CN110654320A - Method and device for adjusting detection angle of detection device and vehicle with device - Google Patents
Method and device for adjusting detection angle of detection device and vehicle with device Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/02—Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT 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
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- B60W30/14—Adaptive cruise control
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- B60—VEHICLES IN GENERAL
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Abstract
The invention discloses a method and a device for adjusting a detection angle of a detection device and a vehicle with the device, wherein the method comprises the following steps: acquiring first bending information of a road ahead of a vehicle currently running; acquiring an adjusting angle of the detection device according to the first bending information; and controlling the detection device to adjust the detection angle according to the adjustment angle. The method can adjust the angle of the detection device according to the actual situation of the road ahead, effectively increase the detection area of the detection device, reduce the detection blind area of the detection device, improve the driving safety and improve the use experience of users.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a method for adjusting a detection angle of a detection device, a device for adjusting the detection angle of the detection device and a vehicle.
Background
In the related technology, a millimeter wave radar in the front of a vehicle is installed at a fixed position, detects a fixed area in a certain range, senses the surrounding environment of the vehicle in time according to the road condition in the detection area, and can be combined with a camera to further confirm the vehicle in front.
However, the above method is only suitable for straight roads or road conditions with small curvature, when the degree of road curvature is large, such as following ramp or road changing conditions, the effective detection area is greatly reduced after entering a curve because the radar is installed at a fixed angle, and when a vehicle tracked in the early stage enters the curve and exceeds the detection area of the radar, the target vehicle is lost; or when a new target vehicle is cut into the curve working condition, the target vehicle cannot be detected due to the fact that the target vehicle does not enter the detection area of the radar, and the problem needs to be solved urgently.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, a first objective of the present invention is to provide a method for adjusting a detection angle of a detection device, which can dynamically adjust the detection angle of the detection device according to a degree of curvature of a road, thereby effectively increasing a detection area of the detection device, reducing a detection blind area of the detection device, facilitating identification of a road condition ahead of a vehicle on a driving route, improving driving safety, and improving user experience.
A second object of the present invention is to provide an adjusting device for detecting angle of the detecting device.
A third object of the invention is to propose a vehicle.
A fourth object of the invention is to propose an electronic device.
A fifth object of the invention is to propose a non-transitory computer-readable storage medium.
In order to achieve the above object, a first embodiment of the present invention provides a method for adjusting a detection angle of a detection apparatus, including: acquiring first bending information of a road ahead of a vehicle currently running; acquiring an adjustment angle of the detection device according to the first bending information; and controlling the detection device to adjust the detection angle according to the adjustment angle.
According to the method for adjusting the detection angle of the detection device, the first bending information of the road ahead of the current running vehicle can be acquired, the adjustment angle of the detection device can be acquired according to the first bending information, and therefore the detection device is controlled to adjust the detection angle according to the adjustment angle, the detection area of the detection device is effectively enlarged, the detection blind areas of the detection device are reduced, the identification of the condition of the road ahead on the running path is facilitated, the driving safety can be improved, and the use experience of a user is improved.
In one embodiment of the present invention, the acquiring first curve information of a road ahead of a current driving of the vehicle includes: acquiring road parameter information of the front road from navigation information according to the position information of the vehicle; and judging whether the front road is a curve or not according to the road parameters, and if the front road is the curve, extracting first curve information of the front road from the road parameter information.
In one embodiment of the present invention, the acquiring first curve information of a road ahead of a current driving of the vehicle includes: the method comprises the steps of obtaining a road surface image of a front road where a vehicle runs currently, and obtaining first bending information of the front road according to the road surface image.
In one embodiment of the present invention, the acquiring first curve information of the road ahead from the road surface image includes: identifying a pavement marker on the road ahead from the pavement image; extracting pixel points where the pavement markers are located to form a connecting line based on the pavement markers, and acquiring second bending information of the connecting line; and obtaining first curve information of the front road according to the second curve information.
In one embodiment of the invention, further comprising; if the road surface marker is not identified from the road surface image, acquiring the current steering angle information of a steering wheel of the vehicle; and determining first bending information of the front road according to the corner information.
In an embodiment of the present invention, before determining the first curve information of the road ahead according to the rotation angle information, the method further includes: determining that the duration of the steering wheel of the vehicle in the steering state exceeds a preset duration, and triggering and determining first bending information of the front road when the duration exceeds the preset duration.
In an embodiment of the present invention, the controlling the detecting device to perform detecting angle adjustment according to the adjusting angle includes: according to the adjustment angle, obtaining the number of motor rotation turns of a driving motor for driving the first driving motor and the second driving motor; and sequentially controlling the first driving motor and the second driving motor to rotate according to the rotation turns of the respective corresponding motors so as to drive the detection device to generate displacement corresponding to the rotation turns of the motors in the horizontal direction and the vertical direction respectively. In an embodiment of the present invention, after controlling the detecting device to perform the detection angle adjustment according to the adjustment angle, the method further includes: acquiring steering angle information of a steering wheel of the vehicle; judging whether the detection angle of the detection device corresponding to the corner information is matched with the adjusted detection angle of the detection device or not; and if the two detection angles are not matched, updating the adjusted detection angle of the detection device by using the detection angle of the detection device corresponding to the corner information.
In order to achieve the above object, a second aspect of the present invention provides an adjusting apparatus for detecting an angle of a detecting device, including: the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring first bending information of a road ahead of the current running of a vehicle; the second acquisition module is used for acquiring the adjustment angle of the detection device according to the first bending information; and the adjusting module is used for controlling the detecting device to adjust the detecting angle according to the adjusting angle.
According to the adjusting device for the detection angle of the detection device, the first bending information of the road ahead of the current running vehicle can be acquired through the first acquisition module, the adjustment angle of the detection device can be acquired through the second acquisition module according to the first bending information, and therefore the detection angle of the detection device can be adjusted through the adjustment module according to the adjustment angle, the detection area of the detection device is effectively enlarged, the detection blind area of the detection device is reduced, the identification of the road ahead on the running path is facilitated, the driving safety can be improved, and the use experience of a user is improved.
In order to achieve the above object, a third aspect of the present invention provides a vehicle, which includes the above detecting device detecting angle adjusting device.
According to the vehicle provided by the embodiment of the invention, the first bending information of the road ahead of the vehicle in the current running can be acquired through the first acquisition module, and the adjustment angle of the detection device can be acquired through the second acquisition module according to the first bending information, so that the detection angle of the detection device can be controlled to be adjusted through the adjustment module according to the adjustment angle, the detection area of the detection device is effectively increased, the detection blind area of the front millimeter wave radar is reduced, the identification of the road ahead on the running path is facilitated, the driving safety can be improved, and the use experience of a user is improved.
In order to achieve the above object, a fourth aspect of the present invention provides an electronic device, including a memory, a processor; the processor reads the executable program code stored in the memory to run a program corresponding to the executable program code, so as to implement the method for adjusting the detection angle of the detection device.
The electronic device of the embodiment of the invention can dynamically adjust the detection angle of the detection device according to the bending degree of the road when the program corresponding to the adjustment method for detecting the angle by executing the detection device stored on the electronic device is executed, thereby effectively increasing the detection area of the detection device, reducing the detection blind area of the detection device, being beneficial to identifying the condition of the road in front of the vehicle on the driving path, improving the driving safety and improving the use experience of users.
In order to achieve the above object, a fifth embodiment of the present invention provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the above method for adjusting the detection angle of the detection apparatus.
The non-transitory computer-readable storage medium of the embodiment of the present invention, when a program corresponding to the method for adjusting the detection angle by executing the detection device is executed, may dynamically adjust the detection angle of the detection device according to the degree of curvature of the road, thereby effectively increasing the detection area of the detection device, reducing the detection blind area of the detection device, facilitating identification of the road condition ahead of the vehicle on the travel path, improving driving safety, and improving user experience.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flowchart illustrating a method for adjusting a detection angle of a detection device according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a method for adjusting a detection angle of a detecting device according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating a method for adjusting a detection angle of a detecting device according to another embodiment of the present invention;
FIG. 4 is a schematic diagram of the adjustment mechanism of the detection device according to one embodiment of the present invention;
FIG. 5 is a flowchart illustrating a method for adjusting a detection angle of a detecting device according to another embodiment of the present invention;
FIG. 6 is a flowchart illustrating a method for adjusting a detection angle of a detection device according to another embodiment of the present invention;
FIG. 7 is a block diagram of an apparatus for adjusting the detection angle of a detection device according to an embodiment of the present invention;
FIG. 8 is a flow chart illustrating a method for adjusting a detection angle of a detection device according to an embodiment of the present invention;
fig. 9 is a block diagram illustrating an adjusting device for detecting angle of the detecting device according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A method of adjusting a detection angle of a detection apparatus, an apparatus of adjusting a detection angle of a detection apparatus, a vehicle, an electronic device, and a non-transitory computer-readable storage medium according to embodiments of the present invention will be described below with reference to the accompanying drawings, first of all, a method of adjusting a detection angle of a detection apparatus proposed according to an embodiment of the present invention will be described with reference to the accompanying drawings.
Fig. 1 is a flowchart of a method for adjusting a detection angle of a detection device according to an embodiment of the present invention.
As shown in fig. 1, the method for adjusting the detection angle of the detection device includes the following steps:
s1, first curve information of a road ahead of the vehicle is acquired.
In one embodiment of the present invention, in order to obtain the first curve information of the road currently traveled by the vehicle, during the traveling of the vehicle, an image acquisition device (e.g., a camera) in front of the vehicle may acquire an image of the road currently traveled by the vehicle to obtain a road surface image of the road, and then identify the road surface image, and when the road in front is identified as a curve, obtain the first curve information of the road in front of the vehicle according to the road surface image, where the first curve information may be a curve value of the curve. Therefore, the road condition on the curve can be known in advance before the curve is reached and the curve is predicted in advance.
Optionally, the electronic map is installed on the vehicle, the electronic map stores navigation information, and the navigation information indicates the condition of each area or each road segment on the electronic map. In the embodiment of the invention, the current position of the vehicle can be obtained based on a Global Positioning System (GPS) on the vehicle, and the road parameter information of the current position of the vehicle is obtained according to the navigation information, so that whether the front road is a curve or not is judged according to the road parameter information, and when the front road is the curve, the first curve information of the front road is extracted from the road parameter information, thereby effectively improving the accuracy of obtaining the first curve information.
And S2, acquiring the adjusting angle of the detecting device according to the first bending information.
When the front road is identified as the curve according to the navigation information or the acquired image, if the angle in front of the detection device is kept on the curve, the detection area of the detection device may be caused, the front road cannot be completely covered, and a detection blind area is easy to appear.
Optionally, a mapping relationship between the curve information of the road ahead and the adjustment angle of the detection device may be set, and after the first curve information is obtained, the mapping relationship may be queried to obtain the adjustment angle of the detection device. Generally, one bending range may correspond to one adjustment angle, and the bending range in which the first bending information is located may be determined first, and then the adjustment angle of the detection device may be determined according to the bending range.
Optionally, a calculation formula of the adjustment angle is set, after the first bending information is acquired, the first bending information is input into the calculation formula, the adjustment angle of the detection device is output through the calculation formula, and an accurate adjustment angle can be obtained through a calculation mode of the calculation formula, so that the adjustment of the detection device is more accurate.
And S3, controlling the detection device to adjust the detection angle according to the adjustment angle.
Specifically, the angle value to be adjusted can be calculated according to the curve change condition on the road, and the angle value is sent to the detection device adjusting mechanism through the controller local area network so as to control the detection device to adjust the detection angle.
According to the method for adjusting the detection angle of the detection device, the first bending information of the road ahead of the current running vehicle can be acquired, the adjustment angle of the detection device can be acquired according to the first bending information, and therefore the detection device is controlled to adjust the detection angle according to the adjustment angle, the detection area of the detection device is effectively increased, the detection blind area of a front millimeter wave radar is reduced, the identification of the road target in front of the vehicle is facilitated, the probability of target loss is reduced, the driving safety is improved, and the use experience of a user is improved.
In an embodiment of the present invention, when the road ahead is identified as a curve according to the road surface image, a process of acquiring first curve information of the road ahead, as shown in fig. 2, specifically includes the following steps:
s21, the road surface marker on the road ahead is recognized from the road surface image.
In actual life, road surface markers are arranged beside roads, the image sequence data of the actual roads can be acquired to identify the road surface markers on the front roads, such as road identification information of road lines, road teeth or road lamps on the roads, and the detection and identification of the road surface markers are carried out on each image.
And S22, extracting pixel points where the pavement markers are located to form a connecting line based on the pavement markers, and acquiring second bending information of the connecting line.
It can be understood that the pixel points of the pavement marker can be extracted according to the pavement marker to form a connecting line, if the pixel points of the pavement marker form the connecting line as a straight line, the connecting line is not a curve, if the pixel points of the pavement marker form the connecting line as a curve, the position information of the curve in the pavement image is acquired, the bending degree of the connecting line formed by the pixel points of the pavement marker is acquired according to the position information, namely the pixel points of the pavement marker form second bending information of the connecting line, and the second bending information can be a bending value formed by the connecting line formed by the pixel points of the pavement marker.
S23, according to the second curve information, the first curve information of the front road is obtained.
In general, since the road surface markers are arranged along the road and the degree of curvature of the road surface markers often reflects the degree of curvature of the road, the second curvature information of the connecting line where the road surface markers are located can be used as the first curvature information of the road ahead after the second curvature information is acquired. Specifically, the first bending information corresponding to the second bending information can be obtained by acquiring the second bending information according to a preset mapping function or a mapping list, the condition of the road surface can be known in real time based on an image recognition mode, and the accuracy of the first bending information can be effectively improved.
In an embodiment of the present invention, as shown in fig. 3, the first curve information acquiring method for a road ahead further includes the following steps:
s31, if the road surface marker is not recognized from the road surface image, the current steering angle information of the steering wheel of the vehicle is acquired.
Specifically, some curves may not have a road sign, or the road sign is not clear after a long time, the road sign cannot be identified from the road image, so that the current steering angle information of the steering wheel of the vehicle can be obtained to identify whether the front is a curve or not through the steering angle information, and the accuracy of identification is effectively ensured through multiple aspects of identification, wherein the steering angle information includes steering information and angle information.
As a possible implementation manner, the corner information of the steering wheel may be determined by judging whether the corner prompt information sent by the navigation system is acquired, where the corner prompt information sent by the navigation system may be a voice prompt information sent by the navigation system, or a route prompt information sent by the navigation system.
As another possible implementation manner, the steering angle information of the steering wheel may be determined by judging that the duration of the steering wheel of the vehicle in the steering state exceeds a preset duration, and triggering and determining the first curve information of the road ahead when the duration exceeds the preset duration. That is, when the steering wheel rotation angle sensor detects that the steering wheel has anticlockwise rotation operation and the duration of the steering wheel in the steering state exceeds the preset duration t, vehicle rotation angle information is generated; similarly, when the steering wheel rotation angle sensor detects that the steering wheel rotates clockwise and the duration of the steering wheel in the steering state exceeds the preset duration t, the vehicle rotation angle information is generated.
It should be noted that the above two manners of obtaining the steering angle information are only exemplary, and are not intended to specifically limit the present invention, and it is needless to say that a person skilled in the art may also obtain the steering wheel angle information by other technical means, and the details thereof will not be described herein.
And S32, determining the first curve information of the front road according to the corner information.
In general, the vehicle needs to steer according to the degree of curve of the road during driving, so that the first curve information of the road ahead can be determined after the steering angle information is acquired.
According to the method for adjusting the detection angle of the detection device, the corner information of the current steering wheel of the vehicle can be obtained when the road surface marker is not identified from the road surface image, and the first bending information of the road in front is determined according to the corner information, so that the detection area of the detection device is effectively increased, the detection blind area of a front millimeter wave radar is reduced, the identification of the road target in front of the vehicle is facilitated, the probability of target loss is reduced, the driving safety is improved, and the use experience of a user is improved.
The following describes the method for adjusting the detection angle of the detection device according to the embodiment of the invention in detail with reference to fig. 4 and 5.
As shown in fig. 4, the method for adjusting the detection angle of the detection device according to the embodiment of the present invention includes: the millimeter wave radar detection device comprises a millimeter wave adjusting rod 1, a millimeter wave radar mounting bracket 2, a radar 3 (a detection device can be a millimeter wave radar), a first driving motor 4 and a second driving motor 5. Wherein, the millimeter wave radar adjustment mechanism drives the motion of millimeter wave regulation pole 1 through first driving motor 4 and second driving motor 5 respectively before the car, adjust the horizontal angle and the vertical angle of millimeter wave radar promptly, in order to reach the effect of millimeter wave radar transmitting surface angle before adjusting, can be the rigid link transmission between first driving motor 4 and second driving motor 5 and the millimeter wave regulation pole 1, and first driving motor 4 and second driving motor 5 can have the calculation of motor motion number of turns certainly, can combine the correction function of transmission ratio calculation angle regulation's feedback and zero point position through the motor motion number of turns.
In an embodiment of the present invention, as shown in fig. 5, the controlling the detecting device to adjust the detecting angle according to the adjusting angle includes the following steps:
s501, obtaining the number of motor rotation turns of a driving motor for driving the first driving motor and the second driving motor according to the adjustment angle.
In particular, the drive motor of the detection device may include a first drive motor that may be used to adjust the detection device in the horizontal direction and a second drive motor that may adjust the detection device in the vertical direction.
S502, the first driving motor and the second driving motor are controlled in sequence to rotate according to the rotation turns of the motors respectively, so that the detection device is driven to generate displacement corresponding to the rotation turns of the motors in the horizontal direction and the vertical direction respectively.
Specifically, the number of motor rotation turns of the driving motor of the driving detection device can be obtained according to the adjustment angle, so that the displacement corresponding to the number of motor rotation turns in the horizontal direction of the first driving motor is controlled in sequence according to the number of motor rotation turns of the driving motor, the displacement corresponding to the number of motor rotation turns in the vertical direction of the second driving motor is controlled in sequence, the rotation angle of the detection device is adjusted according to the adjustment angle through the first driving motor and the second driving motor, and the adjustment accuracy is effectively improved.
In an embodiment of the present invention, as shown in fig. 6, after controlling the detecting device to perform the detecting angle adjustment according to the adjusting angle, the method further includes the following steps:
s601, the steering angle information of the steering wheel of the vehicle is obtained.
And S602, judging whether the detection angle of the detection device corresponding to the corner information is matched with the detection angle of the detection device after adjustment.
Specifically, in order to ensure the accuracy of the detection angle adjustment by the detection device, the rotation angle information of the steering wheel of the vehicle may be acquired again after the initial adjustment, and then the detection angle of the detection device corresponding to the rotation angle information may be acquired based on the rotation angle information.
Further, whether the detection angle of the detection device corresponding to the rotation angle information matches the detection angle of the detection device after adjustment is judged, that is, if the detection angle of the detection device corresponding to the rotation angle information matches the detection angle of the detection device after adjustment of the detection angle is controlled by the detection device, the adjustment is accurate. If after controlling detection device to carry out detection angle adjustment, the detection angle of the detection device that the corner information corresponds does not match with the detection angle of the detection device after adjustment, then explain that the adjustment is not accurate enough, need revise detection device's detection angle to make detection device's that the corner information corresponds detection angle and detection device's after adjustment detection angle phase-match, so that improve detection device's detection scope, effectively guarantee detection device's detection angle's accuracy.
S603, if the two detection angles are not matched, updating the detection angle of the adjusted detection device by using the detection angle of the detection device corresponding to the corner information, and realizing real-time adjustment of the detection angle of the detection device.
The method for adjusting the detection angle of the detection device according to the embodiment of the invention is described in detail below with reference to fig. 7 and 8.
For example, as shown in fig. 7, the detecting angle adjusting device of the detecting device according to the method for adjusting the detecting angle of the detecting device of the embodiment of the present invention may include: the device comprises a front-view camera 1, an image processing unit 2, a front millimeter wave radar adjusting mechanism 3, a steering wheel corner sensor 4 and a front millimeter wave radar 5.
The front-view camera 1 CAN be installed at a front windshield glass position and used for detecting the road condition in front (such as within 100 meters), road video information acquired by the front-view camera 1 is transmitted to the image processing unit 2 through LVDS (Low Voltage differential Signaling) or Ethernet, the image processing unit 2 calculates the bending change value of the road in front of the vehicle according to the road information in the video image and inputs the bending change value to the front millimeter wave radar adjusting mechanism 3 through CAN, and the front millimeter wave radar adjusting mechanism 3 CAN comprehensively calculate and judge the angle required to be adjusted by the front millimeter wave radar 5 at present according to the bending change value of the road in front, the steering wheel corner 4 on the vehicle and other vehicle attitude data and adjust the angle. It should be noted that the forward-looking camera 1 and the image processing unit 2 may be combined into an assembly component, and the vehicle front millimeter wave radar adjusting mechanism 3 and the front millimeter wave radar 5 may be combined into an assembly component, and may be specifically designed by those skilled in the art according to actual situations, and are not specifically limited herein.
Referring to fig. 8, a method for adjusting a detection angle of a detection apparatus according to an embodiment of the present invention is described below.
Step S801, the camera collects road video information in front of the vehicle (e.g., within 100 meters), and transmits the road video information to the graphic processing unit through LVDS.
Step S802, calculating and judging whether the road in front of the vehicle is clear or not according to the data of the front camera, if not, executing step S803, and if so, executing step S804;
step S803, if the current road lane line of the vehicle is not clear or no lane line exists, collecting the current turning angle information of the steering wheel, comprehensively calculating and judging, and skipping to step S807;
step S804, if the road in front of the vehicle is clear and identifiable, the graphic processing unit processes and calculates according to the collected road information, identifies the road identification information such as road lines on the road surface, road teeth or street lamps and the like to calculate the degree of curvature of the road, judges whether the front of the vehicle is in the curve road condition according to the degree of curvature of the road, discards the current video data if the front of the vehicle is not in the curve road condition, continuously updates and calculates the video data at the next moment, processes and calculates, and circulates according to the steps.
In step 805, when the curve road ahead of the vehicle is calculated, the valid data is retained, and the first curve information of the road ahead is calculated and output in detail according to the current lane line.
Step S806, obtaining the steering angle information of the steering wheel of the vehicle, determining whether the detection angle of the detection device corresponding to the steering angle information matches the detection angle of the adjusted detection device, and if the two detection angles do not match, updating the detection angle of the adjusted detection device by using the detection angle of the detection device corresponding to the steering angle information, so as to repeat the above steps.
In step S807, if the angle of the front millimeter wave radar needs to be adjusted, the target angle value needing to be adjusted is output through the CAN.
Step S808, adjusting to the target angle, and after the target angle is adjusted in place, continuously updating the data at the next moment, so as to circulate.
According to the adjusting method of the detection angle of the detection device provided by the embodiment of the invention, the first bending information of the road ahead of the current running vehicle can be acquired, and the adjustment angle of the detection device can be acquired according to the first bending information, so that the detection device is controlled to adjust the detection angle according to the adjustment angle, the detection area of the detection device is effectively increased, the detection blind area of the detection device is reduced, the identification of the condition of the road ahead on the running path is facilitated, the driving safety is improved, the user experience is improved, and meanwhile, the detection angle of the detection device after adjustment can be updated by using the detection angle of the detection device corresponding to the corner information.
Next, a detection angle adjusting apparatus of a detecting apparatus according to an embodiment of the present invention will be described with reference to the accompanying drawings.
Fig. 9 is a block diagram of an adjusting device for detecting angle of the detecting device according to the embodiment of the present invention.
As shown in fig. 9, the detecting angle adjusting device of the detecting device includes: a first acquisition module 100, a second acquisition module 200, and an adjustment module 300.
The first obtaining module 100 is configured to obtain first curve information of a road ahead of a current driving of the vehicle. The second obtaining module 200 is configured to obtain an adjustment angle of the detecting device according to the first bending information. The adjusting module 300 is configured to control the detecting device to adjust the detecting angle according to the adjusting angle.
In an embodiment of the present invention, the first obtaining module 100 is configured to: acquiring road parameter information of a front road from navigation information according to the position information of the vehicle; and judging whether the front road is a curve according to the road parameters, and if the front road is the curve, extracting first curve information of the front road from the road parameter information.
In an embodiment of the present invention, the first obtaining module 100 is further configured to: a road surface image of a road ahead of a vehicle currently traveling is acquired, and first curve information of the road ahead is acquired according to the road surface image.
In an embodiment of the present invention, the first obtaining module 100 is further configured to: identifying a pavement marker on a road ahead from the pavement image; extracting pixel points where the pavement markers are located to form a connecting line based on the pavement markers, and acquiring second bending information of the connecting line; and obtaining first curve information of the front road according to the second curve information.
In an embodiment of the invention, the detecting device is further configured to: if the road surface marker is not identified from the road surface image, acquiring the current steering angle information of the steering wheel of the vehicle; according to the corner information, first curve information of the road ahead is determined.
In an embodiment of the present invention, before determining the first curve information of the road ahead according to the rotation angle information, the method further includes: determining that the duration of a steering wheel of a vehicle in a steering state exceeds a preset duration, and triggering and determining first bending information of the front road when the duration exceeds the preset duration.
In one embodiment of the present invention, the adjustment module 300 is configured to: according to the adjustment angle, obtaining the number of motor rotation turns of a driving motor for driving the first driving motor and the second driving motor; and sequentially controlling the first driving motor and the second driving motor to rotate according to the rotation turns of the respective corresponding motors so as to drive the detection device to generate displacement corresponding to the rotation turns of the motors in the horizontal direction and the vertical direction respectively.
In one embodiment of the present invention, the adjusting module 300 is further configured to: acquiring steering angle information of a steering wheel of a vehicle; judging whether the detection angle of the detection device corresponding to the corner information is matched with the detection angle of the detection device after adjustment; and if the two detection angles are not matched, updating the detection angle of the adjusted detection device by using the detection angle of the detection device corresponding to the corner information.
It should be noted that the foregoing explanation of the embodiment of the method for adjusting the detection angle of the detection device is also applicable to the adjustment device for the detection angle of the detection device in this embodiment, and will not be repeated herein.
According to the adjusting device for the detection angle of the detection device provided by the embodiment of the invention, the first bending information of the road ahead of the current running vehicle can be acquired through the first acquisition module, the adjustment angle of the detection device can be acquired through the second acquisition module according to the first bending information, so that the detection angle of the detection device can be controlled to be adjusted through the adjustment module according to the adjustment angle, the detection area of the detection device is effectively increased, the detection blind area of the detection device is reduced, the identification of the road ahead on the running path is facilitated, the driving safety is improved, and the use experience of a user is improved.
The embodiment of the invention also provides a vehicle which comprises the detection angle adjusting device of the detection device.
According to the vehicle provided by the embodiment of the invention, the first bending information of the road ahead of the vehicle in the current running process can be acquired through the first acquisition module, the adjustment angle of the detection device can be acquired through the second acquisition module according to the first bending information, and therefore, the detection angle of the detection device can be adjusted by controlling the detection device through the adjustment module according to the adjustment angle, the detection area of the detection device is effectively increased, the detection blind area of the detection device is reduced, the identification of the road ahead on the running path is facilitated, the driving safety is improved, and the use experience of a user is improved.
The embodiment of the invention also provides electronic equipment, which comprises a memory and a processor; the processor reads the executable program code stored in the memory to run a program corresponding to the executable program code, so as to realize the method for adjusting the detection angle of the detection device.
According to the electronic device provided by the embodiment of the invention, when the program corresponding to the method for adjusting the detection angle by executing the detection device is executed, the detection angle of the detection device can be dynamically adjusted according to the bending degree of the road, so that the detection area of the detection device is effectively increased, the detection blind area of the detection device is reduced, the identification of the road condition in front of the vehicle on the driving path is facilitated, the driving safety can be improved, and the use experience of a user is improved.
The embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for adjusting the detection angle of the detection apparatus.
According to the non-transitory computer-readable storage medium provided by the embodiment of the invention, when the program corresponding to the method for adjusting the detection angle of the detection device is executed, the irradiation angle of the detection device can be dynamically adjusted according to the curve degree of the road, so that the detection area of the detection device is effectively increased, the detection blind area of the detection device is reduced, the identification of the condition of the road ahead on the driving path is facilitated, the driving safety is improved, and the user experience is improved.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (12)
1. A method for adjusting a detection angle of a detection device, the method comprising the steps of:
acquiring first bending information of a road ahead of a vehicle currently running;
acquiring an adjustment angle of the detection device according to the first bending information;
and controlling the detection device to adjust the detection angle according to the adjustment angle.
2. The method of claim 1, wherein the obtaining first curve information for a road ahead of a current driving of the vehicle comprises:
acquiring road parameter information of the front road from navigation information according to the position information of the vehicle;
and judging whether the front road is a curve or not according to the road parameters, and if the front road is the curve, extracting first curve information of the front road from the road parameter information.
3. The method of claim 1, wherein the obtaining first curve information for a road ahead of a current driving of the vehicle comprises:
the method comprises the steps of obtaining a road surface image of a front road where a vehicle runs currently, and obtaining first bending information of the front road according to the road surface image.
4. The method according to claim 3, wherein the acquiring first curve information of the road ahead from the road surface image includes:
identifying a pavement marker on the road ahead from the pavement image;
extracting pixel points where the pavement markers are located to form a connecting line based on the pavement markers, and acquiring second bending information of the connecting line;
and obtaining first curve information of the front road according to the second curve information.
5. The method of claim 3, further comprising;
if the road surface marker is not identified from the road surface image, acquiring the current steering angle information of a steering wheel of the vehicle;
and determining first bending information of the front road according to the corner information.
6. The method of claim 5, wherein before determining the first curve information of the road ahead from the corner information, further comprising:
determining that the duration of the steering wheel of the vehicle in the steering state exceeds a preset duration, and triggering and determining first bending information of the front road when the duration exceeds the preset duration.
7. The method according to any one of claims 1-6, wherein said controlling the detection device to perform detection angle adjustment according to the adjustment angle comprises:
according to the adjustment angle, obtaining the number of motor rotation turns of a driving motor for driving the first driving motor and the second driving motor;
and sequentially controlling the first driving motor and the second driving motor to rotate according to the rotation turns of the respective corresponding motors so as to drive the detection device to generate displacement corresponding to the rotation turns of the motors in the horizontal direction and the vertical direction respectively.
8. The method according to claim 1, wherein after controlling the detecting device to perform detecting angle adjustment according to the adjusting angle, the method further comprises:
acquiring steering angle information of a steering wheel of the vehicle;
judging whether the detection angle of the detection device corresponding to the corner information is matched with the adjusted detection angle of the detection device or not;
and if the two detection angles are not matched, updating the adjusted detection angle of the detection device by using the detection angle of the detection device corresponding to the corner information.
9. An adjusting device for detecting angle of a detecting device, comprising:
the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring first bending information of a road ahead of the current running of a vehicle;
the second acquisition module is used for acquiring the adjustment angle of the detection device according to the first bending information;
and the adjusting module is used for controlling the detecting device to adjust the detecting angle according to the adjusting angle.
10. A vehicle, characterized by comprising: the detecting angle adjusting apparatus of the detecting device according to claim 9.
11. An electronic device comprising a memory, a processor;
wherein the processor executes a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to implement the method for adjusting the detection angle of the detection apparatus according to any one of claims 1 to 8.
12. A non-transitory computer-readable storage medium having stored thereon a computer program, wherein the program is executed by a processor to implement the method for adjusting the detection angle of the detection apparatus according to any one of claims 1 to 8.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810714838.5A CN110654320A (en) | 2018-06-29 | 2018-06-29 | Method and device for adjusting detection angle of detection device and vehicle with device |
| PCT/CN2019/091941 WO2020001346A1 (en) | 2018-06-29 | 2019-06-19 | Method and device for adjusting detection angle of detection device, and vehicle having same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810714838.5A CN110654320A (en) | 2018-06-29 | 2018-06-29 | Method and device for adjusting detection angle of detection device and vehicle with device |
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| CN110654320A true CN110654320A (en) | 2020-01-07 |
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| CN201810714838.5A Pending CN110654320A (en) | 2018-06-29 | 2018-06-29 | Method and device for adjusting detection angle of detection device and vehicle with device |
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| WO (1) | WO2020001346A1 (en) |
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| WO2020001346A1 (en) | 2020-01-02 |
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