用二维雷达和摄像头进行拖车尺寸估计 - Google Patents
利用二维雷达和摄像头进行拖车尺寸估计 Download PDFInfo
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Abstract
一种拖车检测系统(10)包括雷达传感器(16)、摄像头(26),以及控制器(40)。雷达传感器(16)被用来确定由本车辆(12)拖曳的拖车(14)的特征(24)反射的雷达信号(22)的范围(18)和方位角(20)。摄像头(26)被用来捕捉拖车(14)的图像(28)。控制器(40)与雷达传感器(16)和摄像头(26)通信。控制器(40)被配置成确定拖车(14)的可查看的特征(24A)在图像(28)中的位置(62),基于位置(62)以及到由雷达传感器(16)指示的可查看的特征(24A)的范围(18)和方位角(20)来确定拖车(14)的拖车宽度(34)和拖车高度(36),并可任选地基于由隐藏的特征(24B)反射的雷达信号(22)的范围(18)和方位角(20)来确定拖车长度(32)。
Description
技术领域
本发明一般涉及拖车检测系统,更具体而言,涉及检测拖车存在并确定拖车的尺寸的系统。
背景技术
已知给本车辆配备拖车检测系统,用于检测由本车辆拖曳的拖车的存在以及尺寸。当本车辆正在拖曳拖车时,来自不与拖车相关联的其他对象(例如,相邻车道中的另一车辆)的雷达信号的反射可能会干扰拖车尺寸的确定。对拖车大小的准确的确定对于用于盲点检测系统、车道偏离警报系统,及其他活跃安全系统中的区别拖车与其他目标是必不可少的。
发明内容
根据一个实施例,提供了被配置成确定由本车辆拖曳的拖车的尺寸的拖车检测系统。系统包括雷达传感器、摄像头,以及控制器。雷达传感器被用来确定由本车辆拖曳的拖车的特征反射的雷达信号的范围和方位角。摄像头被用来捕捉拖车的图像。控制器与雷达传感器和摄像头进行通信。控制器被配置成确定拖车的可查看的特征在图像中的位置。控制器进一步被配置成基于位置以及到由雷达传感器指示的可查看的特征的范围和方位角来确定拖车的拖车宽度和拖车高度。
在阅读优选实施例的下列详细描述并参考各个附图,进一步的特征和优点将更加显而易见,优选实施例只是作为非限制性示例给出的。
附图说明
现在将参考各个附图,作为示例,来描述本本发明,其中:
图1是根据一个实施例的配备有拖车检测系统并拖曳拖车的本车辆的顶视图;
图2是根据一个实施例的配备有拖车检测系统并拖曳拖车的图1的本车辆的侧视图;以及
图3是根据一个实施例的作为图1的系统的一部分的摄像头的视场的场中的图像的图示。
具体实施方式
图1示出了拖车检测系统10(下文简称为系统10)的非限制性示例。系统10一般性地被配置成检测配备有系统10的本车辆12的附近的对象。如下文比较详细地描述的,系统10比以前的拖车检测系统有所改进,因为系统10被配置成通过使用雷达传感器16来确定由拖车14的特征24反射的雷达信号22的范围18,以及方位角20,并通过使用摄像头26来捕捉位于摄像头26的视场30中的拖车14的图像28(图3),来比较准确地确定正在被本车辆12拖曳的拖车14的尺寸(例如,高度、宽度和/或长度)。这种改进使得系统10能比较准确地确定拖车长度32、拖车宽度34,以及拖车高度36。
系统10包括雷达传感器16,其用于检测由本车辆12拖曳的拖车14的特征24反射的雷达信号22。通常,车辆上的雷达系统只能够确定到目标的距离或范围18以及方位角20,如此,可以简称为二维(2D)雷达系统。其他雷达系统能够确定到目标的仰角,如此,可以简称为三维(3D)雷达系统。在图1中所示出的非限制性示例中,2D雷达传感器16包括左传感器16A和右传感器16B。可以构想,此处呈现的原理可以适用于带有一个或多个传感器设备(即,雷达传感器16的多个实例)的2D雷达系统和3-D雷达系统两者。雷达传感器16一般性地被配置成检测可包括指示检测到的在拖车14上存在的目标38的数据的雷达信号22。如此处所使用的,在拖车上存在的检测到的目标38可以是由雷达传感器16检测到的并由控制器40跟踪的拖车14的特征24。
作为示例而不是限制,雷达传感器16可以被配置成输出连续的或周期性的数据流,该数据流包括与每一检测到的目标相关联的各种信号特征。信号特征可包括或指示,但不仅限于,从本车辆12到检测到的目标38的范围18、相对于本车辆纵向轴42的到检测到的目标38的方位角20、雷达信号22的幅度(未示出)、以及相对于检测到的目标38的关闭的相对速度(未示出)。因为来自检测到的目标38的雷达信号22具有足够的信号强度以满足一些预定阈值,所以通常目标被检测到。即,可能会有反射雷达信号22的目标,但是,雷达信号22的强度不足以被特征化为检测到的目标38之一。对应于强目标38A的数据一般来自于一致的、非间歇性信号。然而,对应于弱目标38B的数据可以是间歇性的或由于低信噪比而具有某种显著的可变性。
图2是图1的系统10的右侧视图。当拖车14正在被拖曳时,一般将会有从诸如拖车的正面之类的强目标38A或其他高反射对象(诸如轮窝或拖车14的防护板)产生的某种一致的反射信号;以及来自弱目标38B(诸如拖车14的后保险杠)或其他车辆(未示出)(诸如,例如,摩托车)的某些间歇性反射信号。来自弱目标38B的反射信号可以是,例如,当雷达信号22在拖车14和地面之间弹起时从拖车14下面的多路径反射,或穿过装了栅栏的开放的拖车14或拖车14的框架的交叉构件的多路径反射。来自在雷达传感器16的水平平面上面和下面存在的检测到的目标38的反射信号的数据被收缩到2D网格中,并可能导致大于实际值的拖车长度32和拖车宽度34的判断。这是由于2D雷达传感器16不能解释3D雷达信号22仰角(未示出)的本质,如精通雷达解释的技术人员所理解的。
系统10包括摄像头26,其用于捕捉位于摄像头26的视场30中的拖车14的图像28(图3)。摄像头26可以是适用于本车辆12上的任何摄像头系统,诸如作为安全设备存在于许多车辆上的后视摄像头。可以构想,此处所呈现的原理适用于带有一个或多个设备(即,摄像头26的多个实例)的摄像头系统。可以使用诸如LIDAR之类的其他传感器系统来代替,例如,摄像头26。位于摄像头26的视场30中的拖车14的特征24被定义为可查看的特征24A,不在摄像头26的视场30中的拖车14的特征24被定义为隐藏特征24B。可查看的特征24A的示例可包括,例如,拖车14的正面的左垂直边44和右垂直边46,以及拖车14的正面的顶水平边48和底部水平边50。隐藏特征24B的示例可包括,例如,拖车14的后面的左角和右角,以及拖车14的后面的底部水平边50。可查看的特征24A也可以对应于由雷达传感器16检测到的强目标38A。在随后的讨论中对术语“可查看的特征”的引用直接相当于术语“强目标”。隐藏特征24B也可以对应于由雷达传感器16检测到的弱目标38B。
系统10包括与雷达传感器16和摄像头26进行通信的控制器40。控制器40被配置成从雷达传感器16接收雷达信号22,并从摄像头26接收图像信号52。控制器40可包括处理器(未示出),诸如微处理器或其他控制电路,诸如模拟和/或数字控制电路,包括用于处理数据的专用集成电路(ASIC),如精通本技术的人员所认识到的。控制器40可包括存储器,包括非易失性存储器,诸如用于存储一个或多个例程、阈值,以及捕捉到的数据的电可擦可编程只读存储器(EEPROM)。一个或多个例程可以由处理器执行,以执行一些步骤,用于判断由控制器40接收到的信号是否指示对象的存在,如此处所描述的。
控制器40一般被配置成判断从检测到的目标38产生的雷达信号22是否对应于正在由本车辆12拖曳的拖车14(即,与其相关联)。即,控制器40判断拖车14是否存在,实际上正在由本车辆12拖曳。控制器40还一般性地被配置成特征化为由拖车14占据的,并从而从可以检测到对象的本车辆12附近的区域中排除的拖车边界54的二维(2D)分量。通过定义是拖车边界54的本车辆12附近的区域的部分,控制器40可以比较轻松地判断由雷达信号22指示的新目标是否可能来自拖车14,或可能来自除拖车14以外的某种东西,诸如其他车辆(未示出)。
可以由控制器40分析雷达信号22,以相对于具有确定了轨迹的以前检测到的目标38的列表来分类来自每一检测到的目标38的数据。如此处所使用的,轨迹是指与检测到的目标38中的特定一个相关联的一个或多个数据集。作为示例而不是限制,如果雷达信号22的幅度大于预定的幅度阈值,那么,控制器40判断数据是否对应于以前检测到的目标38或是否已经检测到新目标。如果数据对应于以前检测到的目标38,则将数据与以前的数据相加或相结合,以更新以前检测到的目标38的轨迹。如果数据不对应于任何以前检测到的目标38,因为,例如,它与任何以前检测到的目标38太远,那么,它可以被表征为新目标,并被指定一个唯一轨迹标识号码。可以根据接收新检测到的目标38的数据的顺序,指定标识号码,或可以根据本车辆12附近的区域中的网格位置,指定一个标识号码。
预期是,检测到的目标38或对应于拖车14的(即,与其相关联)轨迹将具有零附近的相对速度,此条件将持续比较长的时间。即,如果到检测到的目标38的范围18在大于时间阈值(例如,大于5秒)的时间内,小于变化阈值(例如,小于0.25米/秒)地变化,则检测到的目标38对应于拖车14。值得注意的是,将目标特征化为具有接近于零的相对速度并具有小于变化阈值的范围18的变化是有效地相同特征化。在随后的讨论中对术语“范围速率”的引用直接相当于术语“相对速度”、“相对速率”以及“范围变化”。
已知了上文所描述的轨迹数据,将每一轨迹与本车辆12的已定义的被包围的区域进行比较,只使用在那些被包围的区域内的轨迹。边界是通过校准设置的,当前边界是2.4米宽,16.2米长,且4.3米高。在使用轨迹来确定拖车长度32和拖车宽度34之前,可以应用诸如最小幅度或检测源之类的附加约束来限定轨迹。在确定了最后的轨迹集合之后,分两个步骤来确定拖车长度32和拖车宽度34:确定未过滤的(原始)值,以及将原始值过滤到最终值。通过取与本车辆12的后保险杠的最大纵向距离来确定未过滤的拖车长度32,通过取被包围的区域内的任意两点之间的最大横向距离来确定原始拖车宽度34。然后,过滤未过滤的测量值。过滤的一种方式是使用具有诸如5秒的一个长的时间常数的低通滤波器。过滤的第二种方式是创建未过滤的测量值的直方图,其中将一个计数添加到对应于当前未过滤的测量值的仓(bin),然后选择带有最高计数的仓作为过滤的测量值。直方图过滤方法似乎比低通过滤的测量创建更稳定的估计。通过执行上文所描述的过程,可以由控制器40,基于到对应于拖车14的并比最大拖车长度(16.2米)更靠近本车辆12的最远目标56的纵向距离(图1)来确定拖车边界54的拖车长度32,可以基于对应于拖车14的最左边的目标58以及对应于拖车14的最右边的目标60之间的横向距离(图1)来确定拖车边界54的拖车宽度34。
控制器40还一般性地被配置成基于图像信号52,使用已知的图像分析技术来确定拖车14的可查看的特征24A在图像28中的位置62。可查看的特征24A相对于摄像头26的视场30的位置62可以被用来估计拖车14的正面的左垂直边44和右垂直边46之间的横向尺寸64。雷达信号22可以被用来确定本车辆和拖车14的正面的左垂直边44和右垂直边46所在的垂直平面之间的距离,以确定尺寸基准,用于估计横向尺寸64,如精通几何的技术人员认识到的。也可以使用可查看的特征24A相对于摄像头26的视场30的位置62来估计拖车14的正面的顶部水平边48和底部水平边50之间的垂直尺寸66。也可以使用雷达信号22来确定本车辆12和拖车14的正面的顶部水平边48和底部水平边50所在的垂直平面之间的距离,以确定尺寸基准,用于估计垂直尺寸66,如精通几何的技术人员认识到的。由控制器40估计的横向尺寸64可以作为一个约束应用,以在使用轨迹来确定拖车宽度34之前限定轨迹,因为超出横向尺寸64范围检测到的任何轨迹都被确定为不与拖车14相关联。通过几何计算,通过应用摄像头26的纵向轴和地面之间的已知垂直距离,由控制器40估计的垂直尺寸66可以被用来确定相对于地面的拖车高度36,如精通几何的技术人员所理解的。通过组合拖车高度36、拖车宽度34,以及拖车长度32,可以由控制器40确定拖车边界54的3D分量。
相应地,提供了拖车检测系统10(系统10)以及用于系统10的控制器40。此处所呈现的原理相对于以前的拖车检测系统,有利地改善了对拖车14的尺寸的确定。
尽管以其优选实施例为例来描述本发明的,但是,不打算如此受限,只限制于随后的权利要求书中阐述的范围。
Claims (3)
1.一种拖车检测系统(10),被配置成确定由本车辆(12)拖曳的拖车(14)的尺寸,所述系统(10)包括:
雷达传感器(16),用于确定由本车辆(12)拖曳的拖车(14)的特征(24)反射的雷达信号(22)的范围(18)和方位角(20);
摄像头(26),用于捕捉所述拖车(14)的图像(28);以及
控制器(40),与所述雷达传感器(16)和所述摄像头(26)进行通信,所述控制器(40)被配置成确定所述拖车(14)的可查看的特征(24A)在所述图像(28)中的位置(62),基于所述位置(62)以及到由所述雷达传感器(16)指示的所述可查看的特征(24A)的范围(18)和方位角(20)来确定所述拖车(14)的拖车宽度(34)和拖车高度(36)。
2.根据权利要求1所述的系统(10),其中,所述控制器(40)进一步被配置成基于由隐藏特征(24B)反射的所述雷达信号(22)的所述范围(18)和方位角(20)来确定所述拖车长度(32)。
3.根据权利要求1所述的系统(10),其中,基于所述可查看的特征(24A)的所述范围(18)和方位角(20)来进一步确定所述拖车长度(32)。
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