CN109407097A - A kind of vehicle can travel the detection method and device in region - Google Patents
A kind of vehicle can travel the detection method and device in region Download PDFInfo
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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
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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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
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Abstract
The present invention provides a kind of detection method and device in travelable region of vehicle, the detection method uses the detections of radar point target of at least two beam position different angles, since every radar is able to detect the point target in front of radar within the scope of 180 °, therefore the radar of at least two beam position different angles can detecte greater than the point target in 180 ° of angular ranges, point target detected by each radar is got after the position coordinates under itself radar fix system, each position coordinates are transformed under vehicle body unified coordinate system, obtain the point target position coordinates under the vehicle body unified coordinate system, according to all point target position coordinates, it generates and can travel region.The present invention realizes the travelable region detection greater than 180 ° of angular ranges, improves the identical property according to the travelable region detected the Driving Decision-making formulated and road conditions.
Description
Technical field
It can travel region detection technical field the invention belongs to vehicle more particularly to a kind of vehicle can travel the detection in region
Method and device.
Background technique
Vehicle can travel region (Free Space) and refer to clear area for vehicle safe driving.By detecting vehicle
It can travel region, for providing auxiliary for the Driving Decision-making of driver, such as provide lane change guidance, the traffic thing for preventing lane change from causing
Therefore surrounding collision is prevented etc..
The method that detection vehicle can travel region at present is based on list portion detections of radar point target, according to the position of point target
Information, which generates vehicle, can travel zone boundary, and then obtains vehicle and can travel region.
Inventor has found in the implementation of the present invention: since current scheme radar is only able to detect that itself front
Point target within the scope of 180 °, therefore can only realize the detection to can travel region within the scope of 180 ° in front of radar, still there is phase
When big angular range can not achieve travelable region detection, driver can lead in this way according to the travelable region system detected
Fixed Driving Decision-making and the identical property of road conditions are poor.
Summary of the invention
In view of this, the detection method and dress for being designed to provide a kind of travelable region of vehicle of the embodiment of the present invention
It sets, uses the radar of at least two beam position different angles to realize the detection that can travel region within the scope of greater angle, make
The Driving Decision-making formulated according to the travelable region detected compared with prior art is obtained to be highly improved with the identical property of road conditions.
Technical solution is as follows:
The present invention provides a kind of detection method in travelable region of vehicle, comprising:
Obtain position coordinates of the point target detected by each radar under itself radar fix system, wherein the radar
Number be at least two, the beam position different angle of the different radar emissions；
Each position coordinates are transformed under vehicle body unified coordinate system, the point under the vehicle body unified coordinate system is obtained
Target location coordinate；
According to all point target position coordinates, generates and can travel region.
Optionally, in a kind of specific embodiment of the embodiment of the present invention, according to all point target position coordinates,
It generates and can travel region, comprising:
Obtain temporarily travelable region；The angle of coverage in the interim travelable region corresponds to the wave beam of all radars
Coverage area, the temporarily travelable region are divided into N number of angle by discrete centered on the origin of the vehicle body unified coordinate system
Unit is spent, the traveling boundary of N number of angle-unit is setting initial value, and N is positive integer；
Calculate the oblique distance that point target position coordinates described in k-th correspond to point target, wherein point target position described in k-th
Coordinate is any one in all point target position coordinates；
If calculated oblique distance is less than or equal to the setting initial value, by point target position coordinates pair described in k-th
It answers point target to be determined as effective point target, otherwise, updates the value of K, it is corresponding to calculate another described point target position coordinates
The oblique distance of point target；
It is calculated according to the corresponding relationship between angular coverage and oblique distance, azimuth and default tangential dimension described effective
The angular coverage of point target；
Determine the corresponding angle-unit of the angular coverage of effective point target；
Update the traveling boundary of the corresponding angle-unit of angular coverage of effective point target；Wherein, institute
It is equal to current driving boundary after stating the traveling boundary update of the corresponding angle-unit of angular coverage of effective point target
With the smaller value in calculated oblique distance；
The value for updating K, realizes the continuous renewal on angle-unit traveling boundary, until utilizing each point target
Position coordinates complete the update on angle-unit traveling boundary, generate and can travel region.
Optionally, it in a kind of specific embodiment of the embodiment of the present invention, generates after can travel region, further includes:
It is the angle-unit for protruding boundary to traveling boundary, is based on mean value smoothing algorithm, protrusion boundary is carried out flat
Sliding processing；Wherein, it is angle-unit described in traveling boundary and adjacent two sides that traveling boundary, which is the angle-unit on protrusion boundary,
The difference on traveling boundary be all larger than the angle-unit of preset threshold；
And/or
Determine that the angle-unit that is continuous and not covering effective point target is formed by whether opening width is less than
Opening width threshold value；If the angle-unit for not covering effective point target continuously and be formed by opening width be less than open
Mouthful width threshold value is then based on linear smoothing algorithm, to continuous and do not cover the angle-unit institute shape of effective point target
At opening be smoothed.
Optionally, in a kind of specific embodiment of the embodiment of the present invention, after smoothing processing, further includes:
Based on sliding window mean value smoothing algorithm, the secondary flat of default the number of iterations is carried out to the traveling boundary of the angle-unit
Sliding processing executes the traveling boundary that the angle-unit is updated after secondary smoothing processing every time；Wherein, each angle-unit
Traveling boundary update after be equal to secondary smoothing processing before traveling boundary and secondary smoothing processing after traveling boundary in compared with
Small value, and after the secondary smoothing processing for completing default the number of iterations, traveling boundary is setting before executing secondary smoothing processing
The traveling boundary of initial value is updated to setting initial value.
Optionally, in a kind of specific embodiment of the embodiment of the present invention, after secondary smoothing processing, further includes:
For each angle-unit, traveling boundary and the angle list based on the angle-unit in the current detection period
Traveling boundary in the upper detection cycle of member carries out time domain smoothing processing to the traveling boundary of the angle-unit.
Optionally, in a kind of specific embodiment of the embodiment of the present invention, the number of the radar is four, four institutes
It states radar to be located on four angles of vehicle, the beam coverage of the adjacent radar partly overlaps.
The present invention also provides the detection devices that a kind of vehicle can travel region, comprising:
Module is obtained, for obtaining position coordinates of the point target detected by each radar under itself radar fix system,
Wherein, the number of the radar is at least two, the beam position different angle of the different radar emissions；
Conversion module obtains the vehicle body system for transforming to each position coordinates under vehicle body unified coordinate system
Point target position coordinates under one coordinate system；
Generation module, for generating and can travel region according to all point target position coordinates.
Optionally, in a kind of specific embodiment of the embodiment of the present invention, the generation module includes:
Acquisition submodule, for obtaining temporarily travelable region；The angle of coverage in the interim travelable region corresponds to institute
There is the beam coverage of the radar, the temporarily travelable region is by centered on the origin of the vehicle body unified coordinate system
Discrete to be divided into N number of angle-unit, the traveling boundary of N number of angle-unit is setting initial value, and N is positive integer；
First computational submodule corresponds to the oblique distance of point target for calculating point target position coordinates described in k-th, wherein
Point target position coordinates described in k-th are any one in all point target position coordinates；
First determines submodule, if being less than or equal to the setting for the calculated oblique distance of the first computation subunit
Point target position coordinates described in k-th are then corresponded to point target and are determined as effective point target by initial value；Otherwise, taking for K is updated
Value calls first computation subunit, calculates the oblique distance that another described point target position coordinates corresponds to point target；
Second computational submodule, for according between angular coverage and oblique distance, azimuth and default tangential dimension
Corresponding relationship calculates the angular coverage of effective point target；
Second determines submodule, the corresponding angle list of angular coverage for determining effective point target
Member；
Update submodule, the row of the corresponding angle-unit of angular coverage for updating effective point target
Sail boundary；Wherein, after the traveling boundary of the corresponding angle-unit of the angular coverage of effective point target updates etc.
Smaller value in current driving boundary and calculated oblique distance；The value for updating K realizes angle-unit traveling boundary
It constantly updates, until completing the update on angle-unit traveling boundary using each point target position coordinates, generation can
Running region.
Optionally, in a kind of specific embodiment of the embodiment of the present invention, further includes:
Smoothing module, for being based on mean value smoothing algorithm to the angle-unit that boundary is protrusion boundary is travelled,
Protrusion boundary is smoothed；Wherein, traveling boundary be protrude boundary the angle-unit be traveling boundary with it is adjacent
The difference on the traveling boundary of angle-unit described in two sides is all larger than the angle-unit of preset threshold；
And/or
Determine that the angle-unit that is continuous and not covering effective point target is formed by whether opening width is less than
Opening width threshold value；If the angle-unit for not covering effective point target continuously and be formed by opening width be less than open
Mouthful width threshold value is then based on linear smoothing algorithm, to continuous and do not cover the angle-unit institute shape of effective point target
At opening be smoothed.
Optionally, in a kind of specific embodiment of the embodiment of the present invention, further includes:
Secondary smoothing module, for being based on sliding window mean value smoothing algorithm, to the traveling boundary of the angle-unit into
The secondary smoothing processing of the default the number of iterations of row executes the traveling side that the angle-unit is updated after secondary smoothing processing every time
Boundary；Wherein, it is put down equal to the traveling boundary before secondary smoothing processing with secondary after the traveling boundary of each angle-unit updates
Smaller value in sliding treated traveling boundary, and after the secondary smoothing processing for completing default the number of iterations, it will execute secondary
The traveling boundary that boundary is setting initial value is travelled before smoothing processing is updated to setting initial value.
Optionally, in a kind of specific embodiment of the embodiment of the present invention, further includes:
Time domain smoothing module, for being directed to each angle-unit, based on the angle list in the current detection period
Traveling boundary on the traveling boundary of member and the angle-unit in a detection cycle, when being carried out to the traveling boundary of the angle-unit
Domain smoothing processing.
Optionally, in a kind of specific embodiment of the embodiment of the present invention, the number of the radar is four, four institutes
It states radar to be located on four angles of vehicle, the beam coverage of the adjacent radar partly overlaps.
Compared with prior art, above-mentioned technical proposal provided in an embodiment of the present invention has the advantages that
From above-mentioned technical proposal it is found that being examined in the embodiment of the present invention using the radar of at least two beam position different angles
Measuring point target, since every radar is able to detect the point target in front of radar within the scope of 180 °, at least two beam positions
The radar of different angle can detecte greater than the point target in 180 ° of angular ranges, get point target detected by each radar
After the position coordinates under itself radar fix system, each position coordinates are transformed under vehicle body unified coordinate system, are obtained described
Point target position coordinates under vehicle body unified coordinate system generate according to all point target position coordinates and can travel region.This
Inventive embodiments realize the travelable region detection greater than 180 ° of angular ranges, improve according to the travelable region detected
The Driving Decision-making of formulation and the identical property of road conditions.
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 the present invention
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is the detection method flow chart that a kind of vehicle provided in an embodiment of the present invention can travel region；
Fig. 2 is radar distribution schematic diagram provided in an embodiment of the present invention；
Fig. 3 is the detection method flow chart that another vehicle provided in an embodiment of the present invention can travel region；
Fig. 4 is smoothing processing effect picture provided in an embodiment of the present invention；
Fig. 5 is that the sliding window mean value smoothing algorithm provided in an embodiment of the present invention that is based on again after smoothing processing carries out default iteration
After the secondary smoothing processing of number, the effect picture on obtained traveling boundary；
Fig. 6 is the effect on the traveling boundary and the traveling boundary without smoothing processing under polar coordinate system after smoothing processing
Fruit figure；
Fig. 7 is the structural schematic diagram for the detection device that a kind of vehicle provided in an embodiment of the present invention can travel region；
Fig. 8 is the structural schematic diagram for the detection device that another vehicle provided in an embodiment of the present invention can travel region；
Fig. 9 is radar fusion processor workflow schematic diagram 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 making creative work, shall fall within the protection scope of the present invention.
Present embodiment discloses the detection method that a kind of vehicle can travel region, which be can be applied to such as vehicle intelligence
Energy control loop, lane change auxiliary system etc. need to identify that vehicle can travel in the mobile unit in region.Referring to Fig. 1, the embodiment
The following steps are included:
S101, position coordinates of the point target under itself radar fix system detected by each radar are obtained, wherein described
The number of radar is at least two, the beam position different angle of the different radar emissions.
At least two radars, and the beam position different angle of different radar emissions are set on vehicle body.A usual thunder
Beam angle up to transmitting is 180 °, and by the way that at least two radars are arranged, and the beam position of at least two radar emissions is different
The detection that can travel region on a large scale to vehicle periphery may be implemented in angle.
In actual use, different number of radar can be set as needed.It for example realizes and the blind area of rear of vehicle is examined
It surveys, a radar can be respectively set on two angles of vehicle tail；For another example to realize that the auxiliary of non-driver side drives, driven non-
It sails and a radar is respectively set on two angles of side.Particularly, 360 ° around vehicle body are detected to realize, and in order to avoid thunder
Up to the problem of edge detection accuracy difference, radar can be carried out according to the radar distribution schematic diagram provided in embodiment illustrated in fig. 2
Layout.As shown in Fig. 2, the number that radar is arranged in the present embodiment is 4,4 radars are separately positioned on four angles of vehicle body,
Respectively right anterior angle radar 2, right relief angle radar 3, left-front corner radar 1 and left rear corner radar 4, as shown in Figure 2.4 radar hairs
The covering to 360 ° of ranges of vehicle's surroundings may be implemented in the radar beam penetrated, and realizes to area travelable within the scope of 360 ° of vehicle's surroundings
The detection in domain.
In view of the cover width of radar beam is limited, each radar can only examine itself front fan-shaped region
It surveys, and radar can decline the detectability and location estimation ability of the target for deviateing beam center.Embodiment shown in Fig. 2
In, so that the radar beam of adjacent radar emission partly overlaps, and the region being overlapped is that each radar beam deviates in wave beam
The part of the heart, two neighboring radar detects point target in the range of deviateing each beam center in this way, by deviation
The repetition of beam central region detects, and the detectability to point target can be improved and improve the location estimation energy to point target
Power.
Radar realizes the detection to barrier existing in beam coverage by transmitting radar beam, wherein detection
The barrier arrived is presented in the form of point target.One barrier can be by one or more points target configuration.For example, right
Vehicle in practical application scene, detections of radar to vehicle this barrier be three point targets, wherein front of the car pair
Answer a point target, a corresponding point target among vehicle, the corresponding point target of rear vehicle end.
After the point target that detections of radar arrives, position coordinates of the point target under itself radar fix system can be determined.Radar
Coordinate system is to be set to origin in place with radar, using the direction of radar emission wave beam as radar fix system positive direction of the y-axis, with vertical
Ground level upwardly direction is radar fix system z-axis positive direction, meets the rectangular coordinate system of right-hand screw rule composition.
S102, each position coordinates are transformed under vehicle body unified coordinate system, obtains the vehicle body unified coordinate system
Under point target position coordinates.
The point target position coordinates got are the position coordinates under different radar fix systems, to each detections of radar
To whole point target position coordinates be coordinately transformed, whole point target position coordinates are respectively converted into vehicle body uniform coordinate
Position coordinates under system.Wherein, vehicle body unified coordinate system can be using vehicle rear wheel axis center as origin, with vehicle advance driving direction
It is full using vertical ground level upwardly direction as vehicle body unified coordinate system z-axis positive direction for vehicle body unified coordinate system positive direction of the y-axis
The rectangular coordinate system that sufficient right-hand screw rule is constituted.
Point target position coordinates are coordinately transformed based on formula (1).
In formula (1), (x, y, z) is the position coordinates under vehicle body unified coordinate system, and (x ', y ', z ') is radar fix system
Under position coordinates, (x0,y0,z0) indicate that position coordinates of the radar fix system origin in vehicle body unified coordinate system, T indicate to become
Matrix is changed, the method that transformation matrix T is calculated is described below.
Indicate vehicle body unified coordinate system with o-xyz, indicate radar fix system with o'-x'y'z', o-xyz successively around itself x,
Y, z-axis distinguishes rotated counterclockwise by angle θ1、θ2、θ3It is overlapped, then has with o'-x'y'z' afterwards:
The transformation matrix T being calculated by above-mentioned formula is exactly the change between vehicle body unified coordinate system and radar fix system
Change matrix.
Since the origin of vehicle body unified coordinate system and the origin of radar fix system are different, the coordinate of o'-x'y'z' is former
Coordinate of the point in o-xyz is (x0,y0,z0), then above formula (2) becomes:
After matrix T is calculated, due to coordinate (x of the radar fix system origin in vehicle body unified coordinate system0,y0,z0)
And can be calculated according to radar fix system and vehicle body unified coordinate system, therefore thunder can be completed based on formula (1)
Under up to coordinate system under coordinate to vehicle body unified coordinate system coordinate conversion.
It should be noted that the radar fix system of different radars is different, the transformation matrix T and coordinate being calculated
(x0,y0,z0) be also different.Therefore for different detections of radar to point target position coordinates be coordinately transformed when, need
Using transformation matrix T corresponding with this radar and coordinate (x0,y0,z0)。
S103, according to all point target position coordinates, generate and can travel region.
Based on the point target position coordinates under vehicle body unified coordinate system, point target can be determined apart from vehicle body unified coordinate system
The distance of origin successively determines the distance of whole point targets that each detections of radar arrives relative to vehicle body unified coordinate system origin.
Wherein, the distance according to point target apart from vehicle body unified coordinate system origin may further determine that vehicle can also be along point target institute
In the distance of orientation traveling.Distance according to each point target compared to vehicle body unified coordinate system origin generates and can travel region
Boundary.
From above-mentioned technical proposal it is found that using the detections of radar point of at least two beam position different angles in the present embodiment
Target, since every radar is able to detect the point target in front of radar within the scope of 180 °, at least two beam positions are different
The radar of angle can detecte greater than the point target in 180 ° of angular ranges, get point target detected by each radar certainly
After position coordinates under body radar fix system, each position coordinates are transformed under vehicle body unified coordinate system, obtain the vehicle body
Point target position coordinates under unified coordinate system generate according to all point target position coordinates and can travel region.The present invention
Embodiment realizes the travelable region detection greater than 180 ° of angular ranges, improves and is formulated according to the travelable region detected
Driving Decision-making and road conditions identical property.
The present embodiment also disclose another vehicle can travel region detection method, referring to Fig. 3, the embodiment include with
Lower step:
S201, position coordinates of the point target under itself radar fix system detected by each radar are obtained, wherein described
The number of radar is at least two, the beam position different angle of the different radar emissions.
S202, each position coordinates are transformed under vehicle body unified coordinate system, obtains the vehicle body unified coordinate system
Under point target position coordinates.
The realization side of the implementation of step S201-S202 and step S101-S102 in a upper embodiment in the present embodiment
Formula is similar, and details are not described herein again.
S203, temporarily travelable region is obtained；The angle of coverage in the interim travelable region corresponds to all radars
Beam coverage, the temporarily travelable region is divided by discrete centered on the origin of the vehicle body unified coordinate system
N number of angle-unit, the traveling boundary of N number of angle-unit are setting initial value, and N is positive integer.
Still it is described by taking 4 radars as an example, centered on vehicle body unified coordinate system origin, by the radar of 4 radars
360 ° of regions of wave cover are uniformly discrete to be divided into N number of angle-unit.Certainly, the quantity of radar is not limited to 4, here only
It is to be illustrated by taking 4 radars as an example.
In the present embodiment, need to consider barrier existing for vehicle periphery in practical application scene when the value of N is arranged
The factors such as quantity, the angle measurement accuracy of density and radar, in some cases, vehicle in the value and practical application scene of N
Around existing for the angle measurement accuracy of the quantity of barrier, density and radar be positively correlated.If the value of N is excessive, wave will lead to
Take computing capability；If the value of N is too small, lead to not distinguish influence of the adjacent target to travelable zone boundary.
Optionally, N=96, and then the coverage area of each angle-unit is θ=3.75 °.It is with first angle-unit
Example, the angle of initial position are 0 °, since the coverage area of each angle-unit is 3.75 °, then end of first angle-unit
The angle that stop bit is set is 3.75 °, i.e., the corresponding angle-unit of point target that coverage area is 0 °~3.75 ° is first angle list
Member.
It is 1,2,3 according to N number of angle-unit number is followed successively by clockwise ... ... for the ease of distinguishing N number of angle-unit,
N。
Under original state, the travelable zone boundary D of N number of angle-uniti, i=1 ..., N is setting initial value Rmax,
In, R is determined according to radar maximum detectable range and visual determination boundarymax.Optionally, Rmax=20m.
S204, the oblique distance that point target position coordinates described in k-th correspond to point target is calculated, wherein point target described in k-th
Position coordinates are any one in all point target position coordinates.
The oblique distance of point target is calculated according to point target position coordinates, wherein the oblique distance of point target is that point target is united to vehicle body
The distance of one coordinate origin.
If S205, calculated oblique distance are less than or equal to the setting initial value, point target position described in k-th is sat
It marks corresponding point target and is determined as effective point target.
Otherwise, the value for updating K calculates the oblique distance that another described point target position coordinates corresponds to point target.
Only the oblique distance of point target is less than or equal to RmaxPoint target be just considered effective point target, only to available point mesh
Mark executes subsequent operation.
S206, institute is calculated according to the corresponding relationship between angular coverage and oblique distance, azimuth and default tangential dimension
State the angular coverage of effective point target.
After effective point target has been determined, according to position coordinates of effective point target under vehicle body unified coordinate system, calculating has
Imitate oblique distance, the azimuth of point target.Wherein, the side of point target is calculated while the oblique distance of point target can be calculated in step S204
Parallactic angle.
A kind of implementation is the position coordinates that the position coordinates under vehicle body unified coordinate system are converted to polar coordinate system, by
It is indicated in polar coordinates with an angle and a distance, therefore, is obtaining position coordinates of the point target under polar coordinate system
Afterwards, the angle in the position coordinates under polar coordinate system is the orientation angles of point target, in the position coordinates under polar coordinate system away from
From the oblique distance for point target.
In practical application scene, barrier corresponding to point target is the object with actual size, and is not nothing
Therefore the particle of size directly using point target as the barrier in practical application scene, will lead to travelable zone boundary not
Accurately.
In view of this, default tangential dimension is arranged in the present embodiment.Wherein, default tangential dimension refers in actual scene
Barrier is vertically mapped to the size on radar emission wave beam direction.
Since the default tangential dimension of different barriers is different, it is ideally directed to different point targets, in advance
The default tangential dimension being arranged also is different.But this to will lead to workload huge, therefore, in the present embodiment according to reality
The barrier frequently encountered in the application scenarios of border, such as vehicle, the building of road both sides, the roadblock etc. on road, setting is default to cut
To size.
There is size just because of barrier corresponding to point target, therefore barrier has coverage area.
The angular coverage of point target is calculated based on formula (4).
In formula (4), ρ indicates default tangential dimension, αkIndicate the azimuth of k-th point target, rkIndicate k-th point mesh
Target oblique distance.Optionally, ρ=0.5 meter.
S207, the corresponding angle-unit of the angular coverage of effective point target is determined.
After having divided N number of angle-unit, the angular range of each angle-unit can be determined.According to effective point target
The angular range of angular coverage and each angle-unit can determine that the angular coverage of effective point target is corresponding
Angle-unit.
Illustratively, the range for the angle-unit that number is 1 is 0 °~3.75 °, between two neighboring angle-unit between
Every angle, θ=3.75 °, the range for the angle-unit that number is 2 is 3.75 °~7.5 °, and the range for the angle-unit that number is 3 is
7.5 °~11.25 °, and so on.The angular coverage of one effective point target is 6 °~10 °, it is determined that this available point
Corresponding two angle-units of the angular coverage of target are the angle-unit that number is 2 and the angle list that number is 3 respectively
Member.
S208, update effective point target the corresponding angle-unit of angular coverage traveling boundary；Its
In, the traveling boundary of the corresponding angle-unit of the angular coverage of effective point target is equal to current driving after updating
Smaller value in boundary and calculated oblique distance.
Assuming that determining that the corresponding angle-unit number of the angular coverage of effective point target is i~j, i, j are to be greater than
1, the positive integer less than N, and j > i.So illustrate in the angle-unit of number i~j to exist the corresponding barrier of this effective point target
Hinder object.
According to the oblique distance of point target can know point target in the angle-unit of number i~j apart from the distance of vehicle, this
Distance indicate vehicle can along with the angle-unit of number i~j corresponding at a distance from the accessible traveling in direction, it is also referred to as capable
Sail boundary.
For an angle-unit, there may be multiple effective point targets in this angle-unit, each effectively point target is equal
With an oblique distance.If the oblique distance of each effectively point target is different, then, this is updated using the oblique distance of different effectively point targets
When the traveling boundary of angle-unit, the traveling boundary of this angle-unit should be updated to current driving boundary and calculated oblique distance
In smaller value.
Wherein, current driving boundary can be setting initial value, i.e., there are no the traveling boundary of this updated angle-unit,
Current driving boundary may be the oblique distance of effective point target, i.e., according to the oblique distance of effective point target in this angle-unit
The traveling boundary of this updated angle-unit.
For example, determining that the oblique distance of point target 1 is 1.2 meters to point target 1 when K=1, being less than setting initial value, point target 1
For effective point target, and the angle-unit that 1 reference numeral of point target is 9；The current driving boundary for the angle-unit that number is 9 is
Initial value is set, since the oblique distance of point target 1 is less than setting initial value, by the traveling boundary for the angle-unit that number is 9
1.2 meters are updated to, at this point, the current driving boundary for the angle-unit that number is 9 is 1.2 meters；The value for updating K again, under
One point target is operated, K=2, is determined that the oblique distance of point target 2 is 2 meters to point target 2, is less than setting initial value, point target 2
For effective point target, and the angle-unit that 2 reference numeral of point target is 9；The current driving boundary for the angle-unit that number is 9 is
1.2 meters, since the oblique distance of point target 2 is greater than 1.2 meters, the angle that number is 9 is not updated using the oblique distance of point target 2
The current driving boundary of unit, and the traveling boundary for numbering the angle-unit for being 9 remains as 1.2 meters, at this point, the angle that number is 9
The current driving boundary for spending unit is 1.2 meters.Based on aforesaid way, the corresponding institute of angular coverage of effective point target is updated
State the traveling boundary of angle-unit.
S209, the value for updating K realize the continuous renewal on angle-unit traveling boundary, until using each described
Point target position coordinates complete the update on angle-unit traveling boundary, generate and can travel region.
Abovementioned steps S201- realizes the generation in travelable region to step S209.However, since detections of radar detects model
Even if the target in enclosing generally can not cover all beam coverages and certain angle-units by farther away target coverage
It arrives, but being formed by boundary cannot allow vehicle to pass through, this will cause sharp edges and crosses the appearance of narrow opening, i.e., will cause portion
Subangle unit protrudes from adjacent angular unit and continuous several angle-units form the boundary for not allowing vehicle to pass through.It is whole
For, the travelable zone boundary generated after step S201- to step S209 is not smooth enough.For this purpose, as shown in figure 3,
The embodiment of the present invention can also include step S210 during being embodied.
S210, to traveling boundary be protrude boundary the angle-unit, be based on mean value smoothing algorithm, to protrude boundary into
Row smoothing processing；Wherein, it is angle described in traveling boundary and adjacent two sides that traveling boundary, which is the angle-unit on protrusion boundary,
The difference on the traveling boundary of unit is all larger than the angle-unit of preset threshold；And/or
Determine that the angle-unit that is continuous and not covering effective point target is formed by whether opening width is less than
Opening width threshold value；If the angle-unit for not covering effective point target continuously and be formed by opening width be less than open
Mouthful width threshold value is then based on linear smoothing algorithm, to continuous and do not cover the angle-unit institute shape of effective point target
At opening be smoothed.
The essence for travelling boundary is the discrete letter that discrete angular is formed by after beam coverage is divided by angle-unit
Number.
The present embodiment operates the smoothing processing that spatial domain is carried out to traveling boundary using smoothing processing.
Traveling boundary is smoothed using following at least one mode of operation:
The first: being smoothed the protrusion boundary on traveling boundary.
Since the oblique distance of point target in different angle unit is different, obtained traveling boundary have protrusion boundary and
Recessed boundary.The point target oblique distance of recessed boundary representation depression is small compared to the point target oblique distance of other adjacent positions.If
Recessed boundary is smoothed, so that recessed boundary is smoothened, the point target oblique distance of depression is necessarily caused to become larger, into
And the script point target close apart from vehicle be mistakenly considered to there are also certain distances apart from vehicle.Based on this, only to convex in the present embodiment
Boundary is smoothed out.
Protrusion boundary is determined based on following equation:
H is boundary threshold (i.e. preset threshold), D in formula (5)iFor the traveling boundary of i-th of angle-unit, if i-th
The traveling boundary of angle-unit is greater than the traveling boundary of (i-1)-th angle-unit adjacent with i-th of angle-unit, and i-th
The traveling boundary of angle-unit is greater than the traveling boundary of the i+1 angle-unit adjacent with i-th of angle-unit, then illustrates the
The traveling boundary of i angle-unit is protrusion boundary.H=3 meters in the present embodiment.
Protrusion boundary is smoothed using following equation,
Mean value smoothing processing is carried out to protrusion boundary, the boundary after obtaining smoothing processing.It should be noted that for four
The situation of angle radar, since the angular range of N number of angle-unit covering is 0~360 °, the 1st angle-unit and n-th angle
Unit is end to end, and therefore, when i value is 1 in formula (6), i-1 value is N；When i value is N, i+1 value is 1.
Second: the traveling boundary for being less than opening width threshold value to opening width is smoothed.
There is no the corresponding traveling boundaries of the angle-unit of effective point target may be considered maximum, in the present embodiment
It is defaulted as Rmax。
There is no the traveling boundaries of the angle-unit of effective point target much larger than there are the angle-units of effective point target
Boundary is travelled, thus, there is no regions corresponding to the angle-unit of effective point target, and there are available point mesh compared to adjacent
Region corresponding to target angle-unit can seem an opening.
Effective point target is not present just because of opening, therefore theoretical upper opening should allow the area of vehicle driving
Domain.But in practical application, it is small to may cause opening width there are when available point target in adjacent angle-unit with being open
In the width of vehicle, vehicle cannot pass through this opening.Therefore, this opening does not allow vehicle driving to pass through, and needs to opening
It is smoothed.
It is wide to determine that the angle-unit that is continuous and not covering effective point target is formed by opening based on formula (7)
Whether degree is less than opening width threshold value:
Wherein i, j are respectively that there are the number of the angle-unit of effective point target, θ at opening both endsiFor i-th of angle-unit
Centric angle, θj-1For the centric angle of -1 angle-unit of jth；Di+1For the traveling boundary of i+1 angle-unit, Dj-1
For the traveling boundary of -1 angle-unit of jth；Q is opening width threshold value, generally can be set to body width, in the present embodiment
Q=2.5 meters.
It after meeting above-mentioned condition, is handled by linear smoothing and closes opening, linear smoothing processing is realized using following equation:
L is discrete interval, and value range is integer, and i+1 is initial value, and j-1 is stop value, the value range of i is 1~
The value range of N-2, j are 3~N.
The protrusion boundary on traveling boundary is smoothed and split mouth width if not limiting to execute in the present embodiment
Degree is less than the sequencing that the traveling boundary of opening width threshold value is smoothed, however, it is preferred to which embodiment is to first carry out
The protrusion boundary on traveling boundary is smoothed, then executes the traveling side for being less than opening width threshold value to opening width again
Boundary is smoothed.
In addition, after smoothing processing, though can be to protrusion boundary, and/or cross narrow opening and be removed.But due to vehicle
The boundary of the complexity of ambient enviroment, the travelable region after smoothing processing is typically still scraggly, for this purpose,
In a kind of specific embodiment of the embodiment of the present invention, in order to provide the traveling boundary information for being more suitable for intelligent decision, referring to fig. 2
It is shown, can also include: in the present embodiment
S211, it is based on sliding window mean value smoothing algorithm, default the number of iterations is carried out to the traveling boundary of the angle-unit
Secondary smoothing processing executes the traveling boundary that the angle-unit is updated after secondary smoothing processing every time；Wherein, each angle
It is equal to the traveling boundary travelled after boundary and secondary smoothing processing before secondary smoothing processing after spending the traveling boundary update of unit
In smaller value travel boundary before executing secondary smoothing processing and after the secondary smoothing processing for completing default the number of iterations
Setting initial value is updated to set the traveling boundary of initial value.
Secondary smoothing processing is carried out to traveling boundary based on following equation:
R in formula (9)iFor the traveling boundary after i-th of angle-unit smoothing processing, i, j are the number of angle-unit, 2L
+ 1 is sliding window length, DjFor the traveling boundary before j-th of angle-unit smoothing processing.L value is 2 in the present embodiment, that is, uses 5
Point sliding window mean value smoothing algorithm is smoothed.
Assuming that the Gaussian noise sequence generated at random is the traveling boundary in the present embodiment, as shown in solid in Fig. 4 (a),
For the traveling boundary before smoothing processing, i.e. primitive curve is defined as S0, is based on 5 sliding window mean value smoothing algorithms, i.e. L=2, to S0
It is smoothed, obtains 5 sliding window mean value smoothings treated that curve is defined as S1 as shown in dotted line in Fig. 4 (a).It is based on
Fig. 4 (a) is it is recognized that while S1 curve is whole smooth compared with S0, but S1 > S0 at many positions.For travelling boundary, S1 is greater than S0
The oblique distance of effectively point target is less than after smoothing processing the effectively oblique distance of point target before expression smoothing processing, i.e., expands after smoothing processing
Distance of effective point target compared to vehicle.Cause to be mistakenly considered apart from vehicle also apart from the closer effective point target of vehicle
Certain distance, and then vehicle is easy to cause to collide with effective point target.In order to avoid the generation of this case, for each
For angle-unit, it is smooth whether the traveling boundary after needing to judge the angle-unit smoothing processing is less than the angle-unit
Traveling boundary before processing.If judging, the traveling boundary after the angle-unit smoothing processing is flat less than or equal to the angle-unit
Traveling boundary before sliding processing, then using the traveling boundary after the angle-unit smoothing processing as the traveling of the angle-unit
Boundary.Otherwise, still using the traveling boundary before the angle-unit smoothing processing as the traveling boundary of the angle-unit.
I.e. S2 curve is the smaller value in S0 curve and S1 curve, and S2 is final traveling boundary.As shown in Fig. 4 (b),
Minimum point and neighbouring point are remained, ensure that operative constraint of the oblique distance of effective point target to traveling boundary.
After S2 is calculated, continue to execute be based on sliding window mean value smoothing algorithm again, to the row using S2 as input
It sails boundary and carries out secondary smoothing processing, until completing the secondary smoothing processing of default the number of iterations, obtain curve S3.Such as Fig. 4 (c)
Shown in culminant star line, the curve obtained after the secondary smoothing processing to complete 2 iteration completes the secondary smoothing processing of 2 iteration
The curve opposing curves S2 obtained afterwards is more smooth.In practical applications, default the number of iterations can be selected according to demand,
Sliding window length can also be selected according to actual needs.And it can choose different sliding windows when executing smoothing processing operation every time
Length is smoothed.It is, of course, also possible to other smoothing algorithms be selected according to demand, if moving-polynomial smoother algorithm is to traveling side
Boundary carries out secondary smoothing processing.
It should be noted that it is silent that there is no the traveling boundaries of the angle-unit of effective point target for travelling boundary
Think initial value, i.e. Rmax.At this point, having carried out smoothing processing by the opening of condition to being unsatisfactory for vehicle, therefore, smoothly
To be open be the opening that can satisfy vehicle by condition present in treated traveling boundary, then is executed based on sliding window mean value
Smoothing algorithm when carrying out secondary smoothing processing to the traveling boundary, needs to retain the opening that can satisfy vehicle by condition,
Therefore, after the secondary smoothing processing for completing default the number of iterations, traveling boundary is to set just before executing secondary smoothing processing
The traveling boundary of initial value reverts to setting initial value.
It is shown in Figure 5, to carry out default change based on sliding window mean value smoothing algorithm again after smoothing processing in the present embodiment
After the secondary smoothing processing of generation number, the effect picture on obtained traveling boundary.
Dashed curve is the traveling boundary actually obtained in Fig. 5, and curve where circle is to the traveling boundary actually obtained
Protrusion boundary be smoothed after traveling boundary, curve where box is to be less than to curve split shed width where circle
The traveling boundary of opening width threshold value be smoothed after traveling boundary, curve where solid line is based on sliding window mean value smoothing
Algorithm curve where box is smoothed after traveling boundary.
Traveling boundary shown in block curve in Fig. 5 is indicated in the form of polar, with the row without smoothing processing
Boundary is sailed to be compared.As shown in fig. 6, box indicates the point target that the radar detection of left-front corner is arrived, circle indicates right anterior angle
The point target that radar detection is arrived, triangle indicate the point target that the radar detection of left rear corner is arrived, and the star-like radar for indicating right relief angle is visited
The point target measured, curve shown in dotted line are the traveling boundary without smoothing processing, and curve shown in solid is in the present embodiment
Traveling boundary after being smoothed, the intermediate blank region that traveling boundary surrounds, which is that vehicle is pratical and feasible, sails region.By
Fig. 6, which can be seen that although vehicle that the traveling boundary in the present embodiment after smoothing processing is determined, can travel region area
Reduce, but the intransitable region of vehicle removed, only retain vehicle can by region so that the vehicle determined
The region that travelable region and vehicle can travel is closer, and practicability is stronger.
In other embodiments, after executing above-mentioned spatial domain smoothing processing to traveling boundary, further include to traveling boundary into
Row time domain smoothing processing；For each angle-unit, obtain in the current detection period traveling boundary of the angle-unit and on
The traveling boundary of the angle-unit in one detection cycle, according to the traveling boundary in the angle-unit current detection period and the angle
The traveling boundary of a detection cycle on unit, weighted calculation obtain the traveling boundary of the angle-unit, update the angle-unit and exist
The traveling boundary in current detection period.After carrying out time domain smoothing processing, it can further improve the extraction effect on traveling boundary.
It is default tangential by being arranged from above-mentioned technical proposal it is found that during generating travelable region in the present embodiment
Size avoids the point target that will test as dimensionless particle, leads to the problem of the travelable region inaccuracy generated
It generates.And point target covers multiple angle-units, so that between the angle-unit that point target similar in position is covered each by mutually
Overlapping, and then the travelable zone boundary of angle-unit also has plyability, so that the travelable zone boundary generated is smooth, mentions
High practicability.For example, regard point target as particle completely, distribution of the point target in radar beam coverage area just as
The mildew being distributed on one cake, only removes each mildew, although remaining cake area is very big, shape is mixed and disorderly, and if will
Mildew neighboring area also removes, then remaining pieshape can be smooth.It generates after can travel zone boundary, also to travelable regional edge
Boundary carries out spatial domain and time domain smoothing processing, further improves the practical of the travelable region determined according to traveling boundary
Property.
It is different from above-mentioned steps S203-S209 and generates the mode that can travel region, can also be generated using following manner can
Running region:
S301, temporarily travelable region is obtained；The angle of coverage in the interim travelable region corresponds to all radars
Beam coverage, the temporarily travelable region is divided by discrete centered on the origin of the vehicle body unified coordinate system
N number of angle-unit, the traveling boundary of N number of angle-unit are setting initial value, and N is positive integer；
The implementation of step S301 is similar with the implementation of step S203, and details are not described herein again.
S302, the oblique distance that each point target position coordinates correspond to point target is calculated；
Calculate the mode class that the oblique distance of k-th point target is calculated in the mode and step S204 of the oblique distance of each point target
Seemingly, details are not described herein again.
S303, the point target that oblique distance is less than or equal to the setting initial value is determined as effective point target；
Determine that the mode of effective point target is similar with the implementation of effective point target determining in step S205, herein no longer
It repeats.
S304, it is calculated often according to the corresponding relationship between angular coverage and oblique distance, azimuth and default tangential dimension
The angular coverage of a effective point target；
The implementation of step S304 is similar with the implementation of step S206, and details are not described herein again.
S305, each effective point target is determined according to the angular coverage of each effective point target corresponding to
The angle-unit；
Determine that the implementation and step S207 of each effectively corresponding angle-unit of angular coverage of point target are true
The mode of the corresponding angle-unit of angular coverage of a fixed effective point target is similar, and details are not described herein again.
S306, the traveling boundary for updating N number of angle-unit, generating can travel region；Wherein, each angle list
The traveling boundary of member update after equal to the setting initial value, calculate and have in the oblique distance of corresponding relationship with the angle-unit
Minimum value, generate can travel region.
For an angle-unit, it is determined that all effective point target and each available point in this angle-unit
After the oblique distance of target, the minimum value of the oblique distance of effective point target in the angle-unit is calculated, by available point mesh in the angle-unit
The minimum value of target oblique distance is updated to the traveling boundary of the angle-unit.Until completing to angle list each in N number of angle-unit
The update on the traveling boundary of member, generates and can travel region.
In other embodiments, during generating travelable region, it can not execute and predefine effective point target
The step of, generate the mode that can travel region are as follows:
S401, temporarily travelable region is obtained；The angle of coverage in the interim travelable region corresponds to all radars
Beam coverage, the temporarily travelable region is divided by discrete centered on the origin of the vehicle body unified coordinate system
N number of angle-unit, the traveling boundary of N number of angle-unit are setting initial value, and N is positive integer；
S402, oblique distance and azimuth that each point target position coordinates correspond to point target are calculated；
S403, it is calculated often according to the corresponding relationship between angular coverage and oblique distance, azimuth and default tangential dimension
The angular coverage of a point target；
S404, according to the angular coverage of each point target determine each point target corresponding to the angle
Spend unit；
S405, the traveling boundary for updating N number of angle-unit, generating can travel region；Wherein, each angle list
The traveling boundary of member update after equal to the setting initial value, calculate and have in the oblique distance of corresponding relationship with the angle-unit
Minimum value, generate can travel region.
Corresponding above-mentioned vehicle can travel the detection method in region, present embodiments provide a kind of inspection in travelable region of vehicle
Device is surveyed, the structural schematic diagram of the detection device please refers to shown in Fig. 7, and detection device includes: in the present embodiment
Obtain module 701, conversion module 702 and generation module 703；
Module 701 is obtained, is sat for obtaining position of the point target detected by each radar under itself radar fix system
Mark, wherein the number of the radar is at least two, the beam position different angle of the different radar emissions；
Conversion module 702 obtains the vehicle body for transforming to each position coordinates under vehicle body unified coordinate system
Point target position coordinates under unified coordinate system；
Generation module 703, for generating and can travel region according to all point target position coordinates.
From above-mentioned technical proposal it is found that using the detections of radar point of at least two beam position different angles in the present embodiment
Target, since every radar is able to detect the point target in front of radar within the scope of 180 °, at least two beam positions are different
The radar of angle can detecte greater than the point target in 180 ° of angular ranges, get point target detected by each radar certainly
After position coordinates under body radar fix system, each position coordinates are transformed under vehicle body unified coordinate system, obtain the vehicle body
Point target position coordinates under unified coordinate system generate according to all point target position coordinates and can travel region.The present invention
Embodiment realizes the travelable region detection greater than 180 ° of angular ranges, improves and is formulated according to the travelable region detected
Driving Decision-making and road conditions identical property.
Optionally, in the present embodiment, generation module 703 includes:
Acquisition submodule, the first computational submodule, first determine that submodule, the second computational submodule, second determine submodule
Block and update submodule；
The acquisition submodule, for obtaining temporarily travelable region；The angle of coverage pair in the interim travelable region
Should all radars beam coverage, the temporarily travelable region is with the origin of the vehicle body unified coordinate system
Center is discrete to be divided into N number of angle-unit, and the traveling boundary of N number of angle-unit is setting initial value, and N is positive integer；
First computational submodule corresponds to the oblique distance of point target for calculating point target position coordinates described in k-th,
In, point target position coordinates described in k-th are any one in all point target position coordinates；
Described first determines submodule, if being less than or equal to for the calculated oblique distance of the first computation subunit described
Initial value is set, then point target position coordinates described in k-th is corresponded into point target and is determined as effective point target；Otherwise, update K's
Value calls first computation subunit, calculates the oblique distance that another described point target position coordinates corresponds to point target；
Second computational submodule, for according to angular coverage and oblique distance, azimuth and default tangential dimension it
Between corresponding relationship calculate the angular coverage of effective point target；
Described second determines submodule, the corresponding angle of angular coverage for determining effective point target
Unit；
The update submodule, the corresponding angle-unit of angular coverage for updating effective point target
Traveling boundary；Wherein, the traveling boundary of the corresponding angle-unit of the angular coverage of effective point target updates
The smaller value being equal in current driving boundary and calculated oblique distance afterwards；The value for updating K realizes angle-unit traveling side
The continuous renewal on boundary, until the update on angle-unit traveling boundary is completed using each point target position coordinates, it is raw
At travelable region.
It is shown in Figure 8, optionally, in the present embodiment detection device can also include: smoothing module 801, it is secondary
Smoothing module 802 and time domain smoothing module 803；
Smoothing module 801 is calculated for being the angle-unit for protruding boundary to traveling boundary based on mean value smoothing
Method is smoothed protrusion boundary；Wherein, it is traveling boundary and phase that traveling boundary, which is the angle-unit on protrusion boundary,
The difference on the traveling boundary of angle-unit described in adjacent two sides is all larger than the angle-unit of preset threshold；
And/or
Determine that the angle-unit that is continuous and not covering effective point target is formed by whether opening width is less than
Opening width threshold value；If the angle-unit for not covering effective point target continuously and be formed by opening width be less than open
Mouthful width threshold value is then based on linear smoothing algorithm, to continuous and do not cover the angle-unit institute shape of effective point target
At opening be smoothed.
Secondary smoothing module 802, for being based on sliding window mean value smoothing algorithm, to the traveling boundary of the angle-unit
The secondary smoothing processing for carrying out default the number of iterations executes the traveling side that the angle-unit is updated after secondary smoothing processing every time
Boundary；Wherein, it is put down equal to the traveling boundary before secondary smoothing processing with secondary after the traveling boundary of each angle-unit updates
Smaller value in sliding treated traveling boundary, and after the secondary smoothing processing for completing default the number of iterations, it will execute secondary
The traveling boundary that boundary is setting initial value is travelled before smoothing processing is updated to setting initial value.
Time domain smoothing module 803, for being directed to each angle-unit, based on the angle in the current detection period
Traveling boundary on the traveling boundary of unit and the angle-unit in a detection cycle carries out the traveling boundary of the angle-unit
Time domain smoothing processing.
In practical applications, the detection device that vehicle can travel region in the present embodiment can select radar fusion to handle
Device.It is shown in Figure 9, it is radar fusion processor workflow schematic diagram.Receive the point target that at least two detections of radar arrive
Position coordinates, relative positional relationship of the radar fusion processor based on every radar carry out the point target position coordinates received
After processing, it can determine that vehicle can travel region, and obtain Driving Decision-making in conjunction with current vehicle driving state, output drives and determines
Plan to suggestion device directly to provide drive advice for driver, or output to processing capacity compared to radar fusion processor
Stronger comprehensive fusion treatment module.
It is default tangential by being arranged from above-mentioned technical proposal it is found that during generating travelable region in the present embodiment
Size avoids the point target that will test as dimensionless particle, leads to the problem of the travelable region inaccuracy generated
It generates.And point target covers multiple angle-units, so that between the angle-unit that point target similar in position is covered each by mutually
Overlapping, and then the travelable zone boundary of angle-unit also has plyability, so that the travelable zone boundary generated is smooth, mentions
High practicability.For example, regard point target as particle completely, distribution of the point target in radar beam coverage area just as
The mildew being distributed on one cake, only removes each mildew, although remaining cake area is very big, shape is mixed and disorderly, and if will
Mildew neighboring area also removes, then remaining pieshape can be smooth.It generates after can travel zone boundary, also to travelable regional edge
Boundary carries out spatial domain and time domain smoothing processing, further improves the practical of the travelable region determined according to traveling boundary
Property.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.The device provided for embodiment
For, since it is corresponding with the method that embodiment provides, so being described relatively simple, related place is said referring to method part
It is bright.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or equipment for including a series of elements not only includes those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or equipment institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including institute
State in the process, method, article or equipment of element that there is also other identical elements.
The foregoing description of the disclosed embodiments can be realized those skilled in the art or using the present invention.To this
A variety of modifications of a little embodiments will be apparent for a person skilled in the art, and the general principles defined herein can
Without departing from the spirit or scope of the present invention, to realize in other embodiments.Therefore, the present invention will not be limited
It is formed on the embodiments shown herein, and is to fit to consistent with the principles and novel features disclosed in this article widest
Range.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. the detection method that a kind of vehicle can travel region characterized by comprising
Obtain position coordinates of the point target detected by each radar under itself radar fix system, wherein the number of the radar
Mesh is at least two, the beam position different angle of the different radar emissions；
Each position coordinates are transformed under vehicle body unified coordinate system, the point target under the vehicle body unified coordinate system is obtained
Position coordinates；
According to all point target position coordinates, generates and can travel region.
2. detection method according to claim 1, which is characterized in that according to all point target position coordinates, generate
It can travel region, comprising:
Obtain temporarily travelable region；The angle of coverage in the interim travelable region corresponds to the wave cover of all radars
Range, the temporarily travelable region are divided into N number of angle list by discrete centered on the origin of the vehicle body unified coordinate system
Member, the traveling boundary of N number of angle-unit are setting initial value, and N is positive integer；
Calculate the oblique distance that point target position coordinates described in k-th correspond to point target, wherein point target position coordinates described in k-th
For any one in all point target position coordinates；
If calculated oblique distance is less than or equal to the setting initial value, by point target position coordinates corresponding points described in k-th
Target is determined as effective point target, otherwise, updates the value of K, calculates another described point target position coordinates corresponding points mesh
Target oblique distance；
The available point mesh is calculated according to the corresponding relationship between angular coverage and oblique distance, azimuth and default tangential dimension
Target angular coverage；
Determine the corresponding angle-unit of the angular coverage of effective point target；
Update the traveling boundary of the corresponding angle-unit of angular coverage of effective point target；Wherein, described to have
It is equal to current driving boundary and meter after imitating the traveling boundary update of the corresponding angle-unit of angular coverage of point target
Smaller value in the oblique distance of calculating；
The value for updating K, realizes the continuous renewal on angle-unit traveling boundary, until utilizing each point target position
Coordinate completes the update on angle-unit traveling boundary, generates and can travel region.
3. detection method according to claim 2, which is characterized in that generate after can travel region, further includes:
It is the angle-unit for protruding boundary to traveling boundary, is based on mean value smoothing algorithm, protrusion boundary is smoothly located
Reason；Wherein, it is the row for travelling angle-unit described in boundary and adjacent two sides that traveling boundary, which is the angle-unit on protrusion boundary,
The difference for sailing boundary is all larger than the angle-unit of preset threshold；
And/or
Determine that the angle-unit that is continuous and not covering effective point target is formed by whether opening width is less than opening
Width threshold value；If the angle-unit for not covering effective point target continuously and, which is formed by opening width, is less than opening width
Threshold value is spent, then is based on linear smoothing algorithm, to continuous and do not cover the angle-unit of effective point target and be formed by
Opening is smoothed.
4. detection method according to claim 3, which is characterized in that after smoothing processing, further includes:
Based on sliding window mean value smoothing algorithm, the secondary smooth place of default the number of iterations is carried out to the traveling boundary of the angle-unit
Reason executes the traveling boundary that the angle-unit is updated after secondary smoothing processing every time；Wherein, the row of each angle-unit
The smaller value in the traveling boundary before being equal to secondary smoothing processing after boundary updates and the traveling boundary after secondary smoothing processing is sailed,
And after the secondary smoothing processing for completing default the number of iterations, traveling boundary is setting initial value before executing secondary smoothing processing
Traveling boundary be updated to setting initial value.
5. detection method according to claim 4, which is characterized in that after secondary smoothing processing, further includes:
For each angle-unit, on traveling boundary and the angle-unit based on the angle-unit in the current detection period
Traveling boundary in one detection cycle carries out time domain smoothing processing to the traveling boundary of the angle-unit.
6. the detection device that a kind of vehicle can travel region characterized by comprising
Module is obtained, for obtaining position coordinates of the point target detected by each radar under itself radar fix system, wherein
The number of the radar is at least two, the beam position different angle of the different radar emissions；
Conversion module obtains the unified seat of the vehicle body for transforming to each position coordinates under vehicle body unified coordinate system
Point target position coordinates under mark system；
Generation module, for generating and can travel region according to all point target position coordinates.
7. detection device according to claim 6, which is characterized in that the generation module includes:
Acquisition submodule, for obtaining temporarily travelable region；The angle of coverage in the interim travelable region corresponds to all institutes
The beam coverage of radar is stated, the temporarily travelable region is by discrete centered on the origin of the vehicle body unified coordinate system
It is divided into N number of angle-unit, the traveling boundary of N number of angle-unit is setting initial value, and N is positive integer；
First computational submodule corresponds to the oblique distance of point target for calculating point target position coordinates described in k-th, wherein k-th
The point target position coordinates are any one in all point target position coordinates；
First determines submodule, if it is initial to be less than or equal to the setting for the calculated oblique distance of the first computation subunit
Value, then correspond to point target for point target position coordinates described in k-th and be determined as effective point target；Otherwise, the value of K is updated, is adjusted
With first computation subunit, the oblique distance that another described point target position coordinates corresponds to point target is calculated；
Second computational submodule, for according to corresponding between angular coverage and oblique distance, azimuth and default tangential dimension
Relationship calculates the angular coverage of effective point target；
Second determines submodule, the corresponding angle-unit of angular coverage for determining effective point target；
Update submodule, the traveling side of the corresponding angle-unit of angular coverage for updating effective point target
Boundary；Wherein, it is equal to after the traveling boundary of the corresponding angle-unit of the angular coverage of effective point target updates and works as
Smaller value in preceding traveling boundary and calculated oblique distance；The value for updating K realizes the continuous of angle-unit traveling boundary
It updates, until completing the update on angle-unit traveling boundary using each point target position coordinates, generating be can travel
Region.
8. detection device according to claim 7, which is characterized in that further include:
Smoothing module is based on mean value smoothing algorithm, to convex for being the angle-unit for protruding boundary to traveling boundary
Boundary is smoothed out；Wherein, it is traveling boundary and adjacent two sides that traveling boundary, which is the angle-unit on protrusion boundary,
The difference on the traveling boundary of the angle-unit is all larger than the angle-unit of preset threshold；
And/or
Determine that the angle-unit that is continuous and not covering effective point target is formed by whether opening width is less than opening
Width threshold value；If the angle-unit for not covering effective point target continuously and, which is formed by opening width, is less than opening width
Threshold value is spent, then is based on linear smoothing algorithm, to continuous and do not cover the angle-unit of effective point target and be formed by
Opening is smoothed.
9. detection device according to claim 8, which is characterized in that further include:
Secondary smoothing module carries out the traveling boundary of the angle-unit pre- for being based on sliding window mean value smoothing algorithm
If the secondary smoothing processing of the number of iterations, the traveling boundary that the angle-unit is updated after secondary smoothing processing is executed every time；Its
In, traveling boundary and secondary smoothing processing before secondary smoothing processing is equal to after the traveling boundary update of each angle-unit
The smaller value in traveling boundary afterwards, and after the secondary smoothing processing for completing default the number of iterations, secondary smooth place will be executed
Traveling boundary is that the traveling boundary of setting initial value is updated to setting initial value before reason.
10. detection device according to claim 9, which is characterized in that further include:
Time domain smoothing module, for being directed to each angle-unit, based on the angle-unit in the current detection period
The traveling boundary in boundary and the angle-unit in a detection cycle is travelled, it is flat to carry out time domain to the traveling boundary of the angle-unit
Sliding processing.
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