CN109987089B - Static obstacle judgment method and device - Google Patents

Static obstacle judgment method and device Download PDF

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CN109987089B
CN109987089B CN201910364483.6A CN201910364483A CN109987089B CN 109987089 B CN109987089 B CN 109987089B CN 201910364483 A CN201910364483 A CN 201910364483A CN 109987089 B CN109987089 B CN 109987089B
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obstacle
radar
vehicle
module
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CN109987089A (en
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夏万林
谭安助
林仕明
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Huizhou Foryou General Electronics Co Ltd
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Huizhou Foryou General Electronics Co Ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105Speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/12Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models

Abstract

The invention provides a method and a device for judging a static obstacle, wherein the method comprises the following steps: s1, obtaining relevant parameters of the vehicle, wherein the relevant parameters comprise the wheelbase of the vehicle and the distance from the midpoint of the front axle to the radar; s2, establishing a radar coordinate system, wherein the radar coordinate system takes a radar center as an origin of coordinates, takes a radar radial direction as a longitudinal axis, and takes a direction perpendicular to the longitudinal axis and parallel to the ground as a transverse axis; s3, judging whether the vehicle turns, if so, acquiring a front wheel steering angle value and the running speed of the vehicle; s4, acquiring a first coordinate of the obstacle in the radar coordinate system at a first moment; s5, acquiring a second coordinate of the obstacle in the radar coordinate system at a second moment after a preset time interval; s6, judging whether the first coordinate and the second coordinate of the obstacle meet a preset relational expression, if so, judging that the obstacle is a static obstacle, otherwise, judging that the obstacle is a dynamic obstacle. The invention realizes the accurate identification of the static barrier.

Description

Static obstacle judgment method and device
Technical Field
The invention relates to the technical field of driving assistance, in particular to a method and a device for judging a static obstacle.
Background
Along with the development of automobile intellectualization, advanced assistant driving technology is more and more widely applied, the direction and the distance of a front obstacle are detected through a forward radar, a driver is reminded of paying attention to safety, the driving safety is improved, but unnecessary alarming can also make the driver nervous, the driving feeling is influenced, and the driving safety is also influenced. Especially, when the automobile turns, the forward radar detection coordinate changes along with the rotation of the automobile head, an object outside a lane is detected, and the static obstacle is misjudged as a dynamic obstacle when the distance is short, so that the early warning of an automobile early warning system is triggered.
Therefore, the prior art is in need of further improvement.
Disclosure of Invention
The invention provides a method and a device for judging a static obstacle, which aim to overcome the defects in the prior art and realize accurate identification of the static obstacle.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
one aspect of the present invention provides a method for determining a static obstacle, including:
and S1, acquiring relevant parameters of the vehicle, wherein the relevant parameters comprise the wheelbase of the vehicle and the distance from the midpoint of the front axle to the radar.
And S2, establishing a radar coordinate system, wherein the radar coordinate system takes the center of the radar as the origin of coordinates, takes the radial direction of the radar as a longitudinal axis, and takes the direction perpendicular to the longitudinal axis and parallel to the ground as a transverse axis.
And S3, judging whether the vehicle turns, and if so, acquiring the front wheel steering angle value and the running speed of the vehicle.
And S4, acquiring a first coordinate of the obstacle in the radar coordinate system at the first moment.
And S5, acquiring a second coordinate of the obstacle in the radar coordinate system at a second moment after a preset time interval.
S6, judging whether the first coordinate and the second coordinate of the obstacle meet a preset relational expression, if so, judging that the obstacle is a static obstacle, otherwise, judging that the obstacle is a dynamic obstacle.
Specifically, the preset relation is as follows:
Figure BDA0002047773160000021
where e denotes a preset distance threshold, l denotes a vehicle wheelbase, s denotes a distance from a midpoint of a front axle to the radar, α denotes a front wheel steering value, V denotes a traveling speed of the vehicle, (x1, y1) denotes a first coordinate of the obstacle in the radar coordinate system at a first time, and (x2, y2) denotes a second coordinate of the obstacle in the radar coordinate system at a second time.
Another aspect of the present invention provides a static obstacle determination apparatus, including: the device comprises a radar, a position storage module, a corner acquisition module, a vehicle speed acquisition module, a vehicle body parameter setting module, a calculation module, an obstacle judgment module and a marking module;
the radar is connected with the position storage module and the calculation module, the calculation module is also connected with the corner acquisition module, the vehicle speed acquisition module, the vehicle body parameter setting module and the obstacle judgment module, and the obstacle judgment module is connected with the marking module;
the radar is used for acquiring the position information of a front obstacle and sending the position information of the obstacle to the position storage module and the calculation module;
the position storage module is used for storing the position information of the front obstacle for the calculation module to call;
the corner acquisition module is used for acquiring the current corner value of the vehicle;
the vehicle speed acquisition module is used for acquiring the current vehicle speed value of the vehicle;
the vehicle body parameter setting module is used for setting relevant parameters of the vehicle, wherein the relevant parameters comprise the distance between the front and rear axles of the vehicle and the distance between the midpoint of the front axle and the radar;
the calculation module is used for calculating the displacement value of the obstacle in the radar coordinate system according to the position information of the front obstacle, the current rotation angle value, the current vehicle speed value and the relevant parameters of the vehicle;
the barrier judging module is used for judging the type of the barrier according to the displacement value;
the marking module is used for marking the obstacle according to the type of the obstacle.
Specifically, the calculation module determines whether the obstacle is a static obstacle according to the following formula:
Figure BDA0002047773160000031
where e denotes a preset distance threshold, l denotes a vehicle wheelbase, s denotes a distance from a midpoint of a front axle to the radar, α denotes a front wheel steering value, V denotes a traveling speed of the vehicle, (x1, y1) denotes a first coordinate of the obstacle in the radar coordinate system at a first time, and (x2, y2) denotes a second coordinate of the obstacle in the radar coordinate system at a second time.
The invention has the beneficial effects that: according to the invention, the coordinate positions of the obstacle in the radar coordinate system are obtained twice at a certain time interval when the vehicle turns, and whether the coordinate positions of the obstacle in the two times before and after the obstacle meet the preset relational expression or not is judged, so that whether the obstacle is a static obstacle or not is judged, and the accurate identification of the static obstacle is realized.
Drawings
FIG. 1 is a schematic flow chart of a static obstacle determination method according to the present invention;
FIG. 2 is a schematic representation of a radar coordinate system of the present invention;
FIG. 3 is a schematic diagram of the position of an obstacle in a radar coordinate system at a first instant of time in accordance with the present invention;
FIG. 4 is a schematic diagram of the position of an obstacle in a radar coordinate system at a second instant of time in accordance with the present invention;
fig. 5 is a schematic structural diagram of the static obstacle determination device of the present invention.
Detailed Description
The embodiments of the present invention will be described in detail with reference to the accompanying drawings, which are for reference and illustrative purposes only and are not intended to limit the scope of the invention.
As shown in fig. 1, an aspect of the embodiments of the present invention provides a method for determining a static obstacle, including:
step 1, obtaining relevant parameters of a vehicle, wherein the relevant parameters comprise a vehicle front-rear axle distance l and a distance s from a front axle midpoint to a radar.
And 2, establishing a radar coordinate system, wherein the radar coordinate system takes a radar center as a coordinate origin, takes the radar radial direction as a longitudinal axis, and takes a direction perpendicular to the longitudinal axis and parallel to the ground as a transverse axis.
As shown in fig. 2, O is the radar center, Y-axis is the radar radial (i.e., the detection center line), and the radar coordinate system is XOY. As can be seen from fig. 2, in the radar coordinate system, the abscissa of the obstacle has a positive/negative score, and when the detected obstacle is at the left side in the radar radial direction, it is negative, and when it is at the right side, it is positive, and the ordinate position of the obstacle has only a positive value. And O' is the steering center, a vertical line is drawn from the speed direction of the midpoint of the rear axle of the vehicle, a vertical line is drawn from the speed direction of the midpoint of the front axle, and the intersection point of the two vertical lines is the steering center.
And 3, judging whether the vehicle turns, and if so, acquiring a front wheel steering angle value alpha and the running speed V of the vehicle.
The front wheel rotation angle α may be obtained by a rotation angle sensor, and the running speed V of the vehicle may be obtained by a speed sensor.
And 4, acquiring a first coordinate of the obstacle in the radar coordinate system at the first moment.
As shown in fig. 3, at the first time (T time of the start of the time counting), the position of the obstacle C in the radar coordinate system is denoted as C1, and the coordinates of C1 are first coordinates (x1, y 1).
And 5, acquiring a second coordinate of the obstacle in the radar coordinate system at a second moment after a preset time interval.
At a second time (T + Δ T time, Δ T being a preset time interval), the position of the obstacle C in the radar coordinate system is denoted as C2, and the coordinates of C2 are second coordinates (x2, y 2).
At time T + Δ T, the vehicle moves to the position shown in fig. 4, the radar center point O moves with the vehicle to the point B ', and since Δ T is small, it can be considered that the vehicle still travels at the speed V and the front wheel steering angle of the vehicle remains 1 during the Δ T time interval, so the position of the steering center O' does not change and the magnitude of each steering radius of the vehicle does not change.
And 6, judging whether the first coordinate and the second coordinate of the obstacle meet a preset relational expression, if so, judging that the obstacle is a static obstacle, and otherwise, judging that the obstacle is a dynamic obstacle.
In this embodiment, the preset relation is:
Figure BDA0002047773160000051
where e represents a preset distance threshold.
As shown in fig. 5, another aspect of the present invention provides a static obstacle determination device, including: the device comprises a radar, a position storage module, a corner acquisition module, a vehicle speed acquisition module, a vehicle body parameter setting module, a calculation module, an obstacle judgment module and a marking module;
the radar is connected with the position storage module and the calculation module, the calculation module is also connected with the corner acquisition module, the vehicle speed acquisition module, the vehicle body parameter setting module and the obstacle judgment module, and the obstacle judgment module is connected with the marking module;
the radar is used for acquiring the position information of a front obstacle and sending the position information of the obstacle to the position storage module and the calculation module;
the position storage module is used for storing the position information of the front obstacle for the calculation module to call;
the corner acquisition module is used for acquiring the current corner value of the vehicle;
the vehicle speed acquisition module is used for acquiring the current vehicle speed value of the vehicle;
the vehicle body parameter setting module is used for setting relevant parameters of the vehicle, wherein the relevant parameters comprise the distance between the front and rear axles of the vehicle and the distance between the midpoint of the front axle and the radar;
the calculation module is used for calculating the displacement value of the obstacle in the radar coordinate system according to the position information of the front obstacle, the current rotation angle value, the current vehicle speed value and the relevant parameters of the vehicle;
the barrier judging module is used for judging the type of the barrier according to the displacement value;
the marking module is used for marking the obstacle according to the type of the obstacle.
In this embodiment, the calculation module determines whether the obstacle is a static obstacle according to the following formula:
Figure BDA0002047773160000061
the working process of the static obstacle judging device of the invention is as described in the above static obstacle judging method, and is not described herein again.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the scope of the present invention.

Claims (2)

1. A static obstacle determination method is characterized by comprising the following steps:
s1, obtaining relevant parameters of the vehicle, wherein the relevant parameters comprise the wheelbase of the vehicle and the distance from the midpoint of the front axle to the radar;
s2, establishing a radar coordinate system, wherein the radar coordinate system takes a radar center as an origin of coordinates, takes a radar radial direction as a longitudinal axis, and takes a direction perpendicular to the longitudinal axis and parallel to the ground as a transverse axis;
s3, judging whether the vehicle turns, if so, acquiring a front wheel steering angle value and the running speed of the vehicle;
s4, acquiring a first coordinate of the obstacle in the radar coordinate system at a first moment;
s5, acquiring a second coordinate of the obstacle in the radar coordinate system at a second moment after a preset time interval;
s6, judging whether the first coordinate and the second coordinate of the obstacle meet a preset relational expression, if so, judging the obstacle to be a static obstacle, otherwise, judging the obstacle to be a dynamic obstacle;
the preset relational expression is as follows:
Figure FDA0002723660180000011
where e denotes a preset distance threshold, l denotes a vehicle wheelbase, s denotes a distance from a midpoint of a front axle to the radar, α denotes a front wheel steering angle value, V denotes a traveling speed of the vehicle, (x1, y1) denotes a first coordinate of a first time of the obstacle in the radar coordinate system, (x2, y2) denotes a second coordinate of a second time of the obstacle in the radar coordinate system, and Δ T is a preset time interval.
2. A static obstacle determination device, comprising: the device comprises a radar, a position storage module, a corner acquisition module, a vehicle speed acquisition module, a vehicle body parameter setting module, a calculation module, an obstacle judgment module and a marking module;
the radar is connected with the position storage module and the calculation module, the calculation module is also connected with the corner acquisition module, the vehicle speed acquisition module, the vehicle body parameter setting module and the obstacle judgment module, and the obstacle judgment module is connected with the marking module;
the radar is used for acquiring the position information of a front obstacle and sending the position information of the obstacle to the position storage module and the calculation module;
the position storage module is used for storing the position information of the front obstacle for the calculation module to call;
the corner acquisition module is used for acquiring the current corner value of the vehicle;
the vehicle speed acquisition module is used for acquiring the current vehicle speed value of the vehicle;
the vehicle body parameter setting module is used for setting relevant parameters of the vehicle, wherein the relevant parameters comprise the distance between the front and rear axles of the vehicle and the distance between the midpoint of the front axle and the radar;
the calculation module is used for calculating the displacement value of the obstacle in the radar coordinate system according to the position information of the front obstacle, the current rotation angle value, the current vehicle speed value and the relevant parameters of the vehicle;
the barrier judging module is used for judging the type of the barrier according to the displacement value;
the marking module is used for marking the obstacle according to the type of the obstacle;
the calculation module judges whether the obstacle is a static obstacle according to the following formula:
Figure FDA0002723660180000021
where e denotes a preset distance threshold, l denotes a vehicle wheelbase, s denotes a distance from a midpoint of a front axle to the radar, α denotes a front wheel steering angle value, V denotes a traveling speed of the vehicle, (x1, y1) denotes a first coordinate of a first time of the obstacle in the radar coordinate system, (x2, y2) denotes a second coordinate of a second time of the obstacle in the radar coordinate system, and Δ T is a preset time interval.
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CN113359147B (en) * 2020-03-06 2023-08-18 宇通客车股份有限公司 Method and device for judging motion states of vehicle and target object
CN112560580B (en) * 2020-11-20 2022-01-28 腾讯科技(深圳)有限公司 Obstacle recognition method, device, system, storage medium and electronic equipment
CN113030926B (en) * 2021-04-30 2022-06-07 东风商用车有限公司 Static barrier filtering method and system based on ultrasonic radar

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