CN109581380A - Vehicle location detection method, device and computer equipment based on radar - Google Patents
Vehicle location detection method, device and computer equipment based on radar Download PDFInfo
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- CN109581380A CN109581380A CN201811630335.6A CN201811630335A CN109581380A CN 109581380 A CN109581380 A CN 109581380A CN 201811630335 A CN201811630335 A CN 201811630335A CN 109581380 A CN109581380 A CN 109581380A
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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
- 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
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/415—Identification of targets based on measurements of movement associated with the target
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The present invention proposes a kind of vehicle location detection method based on radar, device and computer equipment, wherein, method includes: the detection position of the multiple profile points detected according to the second radar at the first moment, and multiple profile points are in the home position at the second moment, it determines from the second moment to the displacement of profile points multiple the first moment, according to the movement speed for the test point that the first detections of radar arrives, prediction is at the second moment to the displacement of test point between the first moment, according to the displacement of test point, it is determined as datum mark with the profile point of test point displacement field match for being displaced in multiple profile points, and according to multiple profile points in the home position at the second moment, multiple profile points are obtained in the predicted position at the first moment, realize the Accurate Prediction to Obstacle Position and shape, operand is reduced simultaneously, solution needs pair in the prior art Barrier establishes the observation model of duplication, cannot achieve the accurate observation to barrier shape, with the biggish technical problem of hour operation quantity.
Description
Technical field
The present invention relates to Vehicular automatic driving technical field more particularly to a kind of vehicle location detection sides based on radar
Method, device and computer equipment.
Background technique
In recent years, automatic Pilot technology was quickly grown, in order to realize that the automatic Pilot of vehicle, vehicle need to obtain 360 degree
The perception information of panoramic view barrier, so that automated driving system is usually provided with multiple radars, these radars are respectively set
In vehicle body different location, wherein part radar is used to detect the movement speed of barrier, and other part radar is for detecting obstacle
Object profile realizes the automatic Pilot of vehicle to detect from multiple observation angles and multiple measurement dimensions to barrier, protects
Hinder the operational safety of vehicle.
Due to reasons such as multiple radar installation sites differences and detection time interval differences, multiple detections of radar are to together
Often nonsynchronous at the time of one barrier, in order to obtain the detection information of barrier in real time, the method generallyd use is root
Carry out Complex Modeling according to detection information, obtain Disorder Model, when a detections of radar is to barrier, to barrier model into
Row updates, to realize real-time observation and identification to barrier.It finds in actual use, what this observation model was predicted
The profile accuracy of barrier is poor, meanwhile, algorithm is complicated, and operand is larger.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.
For this purpose, the first purpose of this invention is to propose a kind of vehicle location detection method based on radar, by setting
Set characteristic different the first radar and the second radar, the movement speed based on the single test point that the first detections of radar arrives, prediction
The displacement of single test point, according to the displacement of single test point, by the second detections of radar to multiple profile points in displacement with it is single
The test point of a test point displacement field match is determined as datum mark, and in turn, the position of multiple profile points is predicted in the displacement based on datum mark
It sets, realizes the Accurate Prediction to Obstacle Position and shape, while reducing operand.
Second object of the present invention is to propose a kind of apparatus for detecting position of vehicle based on radar.
Third object of the present invention is to propose a kind of computer equipment.
Fourth object of the present invention is to propose a kind of non-transitorycomputer readable storage medium.
In order to achieve the above object, first aspect present invention embodiment proposes a kind of vehicle location detection side based on radar
Method, wherein radar at least two carries out the first radar of movement speed detection including the single test point to vehicle, and
Multiple profile points of the vehicle are carried out with the second radar of position detection, method includes:
The detection position of the multiple profile points detected according to second radar at the first moment, and according to described more
A profile point determines in the home position at the second moment from second moment to the multiple profile first moment
The displacement of point；Wherein, second moment is earlier than first moment；
According to the movement speed for the test point that first detections of radar arrives, prediction is at second moment described in
The displacement of the test point between first moment；
Datum mark is determined from the multiple profile point according to the displacement of the test point；Wherein, the datum mark
The displacement field match of displacement and the test point；
According to the displacement of the datum mark, and according to the multiple profile point in the home position at second moment,
The multiple profile point is obtained in the predicted position at first moment.
In order to achieve the above object, second aspect of the present invention embodiment proposes a kind of vehicle location detection dress based on radar
It sets, wherein radar at least two carries out the first radar of movement speed detection including the single test point to vehicle, and
Multiple profile points of the vehicle are carried out with the second radar of position detection, described device includes:
First displacement module, the check bit of multiple profile points for being detected according to second radar at the first moment
It sets, and according to the multiple profile point in the home position at the second moment, when determining from second moment to described first
The displacement of the multiple profile point between quarter；Wherein, second moment is earlier than first moment；
Second displacement module, the movement speed of the test point for being arrived according to first detections of radar, prediction exist
Displacement of second moment to the test point between first moment；
First determining module determines datum mark from the multiple profile point for the displacement according to the test point；
Wherein, the displacement of the datum mark and the displacement field match of the test point；
First prediction module, for the displacement according to the datum mark, and according to the multiple profile point described
The home position at two moment obtains the multiple profile point in the predicted position at first moment.
To achieve the goals above, third aspect present invention embodiment proposes a kind of computer equipment, including memory,
Processor and storage on a memory and the computer program that can run on a processor, the processor execution described program
When, realize the vehicle location detection method based on radar as described in relation to the first aspect.
To achieve the goals above, fourth aspect present invention embodiment proposes a kind of computer-readable storage of non-transitory
Medium is stored thereon with computer program, realized when which is executed by processor as described in relation to the first aspect based on radar
Vehicle location detection method.
Technical solution provided by the invention may include it is following the utility model has the advantages that
The detection position of the multiple profile points detected according to the second radar at the first moment, and according to multiple profile points
In the home position at the second moment, determine from the second moment to the displacement of profile points multiple the first moment, wherein when second
It carves earlier than the first moment, according to the movement speed for the test point that the first detections of radar arrives, predicts at the second moment to the first moment
Between test point displacement, datum mark is determined from multiple profile points according to the displacement of test point, wherein the displacement of datum mark
With the displacement field match of test point, obtained according to the displacement of datum mark, and according to multiple profile points in the home position at the second moment
Predicted position to multiple profile points at the first moment, by different the first radar and the second radar of setting characteristic, based on the
The movement speed for the single test point that one detections of radar arrives, predicts the displacement of single test point, according to the displacement of single test point,
By the second detections of radar to multiple profile points in displacement with the test point of single test point displacement field match be determined as datum mark, into
And the displacement based on datum mark, it predicts the position of multiple profile points, realizes the Accurate Prediction to Obstacle Position and shape,
Operand is reduced simultaneously.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 is a kind of flow diagram of the vehicle location detection method based on radar provided by the embodiment of the present invention；
Fig. 2 is the appearance schematic diagram that multiple profile points of detections of radar provided in an embodiment of the present invention determine；
Fig. 3 is the process signal of vehicle location detection method of the another kind based on radar provided by the embodiment of the present invention
Figure；
Fig. 4 is the process signal of another vehicle location detection method based on radar provided by the embodiment of the present invention
Figure；
Fig. 5 is the process signal of another vehicle location detection method based on radar provided by the embodiment of the present invention
Figure；
Fig. 6 is a kind of structural schematic diagram of the apparatus for detecting position of vehicle based on radar provided in an embodiment of the present invention；With
And
Fig. 7 shows the block diagram for being suitable for the exemplary computer device for being used to realize the application embodiment.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
Below with reference to the accompanying drawings vehicle location detection method, device and the computer based on radar of the embodiment of the present invention are described
Equipment.
Fig. 1 is a kind of flow diagram of the vehicle location detection method based on radar provided by the embodiment of the present invention.
As shown in Figure 1, method includes the following steps:
Step 101, the detection position of the multiple profile points detected according to the second radar at the first moment, and according to more
A profile point determines in the home position at the second moment from the second moment to the displacement of profile points multiple the first moment.
Radar in the embodiment of the present invention, is at least two, carries out movement speed inspection including the single test point to vehicle
The first radar surveyed, and multiple profile points of vehicle are carried out with the second radar of position detection, wherein the first radar is setting
In the forward or aft to radar, for example, millimetre-wave radar etc. of medium and long distance, detection of first radar to barriers such as vehicles
It is a point target, that is, single monitoring point.Second radar can be that lateral radar is arranged in, for example, the millimeter of wide-angle
Wave radar etc., what the second radar obtained the detection of vehicle is multiple profile points, and multiple profile points enclose to obtain frame, according to for
The frame what is obtained determines the shape of barrier.
Wherein, the second moment is earlier than the first moment.When getting multiple profiles that the second detections of radar arrives at the first moment
When the detection position of point, at the second moment before the first moment, what may be got is the detection information of the first radar, can also
What can be got is the detection information of the second radar, according to the detection information for belonging to different radars got, carries out information and melts
It closes, determines multiple profile points in the home position at the second moment and the side in the home position of the relatively multiple profile points of test point
Rule is different.To can be discussed in detail in this following embodiment.
Step 102, the movement speed of the test point arrived according to the first detections of radar was predicted at the second moment to the first moment
Between test point displacement.
In one embodiment of the invention, the second radar is also used to the movement speed of inspection center's point, wherein central point
Positioned at the center of multiple profile points.
Specifically, the movement speed of the central point the second radar detected at the first moment, with the first radar in distance
The movement speed for the test point that the nearest moment at the first moment detects is weighted, and obtains for the second moment between the first moment
The movement speed of test point, according to the second moment to the movement speed of test point between the first moment, prediction is arrived at the second moment
The displacement of test point between first moment.
Optionally, the first detections of radar to the corresponding weight of movement speed be greater than the movement speed that arrives of the second detections of radar
Corresponding weight.
It should be noted that since the first radar and the second radar are independent from each other radar, the first radar and the second thunder
It may not be synchronous up to the period for obtaining detection data, that is to say, that the second radar detects central point at the first moment
When movement speed, the first radar not necessarily detects at the first moment and obtains the movement speed of test point, then does not have when at the first moment
When having the movement speed for detecting test point, then by the mobile speed of the test point detected at the time of the first moment of distance is nearest
The shifting for the central point that the movement speed and the second radar for spending as the first detections of radar the test point arrived detected at the first moment
Dynamic speed is weighted, determine the second moment to test point between the first moment movement speed.
Step 103, datum mark is determined from multiple profile points according to the displacement of test point, wherein the displacement of datum mark
With the displacement field match of test point.
Specifically, according to the displacement at the second moment of prediction to test point between the first moment, and according to determining
The displacement of two moment to profile points multiple between the first moment will be displaced the displacement field match with test point from multiple profile points
Profile point be determined as datum mark.
It should be noted that the position for multiple profile points that the second detections of radar arrives, if multiple profile points can't not be always
When in the detection range of present second radar, for example, fringe region of some profile points just at the second detections of radar range,
Then the profile point in the second detections of radar volume edges is then the profile point of identification inaccuracy, however, the second detections of radar arrives
Multiple profile points at least one point be relatively accurate.And the first detections of radar to the speed of test point be relatively accurate
, so that the displacement of the second moment of the prediction of speed based on test point to test point between the first moment is then more accurate, because
This, is determined as datum mark with the profile point of the displacement field match of test point for being displaced in multiple profile points, to realize to multiple
Location information determines the determination of accurate datum mark in profile point.
Step 104, it according to the displacement of datum mark, and is obtained in the home position at the second moment according to multiple profile points
Predicted position of multiple profile points at the first moment.
Specifically, since vehicle is an entirety, datum mark is multiple wheels that the second radar detects vehicle
One in exterior feature point, the displacement of multiple profile points can regard that the displacement with datum mark is identical as on vehicle, when according to second
It carves to the displacement of datum mark between the first moment, and according to multiple profile points in the home position at the second moment, it is available
Multiple profile points realize the displacement based on determining datum mark to other multiple profile points in the predicted position at the first moment
Position redefines, and improves the accuracy to multiple profile point position predictions, realizes to the corresponding barrier of multiple profile points
Hinder reevaluating for the shape of object.
Fig. 2 is the appearance schematic diagram that multiple profile points of detections of radar provided in an embodiment of the present invention determine, such as Fig. 2 institute
Show, solid box therein is the frame that the profile point at A point and other three angles encloses, and wherein A point is located at the detection of the second radar
Fringe region, in vehicle moving process, the corresponding profile point of A point is not that can detect always, in other words every time inspection
The corresponding profile point of A point measured is variation, therefore, the displacement of A point and the displacement of test point be not then it is matched, A point is not
It is the point that can persistently observe, so that needs from the point at other 3 angles in solid box, find out the displacement with test point most
Close profile point carries out position prediction according to the displacement of test point again as datum mark, and to the profile point comprising A point,
To redefine the position of multiple profile points comprising A point, and the shape of the barrier enclosed, wherein the dotted line on top
Frame be include A point multiple profile point positions predict again after, the shape of the vehicle barrier of update improves barrier
The accuracy that shape determines.
In the vehicle location detection method based on radar of the embodiment of the present invention, detected according to the second radar at the first moment
The detection positions of the multiple profile points arrived and multiple profile points in the home position at the second moment, determine from the second moment to
The displacement of multiple profile points between first moment is predicted according to the movement speed for the test point that the first detections of radar arrives second
The displacement of moment to test point between the first moment by displacement in multiple profile points and detects point according to the displacement of test point
Move matched profile point and be determined as datum mark, according to the displacement of datum mark, and according to multiple profile points the second moment original
Beginning position obtains multiple profile points in the predicted position at the first moment, realizes the Accurate Prediction to Obstacle Position and shape,
Operand is reduced simultaneously.
Based on a upper embodiment, the possible of another vehicle location detection method based on radar is present embodiments provided
Implementation illustrated at the second moment, when the detection data got for the first time is the detection data of the first radar, determined
For multiple profile points in the method in the home position at the second moment, Fig. 3 is that another kind provided by the embodiment of the present invention is based on radar
Vehicle location detection method flow diagram.
As shown in figure 3, being based on a upper embodiment, before step 101, this method may also comprise the following steps::
Step 301, the position for the test point that the first radar detected at the second moment is obtained.
Wherein, the first radar can be not only used for detecting the movement speed of the single test point of vehicle, can be with
Detect the position of the test point.
Step 302, the detection position of the test point detected according to the first radar at the second moment, and the detection of setting
The initial relative position of point and multiple profile points, determines multiple profile points in the home position at the second moment.
In a scenario, if what vehicle was first got is the first detections of radar to single test point at the second moment
Information, wherein the information for the single test point that the first detections of radar arrives includes detection position and the movement speed of test point, then root
The detection position of the test point detected according to the first radar at the second moment, and setting test point and multiple profile points just
Beginning relative position determines multiple profile points in the home position at the second moment, wherein the initial phase contraposition of multiple profile points is set to
Test point is located at the center of multiple profile points, and the frame that encloses of multiple profile points meets and is sized.
The vehicle location detection method based on radar of the embodiment of the present invention, the detection data got in the ban are the first thunders
When up to the detection data got, the location information of the test point got based on the first radar at the second moment and mobile speed
Degree, determines that multiple profile points in the home position at the second moment, realize the positioning in the home position to barrier vehicle, with benefit
In operational process, prediction to the position of multiple profile points of vehicle, so that even if only getting the detection letter of the first radar
When breath, the profile information and location information of barrier can also be depicted, realizes the tracking to barrier.
Based on the corresponding embodiment of Fig. 1, another vehicle location detection method based on radar is present embodiments provided
Possible implementation illustrated at the second moment, when the detection data got is the detection data of the second radar, determined
For multiple profile points in the method in the home position at the second moment, Fig. 4 is that another is based on radar provided by the embodiment of the present invention
Vehicle location detection method flow diagram.
As shown in figure 4, being based on a upper embodiment, before step 101, this method may also comprise the following steps::
Step 401, the detection position of the multiple profile points the second radar detected at the second moment, is determined as multiple wheels
Wide o'clock in the home position at the second moment.
Under another scene, if what vehicle was first got is multiple profiles that the second detections of radar arrives at the second moment
The detection position of point, the then detection position of the multiple profile points detected the second radar at the second moment, is determined as multiple wheels
Wide o'clock in the home position at the second moment.
Step 402, according to the relative positional relationship between test point and multiple profile points, the second moment test point institute is determined
In position.
Specifically, it is determined that multiple profile points are behind the home position at the second moment, according to test point and multiple profile points it
Between relative positional relationship, determine the position where the second moment test point, that is, determine the second moment test point multiple
Position where in the frame that profile point encloses, wherein relative positional relationship is detected according to the previous moment at the second moment
What the offset at the center of the relatively multiple profile points of point determined, alternatively, when the second moment was initial time, that is to say, that do not have
When the previous moment at the second moment, then relative positional relationship is the initial phase contraposition of preset test point and multiple profile points
It sets, realizes when getting the detection data of the first radar at the second moment, also the first determining radar of available prediction
The position of corresponding test point, and determine that multiple profile points in the home position at the second moment, realize the knowledge to barrier
Not and track.
In the vehicle location detection method based on radar of the embodiment of the present invention, when what is got at the second moment is second
The location information for multiple profile points that detections of radar arrives can then determine multiple profiles according to the location information of multiple profile points
O'clock in the home position at the second moment, at the same time it can also according to the relative positional relationship between test point and multiple profile points, really
Position where fixed second moment test point, realizes the determination to multiple profile point home positions, and original to test point
The estimation of position, so that even if the profile information of barrier can also be depicted when only getting the detection information of the second radar
And location information, realize the tracking to barrier.
In vehicle actual moving process, the observation area of the first radar and the second radar is gradually changed, in one kind
Under scene, when the barrier vehicle in front gradually removes the observation area of the second radar, and only in the observation area of the first radar
When interior, that is to say, that only the first radar can observe the information of the test point of obstacle, then multiple profile points in following instant
Predicted position information update, then need based on the first detections of radar to the movement speed of test point predicted, for this purpose,
The possible implementation for the vehicle location detection method based on radar that the embodiment of the invention provides another, Fig. 5 are this hair
The flow diagram of another vehicle location detection method based on radar provided by bright embodiment, as shown in figure 5, based on upper
State embodiment, after step 104, this method can also include following step:
Step 501, the movement speed for the test point that the first radar detected at the third moment is obtained.
Wherein, the third moment was later than for the first moment.
Specifically, the data for obtaining the test point that the first radar detected at the third moment, determine the movement of the test point
Speed can use Kalman filter tracing detection point as a kind of possible implementation, determine what the third moment obtained
The movement speed of test point.
Step 502, the movement speed of the test point detected according to the third moment determines test point at the first moment to
Displacement between three moment.
Specifically, it according to corresponding time at the first moment and corresponding time at third moment, determines from the first moment to the
Time difference between three moment, and the movement speed of the test point detected according to the third moment, by the movement speed and time
Difference is multiplied, it can determines test point at the first moment to the displacement between the third moment.
Step 503, according to test point at the first moment to the displacement between the third moment, and it is multiple according to the first moment
The predicted position of profile point determines the predicted position of third moment multiple profile points.
In the embodiment of the present invention, the test point arrived by the first detections of radar, what the test point and the second detections of radar arrived
Although the relative positional relationship of multiple profile points is not known simultaneously, the first detections of radar to be located at vehicle on single detection
Point, the speed of the test point are can to correspond to the speed of service of vehicle, therefore, the test point arrived based on the first detections of radar
The first moment that speed determines to the displacement between the third moment, then can correspond to the displacement of vehicle, so as to according to detection
O'clock at the first moment to the displacement between the third moment, to the second detections of radar to the positions of multiple profile points predict,
Specifically, it will test o'clock at the first moment to the displacement between the third moment, be superimposed to according to first determined in above-mentioned steps
The predicted position of moment multiple profile points, that is, can determine that the predicted position of third moment multiple profile points, realize in difference
Moment can determine the predicted position of multiple profile points on vehicle, realize lasting tracking and inspection to Obstacle Position and size
It surveys.
Meanwhile corresponding scene is the detection data that the second radar can not observe multiple profile points when the third moment,
And the first radar can still observe the movement speed of single test point on vehicle, and in such a scenario, the number of multiple profile points
According to still retaining, and continue to predict the position of multiple profile points, still, in the frame that third moment multiple profile points enclose
Less than the frame that the first moment multiple profile points enclose, for example, the side that third moment multiple profile points enclose
Frame is the 10% of the frame that the first moment multiple profile points enclose, that is to say, that over time, multiple wheels
The frame that exterior feature point encloses is gradually reduced, and has even converted lane to avoid when barrier vehicle has sailed out of, and more
The frame that a profile point encloses still has, and causes the erroneous judgement of barrier vehicle lane relationship, causes security risk.
In the vehicle location detection method based on radar of the embodiment of the present invention, detected by the first radar at the first moment
The movement speed of the test point arrived, displacement of the predicted detection o'clock at the second moment to first time, according to the displacement of test point from
Datum mark is determined in multiple profile points, and according to multiple profile points in the home position at the second moment, predicts that multiple profile points exist
The predicted position at the first moment, and in vehicle operation, according to determining test point the first moment to third moment it
Between displacement and the first moment multiple profile points predicted position, multiple profile points are carried out in the position at third moment pre-
It surveys, realizes the position to barrier and the continuous observation of shape.
In order to realize above-described embodiment, the present invention also proposes a kind of apparatus for detecting position of vehicle based on radar, wherein thunder
Up to being at least two, the first radar of movement speed detection is carried out including the single test point to vehicle, and to the more of vehicle
A profile point carries out the second radar of position detection.
Fig. 6 is a kind of structural schematic diagram of the apparatus for detecting position of vehicle based on radar provided in an embodiment of the present invention.
As shown in fig. 6, the device includes: the first displacement module 51, second displacement module 52, the first determining module 53 and
One prediction module 54.
First displacement module 51, the check bit of multiple profile points for being detected according to the second radar at the first moment
It sets, and is determined in the home position at the second moment from the second moment to wheels multiple the first moment according to multiple profile points
The displacement of exterior feature point, wherein the second moment is earlier than the first moment.
Second displacement module 52, the movement speed of the test point for being arrived according to the first detections of radar are predicted at second
It is carved into the displacement of test point between the first moment.
First determining module 53 determines datum mark from multiple profile points for the displacement according to test point；Wherein, base
The displacement field match of displacement and test point on schedule.
First prediction module 54, for the displacement according to datum mark, and according to multiple profile points the second moment original
Beginning position obtains multiple profile points in the predicted position at the first moment.
Further, in a kind of possible implementation of the embodiment of the present invention, the device further include: second determines mould
Block, obtains module, third displacement module and the second prediction module at third determining module.
As a kind of possible implementation, the first radar is also used to detect the position of test point, and the second determining module is used
Test point and multiple profile points in the detection position of the test point detected according to the first radar at the second moment, and setting
Initial relative position, determine multiple profile points in the home position at the second moment.
As a kind of possible implementation, the initial phase contraposition is set to the centre bit that test point is located at multiple profile points
It sets, the frame that multiple profile points enclose, which meets, to be sized.
As a kind of possible implementation, the second determining module is also used to detect the second radar at the second moment
Multiple profile points detection position, be determined as multiple profile points in the home position at the second moment.
Third determining module, for according to the relative positional relationship between test point and multiple profile points, when determining second
Carve test point position；
Wherein, relative positional relationship is the center according to the relatively multiple profile points of previous moment test point at the second moment
Offset determine, alternatively, be setting test point and multiple profile points initial relative position.
Module is obtained, the movement speed of the test point detected at the third moment for obtaining the first radar, wherein third
Moment was later than for the first moment.
Second displacement module, the movement speed of the test point for being detected according to the third moment determine test point
One moment is to the displacement between the third moment.
Second prediction module, for according to test point at the first moment to the displacement between the third moment, and according to
The predicted position of one moment multiple profile points, determines the predicted position of third moment multiple profile points.
As a kind of possible implementation, the frame that third moment multiple profile points enclose is less than the first moment
The frame that multiple profile points enclose.
As a kind of possible implementation, the second radar is also used to the movement speed of inspection center's point；Wherein, central point
Positioned at the center of multiple profile points.
Above-mentioned second displacement module 52, is specifically used for:
The movement speed for the central point that second radar was detected at the first moment, with the first radar at the first moment of distance
The movement speed of test point that detects of nearest moment be weighted, obtained for the second moment to test point between the first moment
Movement speed；According to the second moment to the movement speed of test point between the first moment, predict at the second moment to the first moment
Between test point displacement.
It should be noted that the aforementioned device that the embodiment is also applied for the explanation of embodiment of the method, herein not
It repeats again.
In the apparatus for detecting position of vehicle based on radar of the embodiment of the present invention, detected according to the second radar at the first moment
The detection positions of the multiple profile points arrived and multiple profile points in the home position at the second moment, determine from the second moment to
The displacement of multiple profile points between first moment is predicted according to the movement speed for the test point that the first detections of radar arrives second
The displacement of moment to test point between the first moment by displacement in multiple profile points and detects point according to the displacement of test point
Move matched profile point and be determined as datum mark, according to the displacement of datum mark, and according to multiple profile points the second moment original
Beginning position obtains multiple profile points in the predicted position at the first moment, realizes accurately to the pre- of Obstacle Position and shape
It surveys, while reducing operand.
In order to realize above-described embodiment, the present invention also proposes a kind of computer equipment, including memory, processor and storage
On a memory and the computer program that can run on a processor, it when the processor executes described program, realizes as aforementioned
Vehicle location detection method described in aspect embodiment based on radar.
In order to realize above-described embodiment, the present invention also proposes a kind of non-transitorycomputer readable storage medium, deposits thereon
Computer program is contained, the vehicle position based on radar as described in preceding method embodiment is realized when which is executed by processor
Set detection method.
Fig. 7 shows the block diagram for being suitable for the exemplary computer device for being used to realize the application embodiment.What Fig. 7 was shown
Computer equipment 12 is only an example, should not function to the embodiment of the present application and use scope bring any restrictions.
As shown in fig. 7, computer equipment 12 is showed in the form of universal computing device.The component of computer equipment 12 can be with
Including but not limited to: one or more processor or processing unit 16, system storage 28 connect different system components
The bus 18 of (including system storage 28 and processing unit 16).
Bus 18 indicates one of a few class bus structures or a variety of, including memory bus or Memory Controller,
Peripheral bus, graphics acceleration port, processor or the local bus using any bus structures in a variety of bus structures.It lifts
For example, these architectures include but is not limited to industry standard architecture (Industry Standard
Architecture；Hereinafter referred to as: ISA) bus, microchannel architecture (Micro Channel Architecture；Below
Referred to as: MAC) bus, enhanced isa bus, Video Electronics Standards Association (Video Electronics Standards
Association；Hereinafter referred to as: VESA) local bus and peripheral component interconnection (Peripheral Component
Interconnection；Hereinafter referred to as: PCI) bus.
Computer equipment 12 typically comprises a variety of computer system readable media.These media can be it is any can be by
The usable medium that computer equipment 12 accesses, including volatile and non-volatile media, moveable and immovable medium.
Memory 28 may include the computer system readable media of form of volatile memory, such as random access memory
Device (Random Access Memory；Hereinafter referred to as: RAM) 30 and/or cache memory 32.Computer equipment 12 can be with
It further comprise other removable/nonremovable, volatile/non-volatile computer system storage mediums.Only as an example,
Storage system 34 can be used for reading and writing immovable, non-volatile magnetic media, and (Fig. 7 do not show, commonly referred to as " hard drive
Device ").Although being not shown in Fig. 7, the disk for reading and writing to removable non-volatile magnetic disk (such as " floppy disk ") can be provided and driven
Dynamic device, and to removable anonvolatile optical disk (such as: compact disc read-only memory (Compact Disc Read Only
Memory；Hereinafter referred to as: CD-ROM), digital multi CD-ROM (Digital Video Disc Read Only
Memory；Hereinafter referred to as: DVD-ROM) or other optical mediums) read-write CD drive.In these cases, each driving
Device can be connected by one or more data media interfaces with bus 18.Memory 28 may include that at least one program produces
Product, the program product have one group of (for example, at least one) program module, and it is each that these program modules are configured to perform the application
The function of embodiment.
Program/utility 40 with one group of (at least one) program module 42 can store in such as memory 28
In, such program module 42 include but is not limited to operating system, one or more application program, other program modules and
It may include the realization of network environment in program data, each of these examples or certain combination.Program module 42 is usual
Execute the function and/or method in embodiments described herein.
Computer equipment 12 can also be with one or more external equipments 14 (such as keyboard, sensing equipment, display 24
Deng) communication, can also be enabled a user to one or more equipment interact with the computer equipment 12 communicate, and/or with make
The computer equipment 12 any equipment (such as network interface card, the modulatedemodulate that can be communicated with one or more of the other calculating equipment
Adjust device etc.) communication.This communication can be carried out by input/output (I/O) interface 22.Also, computer equipment 12 may be used also
To pass through network adapter 20 and one or more network (such as local area network (Local Area Network；Hereinafter referred to as:
LAN), wide area network (Wide Area Network；Hereinafter referred to as: WAN) and/or public network, for example, internet) communication.Such as figure
Shown, network adapter 20 is communicated by bus 18 with other modules of computer equipment 12.It should be understood that although not showing in figure
Out, other hardware and/or software module can be used in conjunction with computer equipment 12, including but not limited to: microcode, device drives
Device, redundant processing unit, external disk drive array, RAID system, tape drive and data backup storage system etc..
Processing unit 16 by the program that is stored in system storage 28 of operation, thereby executing various function application and
Data processing, such as realize the method referred in previous embodiment.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing custom logic function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electricity of one or more wirings
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can then be edited, be interpreted or when necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.Such as, if realized with hardware in another embodiment, following skill well known in the art can be used
Any one of art or their combination are realized: have for data-signal is realized the logic gates of logic function from
Logic circuit is dissipated, the specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA), scene can compile
Journey gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..Although having been shown and retouching above
The embodiment of the present invention is stated, it is to be understood that above-described embodiment is exemplary, and should not be understood as to limit of the invention
System, those skilled in the art can be changed above-described embodiment, modify, replace and become within the scope of the invention
Type.
Claims (12)
1. a kind of vehicle location detection method based on radar, which is characterized in that the radar is at least two, including to vehicle
Single test point carry out the first radar of movement speed detection, and position detection is carried out to multiple profile points of the vehicle
The second radar, the described method comprises the following steps:
The detection position of the multiple profile points detected according to second radar at the first moment, and according to the multiple wheel
It in the home position at the second moment, determines from second moment to the multiple profile point first moment within wide o'clock
Displacement；Wherein, second moment is earlier than first moment；
According to the movement speed for the test point that first detections of radar arrives, predict at second moment to described first
The displacement of the test point between moment；
Datum mark is determined from the multiple profile point according to the displacement of the test point；Wherein, the displacement of the datum mark
With the displacement field match of the test point；
It is obtained according to the displacement of the datum mark, and according to the multiple profile point in the home position at second moment
Predicted position of the multiple profile point at first moment.
2. vehicle location detection method according to claim 1, which is characterized in that second radar is also used in detection
The movement speed of heart point；Wherein, the central point is located at the center of the multiple profile point；
The movement speed of the test point arrived according to first detections of radar, prediction is at second moment described in
The displacement of the test point between first moment, comprising:
The movement speed for the central point that second radar was detected at first moment, exists with first radar
The movement speed of the test point detected apart from the nearest moment at first moment is weighted, when obtaining described second
It is carved into the movement speed of the test point between first moment；
According to second moment to the movement speed of the test point between first moment, predict at second moment
To the displacement of the test point between first moment.
3. vehicle location detection method according to claim 2, which is characterized in that the movement that first detections of radar arrives
The corresponding weight of speed is greater than the corresponding weight of movement speed that second detections of radar arrives.
4. vehicle location detection method according to claim 1, which is characterized in that first radar is also used to detect institute
State the position of test point；
The detection position of the multiple profile points detected according to second radar at the first moment, and according to described more
A profile point determines in the home position at the second moment from second moment to the multiple profile first moment
Before the displacement of point, further includes:
The detection position of the test point detected according to first radar at second moment, and setting are described
The initial relative position of test point and multiple profile points determines the multiple profile point in the home position at second moment.
5. vehicle location detection method according to claim 4, the initial phase contraposition is set to the test point and is located at institute
The center of multiple profile points is stated, the frame that the multiple profile point encloses, which meets, to be sized.
6. vehicle location detection method according to claim 1, which is characterized in that it is described according to second radar
The detection position for multiple profile points that one moment detected, and according to the multiple profile point the second moment raw bits
It sets, determines before from second moment to the displacement of the multiple profile point first moment, further includes:
The detection position for the multiple profile point that second radar was detected at second moment, is determined as described more
A profile point is in the home position at second moment.
7. vehicle location detection method according to claim 6, which is characterized in that it is described by second radar described
The detection position for the multiple profile point that second moment detected is determined as the multiple profile point at second moment
After home position, further includes:
According to the relative positional relationship between the test point and the multiple profile point, detection described in second moment is determined
Point position；
Wherein, the relative positional relationship is that the test point according to the previous moment at second moment is relatively the multiple
What the offset at the center of profile point determined, alternatively, being the test point and the initial relative position of multiple profile points of setting.
8. vehicle location detection method according to claim 1-7, which is characterized in that described according to the benchmark
The displacement of point, and obtain the multiple profile point in the home position at second moment according to the multiple profile point and exist
After the predicted position at first moment, further includes:
Obtain the movement speed for the test point that first radar detected at the third moment；The third moment is later than institute
Stated for the first moment；
According to the movement speed for the test point that the third moment detects, determine the test point at first moment
Displacement between to the third moment；
According to the test point at first moment to the displacement between the third moment, and according to first moment
The predicted position of the multiple profile point determines the predicted position of the third moment the multiple profile point.
9. vehicle location detection method according to claim 8, which is characterized in that the third moment the multiple profile
The frame that point encloses is less than the frame that the first moment the multiple profile point encloses.
10. a kind of apparatus for detecting position of vehicle based on radar, which is characterized in that the radar is at least two, including to vehicle
Single test point carry out the first radar of movement speed detection, and position inspection is carried out to multiple profile points of the vehicle
The second radar surveyed, described device include:
First displacement module, the detection position of multiple profile points for being detected according to second radar at the first moment,
And it is determined from second moment to first moment in the home position at the second moment according to the multiple profile point
Between the multiple profile point displacement；Wherein, second moment is earlier than first moment；
Second displacement module, the movement speed of the test point for being arrived according to first detections of radar are predicted described
Displacement of second moment to the test point between first moment；
First determining module determines datum mark from the multiple profile point for the displacement according to the test point；Wherein,
The displacement of the datum mark and the displacement field match of the test point；
First prediction module, for the displacement according to the datum mark, and according to the multiple profile point at described second
The home position at quarter obtains the multiple profile point in the predicted position at first moment.
11. a kind of computer equipment, which is characterized in that including memory, processor and store on a memory and can handle
The computer program run on device when the processor executes described program, realizes the base as described in any in claim 1-9
In the vehicle location detection method of radar.
12. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, which is characterized in that the program
The vehicle location detection method based on radar as described in any in claim 1-9 is realized when being executed by processor.
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| CN201811630335.6A CN109581380B (en) | 2018-12-29 | 2018-12-29 | Vehicle position detection method and device based on radar and computer equipment |
| CN202310215735.5A CN116068557A (en) | 2018-12-29 | 2018-12-29 | Radar-based vehicle position detection method and device and computer equipment |
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| CN201811630335.6A CN109581380B (en) | 2018-12-29 | 2018-12-29 | Vehicle position detection method and device based on radar and computer equipment |
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| CN109581380B (en) | 2023-04-07 |
| CN116068557A (en) | 2023-05-05 |
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