CN110834626B - Driving obstacle early warning method and device, vehicle and storage medium - Google Patents
Driving obstacle early warning method and device, vehicle and storage medium Download PDFInfo
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- CN110834626B CN110834626B CN201910734389.5A CN201910734389A CN110834626B CN 110834626 B CN110834626 B CN 110834626B CN 201910734389 A CN201910734389 A CN 201910734389A CN 110834626 B CN110834626 B CN 110834626B
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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
- B60W30/00—Purposes 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
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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
- B60W30/00—Purposes 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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Abstract
The embodiment of the invention discloses a driving obstacle early warning method, a driving obstacle early warning device, a vehicle and a storage medium. The method comprises the following steps: obtaining curve running parameters of an environment where a vehicle runs; determining the driving range of the vehicle according to the curve driving parameters; and performing driving obstacle early warning when the obstacle object exists in the driving range. According to the technical scheme of the embodiment of the invention, the obstacle early warning is carried out according to the curve driving parameters of the vehicle, so that the safety of the vehicle in curve driving is improved, and the accuracy of the driving obstacle early warning in the curve can be enhanced.
Description
Technical Field
The embodiment of the invention relates to the technical field of intelligent driving, in particular to a driving obstacle early warning method, a driving obstacle early warning device, a vehicle and a storage medium.
Background
At present, with the maturity of automatic driving technology, the automatic driving function is loaded on the middle and high-end vehicle models at home and abroad, and how to early warn driving obstacles in time in the automatic driving function becomes an important guarantee for the life and property safety of drivers.
Among the prior art, mostly pass through millimeter wave radar detection and obstacle object's straight line distance, carry out driving obstacle early warning through the judgement to straight line distance, but above-mentioned scheme is because millimeter wave radar can only detect the obstacle object in the dead ahead of vehicle, when the vehicle is in the bend, only can not accurately carry out the early warning to driving obstacle through straight line distance, and the vehicle is gone and is had the potential safety hazard.
Disclosure of Invention
The invention provides a driving obstacle early warning method, a driving obstacle early warning device, a vehicle and a storage medium, so as to realize accurate early warning of driving obstacle and improve the driving safety of the vehicle.
In a first aspect, an embodiment of the present invention provides a driving obstacle early warning method, where the method includes:
obtaining curve running parameters of an environment where a vehicle runs;
determining the driving range of the vehicle according to the curve driving parameters;
and performing driving obstacle early warning when the obstacle object exists in the driving range.
In a second aspect, an embodiment of the present invention further provides a driving obstacle warning device, where the device includes:
the parameter acquisition module is used for acquiring curve running parameters of the environment where the vehicle runs;
the range determining module is used for determining the driving range of the vehicle according to the curve driving parameters;
and the obstacle early warning module is used for carrying out driving obstacle early warning when an obstacle object exists in the driving range.
In a third aspect, an embodiment of the present invention further provides a vehicle, including:
one or more controllers;
a memory for storing one or more programs;
when the one or more programs are executed by the one or more controllers, the one or more controllers are caused to implement the driving obstacle warning method according to any one of the embodiments of the present invention.
In a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed, the method for warning a driving obstacle according to any one of the embodiments of the present invention is implemented.
According to the technical scheme of the embodiment of the invention, the curve driving parameter of the environment where the vehicle is located is obtained, the driving range of the vehicle is determined according to the curve driving parameter, and the driving obstacle early warning is carried out when an obstacle exists in the driving range, so that the obstacle early warning is realized when the vehicle drives at the curve, the driving safety of the vehicle is provided, and the life and property safety of a driver can be guaranteed.
Drawings
Fig. 1 is a flowchart of a driving obstacle early warning method according to an embodiment of the present invention;
fig. 2 is a flowchart of a driving obstacle warning method according to a second embodiment of the present invention;
FIG. 3 is a schematic diagram of a traffic obstacle according to a second embodiment of the present invention;
FIG. 4 is a schematic view of another obstacle to driving provided by the second embodiment of the present invention;
fig. 5 is a schematic structural diagram of a driving obstacle warning device according to a third embodiment of the present invention;
fig. 6 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be noted that, for convenience of description, only a part of the structures related to the present invention, not all of the structures, are shown in the drawings, and furthermore, embodiments of the present invention and features of the embodiments may be combined with each other without conflict.
Example one
Fig. 1 is a flowchart of a driving obstacle warning method according to an embodiment of the present invention, where the method is applicable to a situation of obstacle warning during driving of a vehicle, and the method may be executed by a driving obstacle warning device, and the device may be implemented in a hardware and/or software manner, as shown in fig. 1, and generally includes the following steps:
The vehicle can be a vehicle with an intelligent driving function, various parameters in the environment where the vehicle runs can be acquired, and an image sensor, a radar sensor, a steering wheel angle sensor and the like can be arranged in the vehicle. The environment in which the vehicle is traveling may be the road on which the vehicle is traveling, and may include preceding vehicles or obstacles, lane lines, traffic signs, and the like.
Specifically, the vehicle may obtain various curve driving parameters in the driving road through an internally-arranged sensor, where the curve driving parameters may be parameters representing the driving state of the vehicle in the driving environment, and may include an angle between the vehicle and a lane line, a curvature of the lane line, a rate of change of the curvature of the lane line, a steering wheel angle, and the like, and it is understood that the driving state of the vehicle may also be represented by using the curve driving parameters when the vehicle drives on a straight road, for example, when the vehicle drives on a straight road, the curvature of the lane line in the curve driving parameters may be 0.
And 102, determining the driving range of the vehicle according to the curve driving parameters.
The driving range may be a range into which the vehicle is to be driven, and may be a maximum range in which the vehicle is driven.
In the embodiment of the invention, the position of the vehicle and the advancing direction of the vehicle can be determined according to the curve driving parameters of the vehicle, and the maximum driving range of the vehicle can be determined according to the position and the advancing direction of the vehicle. For example, the specific position of the vehicle in the lane may be determined according to the vehicle angle and the lane line curvature of the vehicle, and the range in which the width in front of the vehicle position is the vehicle width may be used as the driving range of the vehicle.
And 103, performing driving obstacle early warning when the obstacle exists in the driving range.
When the obstacle object appears in the driving range of the vehicle, the vehicle may collide with the obstacle object, and the driving safety of the vehicle is threatened.
In the embodiment of the invention, the driving range of the vehicle can be stored in the controller of the vehicle, the obstacle in the environment where the vehicle is located can be detected according to the sensor in the vehicle, when the obstacle is detected, the position coordinates of the obstacle can be compared with the driving range stored in the controller of the vehicle, when the position coordinates of the obstacle is located in the driving range, the obstacle can generate a safety threat to the driving of the vehicle, and the controller of the vehicle can perform driving obstacle early warning, for example, the controller of the vehicle can remind the vehicle of the obstacle in the front of the driving of the vehicle in the forms of characters, voice, light and the like.
According to the technical scheme of the embodiment of the invention, the curve driving parameter of the environment where the vehicle is driven is obtained, the driving range of the vehicle is determined according to the curve driving parameter, and when the obstacle is in the driving range of the vehicle, the driving obstacle early warning is carried out, so that the obstacle early warning of the curve driving of the vehicle is realized, the accuracy of the vehicle early warning is improved, the driving safety of the vehicle is enhanced, and the life and property safety of a driver can be guaranteed.
Example two
Fig. 2 is a flowchart of a driving obstacle warning method according to a second embodiment of the present invention, which is embodied based on the second embodiment, and referring to fig. 2, the method according to the second embodiment of the present invention specifically includes:
The lane line state may be a state used for representing a lane line definition degree of a lane where the vehicle is traveling, the preset identification requirement may represent that the vehicle may identify the lane where the vehicle is traveling, and the preset identification requirement may be a preset threshold.
Specifically, the lane line in the road may be identified by a sensor disposed in the vehicle, and if the identification result of the lane line meets a preset identification requirement, it is determined whether the lane line can be correctly identified, for example, the lane line identified by the vehicle is determined, it is determined whether a preset threshold is exceeded, if the preset threshold is exceeded, it is determined that the state of the lane line meets the preset identification requirement, otherwise, it is determined that the state of the lane line does not meet the preset identification requirement.
Specifically, when a lane line in an environment where a vehicle runs meets a preset identification requirement, the position relationship between the vehicle and the lane line, the curvature of the lane line and the curvature change rate of the lane line can be determined according to the lane line, the position relationship between the vehicle and the lane line, the curvature of the lane line and the curvature change rate of the lane line can be used as running parameters of the vehicle, and the position relationship between the vehicle and the lane line can be a lane line vehicle included angle.
In the embodiment of the invention, when the lane line in the environment where the vehicle runs does not meet the preset identification requirement, the vehicle with the unclear lane line cannot be normally identified, and under the condition, the steering wheel angle of the vehicle can be obtained by a steering wheel angle sensor arranged in the vehicle, and the curve running parameter of the vehicle can be determined according to the steering wheel angle of the vehicle.
And step 203, taking the lane line vehicle included angle, the lane line curvature and the lane line curvature change rate as an included angle coefficient, a curvature coefficient and a change rate coefficient of the center line function respectively.
In the embodiment of the invention, the curve driving parameters of the vehicle can comprise lane line included angle, lane lower curvature and lane line curvature change rate, and the center line function can be a representation function of the driving center line of the vehicle and is used for representing the relationship between the horizontal and vertical coordinates of the position point on the center line.
Specifically, the center line function may include an included angle coefficient, a curvature coefficient, and a change rate coefficient, the included angle coefficient, the curvature coefficient, and the change coefficient of the vehicle at different positions may be different in the driving process, and the vehicle may use the acquired lane line included angle, lane line curvature, and lane line curvature change rate as the center line function of the vehicle. For example, the centerline function of a vehicle may be expressed as y ═ c1x+c2x2+c3x3Where x may represent a lateral distance of a location point on the vehicle's driving centerline from the vehicle, y may represent a longitudinal distance of a location point on the vehicle's driving centerline from the vehicle, c1Can be expressed as angle coefficient, c2Can be expressed as a curvature coefficient and c3Watch capable of showingShown as the rate of change coefficient.
For example, fig. 3 is a schematic diagram of a driving obstacle according to a second embodiment of the present invention, referring to fig. 3, a coordinate system may be established by using a center point of a head of a vehicle 23, an image of a lane line 22 may be obtained, an included angle between the lane line 22 and a driving direction of the vehicle 23 may be used as a lane line vehicle included angle, a lane line curvature and a lane line curvature change rate of the lane line 22 may be identified by using an image identification model, and when the lane line 22 is a straight line, the lane line curvature and the lane line curvature change rate of the lane line 22 may be 0.
And 204, taking the head midpoint of the vehicle as an origin and generating a driving center line of the vehicle according to the center line function.
Where the origin may be the origin of the coordinate system of the centerline function.
Specifically, the position of the vehicle head midpoint of the vehicle may be used as the origin of a coordinate system of the centerline function, and the position of the driving centerline may be determined according to the centerline function, for example, the distances obtained by the vehicle sensors from the vehicle environmental parameters may be respectively used as the maximum horizontal and vertical coordinates of the centerline function, each position point may be determined according to the centerline function, and the connection line formed by connecting the position points may be used as the driving centerline.
And step 205, determining areas with the width of the vehicle on two sides of the driving center line as the driving range.
The vehicle width may be a vehicle body width of the vehicle, and the driving range may be a range into which the vehicle is to drive.
In the embodiment of the present invention, a range in which the width of each of both sides of the center line is the vehicle width may be determined as the driving range of the vehicle with the driving center line as a standard, and the expression function of the driving center line may be, for example, y-c1x+c2x2+c3x3Then the representation function of the boundary of the region with the width of the vehicle width on both sides of the driving center line may be y1＝c1x+c2x2+c3x3+ w and y2＝c1x+c2x2+c3x3W, may be1＝c1x+c2x2+c3x3+ w and y2＝c1x+c2x2+c3x3W, the range between the two curves determining the driving range of the vehicle, wherein x may represent the lateral distance of a location point on the driving centerline of the vehicle from the vehicle, y may represent the longitudinal distance of a location point on the driving centerline of the vehicle from the vehicle, c1Can be expressed as angle coefficient, c2Can be expressed as a curvature coefficient and c3May be expressed as a rate of change coefficient and w may be expressed as a vehicle width.
And step 206, acquiring the position information of the obstacle.
The position information may include, among other things, a lateral distance and a longitudinal distance of the obstacle from the vehicle.
Specifically, the position information of the obstacle may be acquired by a sensor provided in the vehicle, and for example, the lateral distance and the longitudinal distance of the obstacle from the vehicle may be acquired by a laser radar sensor.
And step 207, judging whether the position information is in the driving range.
Specifically, the position relationship between the position information of the obstacle and the driving range is determined, and for example, the position information of the obstacle may be substituted into a representation function of the boundary of the driving range of the vehicle to obtain y3And y4The representation functions of the vehicle driving range boundaries may be y1＝c1x+c2x2+c3x3+ w and y2＝c1x+c2x2+c3x3W if the ordinate Y of the obstacle is respectively Y3And y4Has the relationship of y2＜Y＜y1If not, determining that the obstacle is not located in the driving range, and judging whether the position information is located in the driving range according to the relation between the obstacle and the boundary of the driving range of the vehicle.
And 208, if so, performing obstacle early warning according to the position information of the obstacle object, and if not, continuously acquiring curve running parameters of the environment where the vehicle runs.
In the embodiment of the invention, if the position information of the obstacle is located in the driving range, obstacle early warning can be carried out according to the position information, for example, the distance between the vehicle and the obstacle is played in a voice mode. If the position information of the obstacle object is not located in the driving range, the driving safety of the vehicle in the driving range can be determined, the vehicle can continuously acquire the curve driving parameters of the environment where the vehicle is located to perform early warning on the driving obstacle, and if the position information of the obstacle object is not located in the driving range, the vehicle can continuously acquire the curve driving parameters to continuously perform early warning on the driving obstacle.
The technical scheme of the embodiment of the invention comprises the steps of judging whether the vehicle line state in the vehicle running environment meets the preset identification requirement, if so, determining the curve running parameter of the vehicle according to the lane line, if not, determining the curve running parameter of the vehicle according to the steering wheel angle of the vehicle, taking the lane line included angle, lane line curvature and lane line curvature conversion rate as the included angle coefficient, curvature coefficient and change rate coefficient of a center line function, generating a running center line according to the center line function by taking the head center of the vehicle as the origin, taking the area with the width of the vehicle on both sides of the running center line as the running range, acquiring the position information of an obstacle, judging whether the position information is in the running range, if so, performing obstacle early warning, if not, returning to acquire the curve running parameter, realizing the curve running obstacle early warning of the vehicle, and improving the early warning accuracy, further improving the running safety of the vehicle.
Further, on the basis of the above embodiment of the invention, determining the curve driving parameter of the vehicle according to the lane line includes:
acquiring a lane line image of an environment where a vehicle runs; and determining a lane line vehicle included angle, a lane line curvature and a lane line curvature change rate according to the lane line image and the vehicle position, and taking the lane line vehicle included angle, the lane line curvature and the lane line curvature change rate as curve driving parameters.
The lane line image may be a lane line image of a lane where the vehicle is located, which is acquired by the vehicle camera, and the lane line vehicle included angle may be an included angle between the vehicle driving direction and the lane line.
Specifically, a lane line image of a lane where the vehicle is located can be acquired through a camera arranged in the vehicle, after the lane line image is acquired, the lane line image can be identified according to an image identification model to acquire a vehicle included angle between the lane line and the vehicle, a lane line curvature and a vehicle university curvature change rate, and the acquired vehicle included angle, lane line curvature and vehicle university curvature change rate can be used as curve driving parameters.
Further, determining a curve driving parameter of the vehicle according to the steering wheel angle of the vehicle comprises:
determining a vehicle corner radius of the vehicle based on the steering wheel corner; and taking the reciprocal of the radius of the corner of the vehicle as the curvature of the lane line, determining the values of the included angle of the vehicle on the lane line and the change rate of the curvature of the lane line to be zero, and taking the included angle of the vehicle on the lane line, the curvature of the lane line and the change rate of the curvature of the lane line as the driving parameters of the curve.
The steering wheel angle may be an angle that a vehicle steering wheel turns, and may be obtained by a steering angle sensor, the vehicle steering angle radius may be a radius that the vehicle turns due to the steering wheel, and the steering wheel angle and the vehicle steering angle may have a certain proportional relationship, for example, when the steering wheel angle turns by 4 degrees, the vehicle steering angle may turn by 2 degrees, and the vehicle steering angle radius of the vehicle may be determined according to the steering wheel angle.
Specifically, the arc length, the steering wheel corner and the vehicle corner radius of the vehicle are mathematically related, and can be determined according to
Determining a vehicle corner radius, wherein R may represent the vehicle corner radius, l may be the distance traveled by the vehicle during steering wheel rotation, and may be obtained via on-board bus data of the vehicle, θ may be the steering wheel corner of the vehicle, and n may be the proportional relationship between the vehicle steering wheel corner and the vehicle corner, since the vehicle is not traveling when determining the curve travel parameter based on the steering wheel cornerThe lane line curvature of the lane line where the vehicle is located and the change rate of the lane line curvature can be identified, the values of the lane line vehicle included angle and the vehicle model curvature change rate can be set to 0, correspondingly, the reciprocal of the vehicle corner radius can be used as the lane line curvature, and the lane line curvature, the lane line vehicle included angle and the vehicle model curvature change rate are used as the curve running parameters.
For example, fig. 4 is a schematic diagram of another driving obstacle according to the second embodiment of the present invention, referring to fig. 4, a coordinate system may be established with a head center point of the vehicle 32 as an origin, a vehicle corner radius R may be determined according to a steering wheel corner of the vehicle 32, a boundary 33 of a vehicle driving range may be determined according to a driving centerline 35 of the vehicle 32, and a representation function of the driving centerline of the vehicle 32 may be y-c1x+c2x2+c3x3，c1Can be expressed as angle coefficient, c2Can be expressed as a curvature coefficient and c3Can be expressed as a coefficient of rate of change, and since the coefficient of included angle and the coefficient of curvature can be 0, and the coefficient of curvature of the vehicle 32 can be expressed by the vehicle corner radius R, the function of the center line of travel can also be expressed as a coefficient of rate of change
Accordingly, the function representing the boundary 33 of the driving range may then be
And
further, on the basis of the above embodiment of the invention, the method further includes: and controlling the vehicle according to the driving obstacle early warning.
Specifically, after the vehicle obtains the early warning of the driving obstacle, the vehicle can be controlled to decelerate, change lanes, stop and the like according to the early warning content, wherein the control of the vehicle can be automatically completed by the controller.
EXAMPLE III
Fig. 5 is a schematic structural diagram of a driving obstacle early warning device provided in the third embodiment of the present invention, which is capable of executing a driving obstacle early warning method provided in any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method. The device can be implemented by software and/or hardware, and specifically comprises: a parameter acquisition module 301, a range determination module 302 and an obstacle warning module 303.
The parameter obtaining module 301 is configured to obtain a curve driving parameter of an environment where the vehicle is driven.
And the range determining module 302 is used for determining the driving range of the vehicle according to the curve driving parameters.
And the obstacle early warning module 303 is used for performing driving obstacle early warning when an obstacle exists in the driving range.
According to the technical scheme of the embodiment of the invention, the parameter acquisition module is used for acquiring the curve running parameters of the environment where the vehicle runs, the range determination module is used for determining the running range of the vehicle according to the curve running parameters, and the obstacle early warning module is used for carrying out driving obstacle early warning when an obstacle is in the running range of the vehicle, so that the obstacle early warning of the curve running of the vehicle is realized, the accuracy of the vehicle early warning is improved, the running safety of the vehicle is enhanced, and the life and property safety of a driver can be guaranteed.
Further, the parameter obtaining module comprises: and the state judgment unit is used for judging whether the state of the lane line in the vehicle running environment meets the preset identification requirement or not.
And the parameter acquisition unit is used for determining the curve driving parameter of the vehicle according to the lane line if the vehicle is in the lane line state, and determining the curve driving parameter of the vehicle according to the steering wheel angle of the vehicle if the vehicle is not in the lane line state.
Further, the parameter acquiring unit includes:
and the image acquisition subunit is used for acquiring the lane line image of the environment where the vehicle runs.
And the first parameter subunit is used for determining a lane line vehicle included angle, lane line curvature and lane line curvature change rate according to the lane line image and the vehicle position, and taking the lane line vehicle included angle, the lane line curvature and the lane line curvature change rate as curve driving parameters.
Further, the parameter obtaining unit further includes:
a radius determination subunit operable to determine a vehicle turning angle radius of the vehicle based on the steering wheel turning angle.
And the second parameter subunit is used for taking the reciprocal of the radius of the corner of the vehicle as the curvature of the lane line, determining the values of the included angle of the vehicle on the lane line and the change rate of the curvature of the lane line to be zero, and taking the included angle of the vehicle on the lane line, the curvature of the lane line and the change rate of the curvature of the lane line as the curve driving parameters.
Further, the range determination module includes:
and the function determining unit is used for respectively taking the lane line vehicle included angle, the lane line curvature and the lane line curvature change rate as the included angle coefficient, the curvature coefficient and the change rate coefficient of the center line function.
And the central line determining unit is used for taking the head midpoint of the vehicle as an origin and generating a driving central line of the vehicle according to the central line function.
And the range determining unit is used for determining areas with the width of the vehicle on two sides of the driving center line as the driving range.
Further, the obstacle warning module includes:
a position acquisition unit for acquiring position information of the obstacle.
And the early warning judgment unit is used for judging whether the position information is in the driving range.
And the early warning execution unit is used for performing early warning on the obstacle according to the position information of the obstacle object if the vehicle is in the obstacle state, and continuously acquiring the curve running parameters of the environment where the vehicle runs if the vehicle is not in the obstacle state.
Further, the driving obstacle early warning device further comprises: and the vehicle control module is used for controlling the vehicle according to the driving obstacle early warning.
Example four
Fig. 6 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention, as shown in fig. 6, the vehicle includes a controller 60, a memory 61, an input device 62, and an output device 63; the number of the controllers 60 may be one or more, and one controller 60 is exemplified in fig. 6; the controller 60, the memory 61, the input device 62, and the output device 63 in the vehicle may be connected by a bus or other means, and fig. 6 illustrates an example of connection by an on-vehicle bus.
The memory 61 is a computer-readable storage medium, and can be used for storing software programs, computer-executable programs, and modules, such as program modules corresponding to the driving obstacle warning method in the embodiment of the present invention (for example, the parameter acquisition module 301, the range determination module 302, and the obstacle warning module 303 in the driving obstacle warning device). The controller 60 executes various functional applications and data processing of the vehicle by running software programs, instructions, and modules stored in the memory 61, that is, implements the driving obstacle warning method described above.
The memory 61 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 61 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 61 may further include memory remotely located from the controller 60, which may be connected to the vehicle over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 62 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the vehicle, and may include an in-vehicle camera, an in-vehicle lidar, and the like. The output device 63 may include a display device such as an in-vehicle display screen.
EXAMPLE five
An embodiment of the present invention further provides a storage medium containing computer-executable instructions, where the computer-executable instructions are executed by a computer processor to perform a driving obstacle warning method, where the method includes:
obtaining curve running parameters of an environment where a vehicle runs;
determining the driving range of the vehicle according to the curve driving parameters;
and performing driving obstacle early warning when the obstacle object exists in the driving range.
Of course, the storage medium provided by the embodiment of the present invention includes computer-executable instructions, and the computer-executable instructions are not limited to the operations of the method described above, and may also perform related operations in the driving obstacle warning method provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the driving obstacle warning device, each included unit and each included module are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (7)
1. A driving obstacle early warning method is characterized by comprising the following steps:
obtaining curve running parameters of an environment where a vehicle runs;
the method for acquiring the curve driving parameters of the environment where the vehicle is driven comprises the following steps:
judging whether the state of the lane line in the vehicle driving environment meets the preset identification requirement or not;
if so, determining the curve driving parameters of the vehicle according to the lane lines, and if not, determining the curve driving parameters of the vehicle according to the steering wheel angle of the vehicle;
determining the driving range of the vehicle according to the curve driving parameters;
the determining the driving range of the vehicle according to the curve driving parameters comprises the following steps: respectively taking the lane line vehicle included angle, the lane line curvature and the lane line curvature change rate as an included angle coefficient, a curvature coefficient and a change rate coefficient of a center line function; taking the head midpoint of the vehicle as an origin and generating a driving center line of the vehicle according to the center line function;
determining areas with the width of the vehicle at two sides of the driving center line as a driving range;
when an obstacle object exists in the driving range, early warning of driving obstacle is carried out;
the early warning of the driving obstacle is carried out when the obstacle object is determined to exist in the driving range, and the early warning method comprises the following steps:
acquiring position information of an obstacle;
judging whether the position information is in the driving range; and if so, performing obstacle early warning according to the position information of the obstacle object, and if not, continuously acquiring the curve running parameters of the environment where the vehicle runs.
2. The method of claim 1, wherein determining the curve driving parameters of the vehicle based on the lane lines comprises:
acquiring a lane line image of an environment where a vehicle runs;
and determining a lane line vehicle included angle, a lane line curvature and a lane line curvature change rate according to the lane line image and the vehicle position, and taking the lane line vehicle included angle, the lane line curvature and the lane line curvature change rate as curve driving parameters.
3. The method of claim 1, wherein determining a curve driving parameter of a vehicle based on a steering wheel angle of the vehicle comprises:
determining a vehicle corner radius of the vehicle based on the steering wheel corner;
and taking the reciprocal of the radius of the corner of the vehicle as the curvature of the lane line, determining the values of the included angle of the vehicle on the lane line and the change rate of the curvature of the lane line to be zero, and taking the included angle of the vehicle on the lane line, the curvature of the lane line and the change rate of the curvature of the lane line as the driving parameters of the curve.
4. The method of claim 1, further comprising:
and controlling the vehicle according to the driving obstacle early warning.
5. A driving obstacle early warning device, its characterized in that includes:
the parameter acquisition module is used for acquiring curve running parameters of the environment where the vehicle runs;
the parameter acquisition module comprises: the state judging unit is used for judging whether the state of the lane line in the vehicle running environment meets the preset identification requirement or not;
the parameter acquisition unit is used for determining the curve driving parameters of the vehicle according to the lane lines if the vehicle is in the lane lines, and determining the curve driving parameters of the vehicle according to the steering wheel turning angle of the vehicle if the vehicle is not in the lane lines;
the range determining module is used for determining the driving range of the vehicle according to the curve driving parameters;
the range determination module includes:
the function determining unit is used for respectively taking the lane line vehicle included angle, the lane line curvature and the lane line curvature change rate as the included angle coefficient, the curvature coefficient and the change rate coefficient of the center line function;
the center line determining unit is used for taking the head midpoint of the vehicle as an origin and generating a driving center line of the vehicle according to the center line function;
the range determining unit is used for determining areas with vehicle width on two sides of the driving center line as driving ranges;
the obstacle early warning module is used for carrying out driving obstacle early warning when an obstacle object exists in the driving range;
the obstacle warning module includes:
a position acquisition unit for acquiring position information of an obstacle;
the early warning judgment unit is used for judging whether the position information is in the driving range;
and the early warning execution unit is used for performing early warning on the obstacle according to the position information of the obstacle object if the vehicle is in the obstacle state, and continuously acquiring the curve running parameters of the environment where the vehicle runs if the vehicle is not in the obstacle state.
6. A vehicle, characterized in that the vehicle comprises:
one or more controllers;
a memory for storing one or more programs;
the one or more programs, when executed by the one or more controllers, cause the one or more controllers to implement the driving disorder warning method of any one of claims 1-4.
7. A computer-readable storage medium on which a computer program is stored, wherein the program is characterized by implementing a driving obstacle warning method according to any one of claims 1 to 4 when executed.
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| CN112068569B (en) * | 2020-09-18 | 2024-05-28 | 财团法人车辆研究测试中心 | Obstacle tracking system and method combined with map |
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| DE102010025612A1 (en) * | 2010-06-30 | 2011-03-10 | Daimler Ag | Method for warning driver of towing vehicle with trailer before collision with stationary obstacles on driving route with curve, involves sending signal and/or carrying out interference when wheel of axle of vehicle is approximated to range |
| DE112013006615T5 (en) * | 2013-02-07 | 2015-10-29 | Toyota Jidosha Kabushiki Kaisha | Driving assistance device |
| CN104527638A (en) * | 2014-12-03 | 2015-04-22 | 杭州奥腾电子有限公司 | Curve false-alarm eliminating method and false-alarm eliminating device for active collision avoidance of automobile |
| JP5979259B2 (en) * | 2015-01-20 | 2016-08-24 | トヨタ自動車株式会社 | Collision avoidance control device |
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| JP6658674B2 (en) * | 2017-06-08 | 2020-03-04 | トヨタ自動車株式会社 | Driving support system |
| CN108053690B (en) * | 2017-12-29 | 2021-03-26 | 东软集团股份有限公司 | Method for identifying driving lane, curve early warning method, device, medium and equipment |
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