CN110879397B - Obstacle recognition method, apparatus, storage medium, and device - Google Patents
Obstacle recognition method, apparatus, storage medium, and device Download PDFInfo
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- CN110879397B CN110879397B CN201911210436.2A CN201911210436A CN110879397B CN 110879397 B CN110879397 B CN 110879397B CN 201911210436 A CN201911210436 A CN 201911210436A CN 110879397 B CN110879397 B CN 110879397B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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Abstract
The invention discloses a method, a device, a storage medium and a device for identifying obstacles, wherein the method comprises the following steps: when an obstacle detection instruction is received, an initial ultrasonic wave is transmitted according to the obstacle detection instruction, an initial ultrasonic wave echo corresponding to the initial ultrasonic wave is received, whether obstacle position detection is carried out or not is judged according to the initial ultrasonic wave echo, if obstacle position detection is carried out, the initial ultrasonic wave is adjusted according to the initial ultrasonic wave echo to obtain a target ultrasonic wave, the target ultrasonic wave is transmitted, a target ultrasonic wave echo corresponding to the target ultrasonic wave is received, the obstacle position and the obstacle size are determined according to the initial ultrasonic wave echo and the target ultrasonic wave echo, obstacle identification is carried out according to the obstacle size, the obstacle type and the obstacle position, the obstacle identification precision is higher, and user experience is improved.
Description
Technical Field
The present invention relates to the field of ultrasonic detection technologies, and in particular, to a method, an apparatus, a storage medium, and a device for identifying obstacles.
Background
At present, in an automatic driving environment sensing module, obstacle identification mainly depends on an ultrasonic sensor, a camera, a millimeter wave radar and a laser radar, but aiming at obstacle identification in a near distance range around a vehicle, the automatic driving environment sensing module mainly depends on the ultrasonic sensor and the camera, but the positioning accuracy of the camera on obstacles is not high, so that the automatic driving environment sensing module mainly depends on the ultrasonic radar for positioning the obstacles in the near distance range around the vehicle. However, most of the ultrasonic radars can only provide two-dimensional coordinates for positioning the obstacles, cannot feed back the height, and cannot accurately identify the obstacles. Therefore, how to identify the obstacle by determining the position and size of the obstacle is an urgent technical problem to be solved.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide an obstacle identification method, equipment, a storage medium and a device, and aims to solve the technical problem of how to identify obstacles by determining the positions and sizes of the obstacles in the prior art.
In order to achieve the above object, the present invention provides an obstacle identification method, including the steps of:
when an obstacle detection instruction is received, transmitting initial ultrasonic waves according to the obstacle detection instruction;
receiving an initial ultrasonic echo corresponding to the initial ultrasonic wave, and judging whether to detect the position of the obstacle according to the initial ultrasonic echo;
if the position of the obstacle is detected, adjusting the initial ultrasonic wave according to the initial ultrasonic wave echo to obtain a target ultrasonic wave, and transmitting the target ultrasonic wave;
receiving a target ultrasonic echo corresponding to the target ultrasonic wave, and determining the position and the size of an obstacle according to the initial ultrasonic echo and the target ultrasonic echo;
and carrying out obstacle identification according to the obstacle size, the obstacle species and the obstacle position.
Preferably, the receiving an initial ultrasonic echo corresponding to the initial ultrasonic wave and determining whether to perform obstacle position detection according to the initial ultrasonic echo includes:
receiving an initial ultrasonic echo corresponding to the initial ultrasonic wave, and judging whether an obstacle exists in a preset area of a target vehicle according to the initial ultrasonic echo;
if the obstacle exists, determining the type of the obstacle according to the initial ultrasonic echo;
and judging whether to detect the position of the obstacle according to the type of the obstacle.
Preferably, if the obstacle position detection is performed, the adjusting the initial ultrasonic wave according to the initial ultrasonic wave echo to obtain a target ultrasonic wave, and the transmitting the target ultrasonic wave includes:
if the position of the obstacle is detected, determining the beam adjusting direction and the beam contraction size of the initial ultrasonic wave according to the initial ultrasonic wave echo;
and adjusting the beam direction and the beam width of the initial ultrasonic wave according to the adjustment direction and the contraction size to obtain a target ultrasonic wave, and transmitting the target ultrasonic wave.
Preferably, the receiving a target ultrasonic echo corresponding to the target ultrasonic wave, and determining an obstacle position and an obstacle size according to the initial ultrasonic echo and the target ultrasonic echo includes:
receiving a target ultrasonic echo corresponding to the target ultrasonic wave, and determining coordinate information of an obstacle according to the initial ultrasonic echo and the target ultrasonic echo;
and determining the position and the size of the obstacle according to the coordinate information.
Preferably, the determining coordinate information of the obstacle according to the initial ultrasonic echo and the target ultrasonic echo includes:
judging whether an obstacle exists according to the initial ultrasonic echo, and obtaining an initial judgment result;
judging whether the obstacle exists according to the target ultrasonic echo and obtaining a target judgment result;
and determining the coordinate information of the obstacle and the size of the obstacle according to the initial judgment result and the target judgment result.
Preferably, the obstacle identification according to the obstacle size, the obstacle species and the obstacle position includes:
taking the size of the obstacle, the type of the obstacle and the position of the obstacle as judgment information;
matching the judgment information with a judgment information sample in a preset mapping relation table to obtain a matching result;
and identifying the barrier according to the matching result.
Preferably, the obstacle identification further includes, using the obstacle size, the obstacle type, and the obstacle position as determination information:
acquiring a judgment information sample and an obstacle sample;
and establishing a corresponding relation between the judgment information sample and the barrier sample, and establishing a preset mapping table according to the corresponding relation.
Furthermore, to achieve the above object, the present invention also proposes an obstacle recognition apparatus comprising a memory, a processor and an obstacle recognition program stored on the memory and operable on the processor, the obstacle recognition program being configured to implement the steps of the obstacle recognition method as described above.
Furthermore, to achieve the above object, the present invention also proposes a storage medium having stored thereon an obstacle identification program which, when executed by a processor, implements the steps of the obstacle identification method as described above.
In addition, to achieve the above object, the present invention also provides an obstacle recognition apparatus including: the device comprises an initial ultrasonic wave sending module, a judging module, an adjusting module, an obstacle determining module and an obstacle identifying module;
the initial ultrasonic wave sending module is used for sending initial ultrasonic waves according to the obstacle detection instruction when receiving the obstacle detection instruction;
the judging module is used for receiving an initial ultrasonic echo corresponding to the initial ultrasonic wave and judging whether to detect the position of the obstacle according to the initial ultrasonic echo;
the adjusting module is used for adjusting the initial ultrasonic wave according to the initial ultrasonic wave echo to obtain a target ultrasonic wave and transmitting the target ultrasonic wave when the position of the obstacle is detected;
the obstacle determining module is used for receiving a target ultrasonic echo corresponding to the target ultrasonic wave and determining an obstacle position and an obstacle size according to the initial ultrasonic echo and the target ultrasonic echo;
the obstacle identification module is used for carrying out obstacle identification according to the obstacle size, the obstacle species and the obstacle position.
According to the method, when an obstacle detection instruction is received, an initial ultrasonic wave is transmitted according to the obstacle detection instruction, an initial ultrasonic wave echo corresponding to the initial ultrasonic wave is received, whether obstacle position detection is carried out or not is judged according to the initial ultrasonic wave echo, if obstacle position detection is carried out, the initial ultrasonic wave is adjusted according to the initial ultrasonic wave echo to obtain a target ultrasonic wave, the target ultrasonic wave is transmitted, a target ultrasonic wave echo corresponding to the target ultrasonic wave is received, the obstacle position and the obstacle size are determined according to the initial ultrasonic wave echo and the target ultrasonic wave echo, and obstacle identification is carried out according to the obstacle size, the obstacle types and the obstacle position; according to the invention, the initial ultrasonic wave and the adjusted target ultrasonic wave are compared to obtain the comparison result, and the barrier is identified according to the comparison result, so that the barrier identification precision is improved, and the user experience is improved.
Drawings
Fig. 1 is a schematic structural diagram of an obstacle identification device of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a first embodiment of an obstacle recognition method according to the present invention;
FIG. 3 is a flowchart illustrating a second embodiment of the obstacle recognition method according to the present invention;
FIG. 4 is a schematic diagram illustrating a process of adjusting ultrasonic waves according to a second embodiment of the obstacle identification method of the present invention;
FIG. 5 is a schematic view of an ultrasonic inspection process according to a second embodiment of the obstacle identification method of the present invention
FIG. 6 is a flowchart illustrating a method for identifying obstacles according to a third embodiment of the present invention;
fig. 7 is a block diagram of the obstacle recognition device according to the first embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an obstacle identification device in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the obstacle recognition device may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), and the optional user interface 1003 may further include a standard wired interface and a wireless interface, and the wired interface for the user interface 1003 may be a USB interface in the present invention. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory or a Non-volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of the obstacle identifying device, and may include more or less components than those shown, or combine certain components, or a different arrangement of components.
As shown in FIG. 1, memory 1005, identified as one type of computer storage medium, may include an operating system, a network communication module, a user interface module, and an obstacle identification program.
In the obstacle identifying apparatus shown in fig. 1, the network interface 1004 is mainly used for connecting to a background server and performing data communication with the background server; the user interface 1003 is mainly used for connecting user equipment; the obstacle recognition apparatus calls an obstacle recognition program stored in the memory 1005 through the processor 1001 and executes the obstacle recognition method provided by the embodiment of the present invention.
Based on the hardware structure, the embodiment of the obstacle identification method is provided.
Referring to fig. 2, fig. 2 is a flowchart illustrating a first embodiment of the obstacle identification method according to the present invention, and the first embodiment of the obstacle identification method according to the present invention is provided.
In a first embodiment, the obstacle identification method includes the steps of:
step S10: and when receiving an obstacle detection instruction, transmitting initial ultrasonic waves according to the obstacle detection instruction.
It should be understood that the main execution body of the present embodiment is the obstacle identification device, wherein the obstacle identification device may be an electronic device such as a personal computer or a server.
The type of the obstacle detection instruction can be judged first by sending the initial ultrasonic wave according to the obstacle detection instruction, and then whether the short-distance ultrasonic wave or the long-distance ultrasonic wave is sent is judged according to the type of the obstacle detection instruction.
Step S20: and receiving an initial ultrasonic echo corresponding to the initial ultrasonic wave, and judging whether to detect the position of the obstacle according to the initial ultrasonic echo.
It can be understood that the initial ultrasonic echo corresponding to the initial ultrasonic wave is received by an ultrasonic receiver installed around the target vehicle, the initial ultrasonic echo corresponding to the initial ultrasonic wave is received, whether an obstacle exists in a preset area of the target vehicle or not is judged according to the initial ultrasonic echo, if the obstacle exists, the type of the obstacle is determined according to the initial ultrasonic echo, and whether obstacle position detection is performed or not is judged according to the type of the obstacle.
Step S30: and if the position of the obstacle is detected, adjusting the initial ultrasonic wave according to the initial ultrasonic wave echo to obtain a target ultrasonic wave, and transmitting the target ultrasonic wave.
When the obstacle position is detected, the adjustment direction and the contraction size of the initial ultrasonic wave are determined from the initial ultrasonic echo, and the beam direction and the beam width of the initial ultrasonic wave are adjusted according to the adjustment direction and the contraction size, thereby obtaining the target ultrasonic wave. .
Step S40: and receiving a target ultrasonic echo corresponding to the target ultrasonic wave, and determining the position and the size of the obstacle according to the initial ultrasonic echo and the target ultrasonic echo.
It should be understood that a target ultrasonic echo corresponding to the target ultrasonic wave is received, coordinate information of the obstacle is determined according to the initial ultrasonic wave echo and the target ultrasonic wave echo, the coordinate information can be coordinates of the obstacle on three-dimensional coordinates, and the obstacle position and the obstacle size are determined according to the coordinate information.
Step S50: and carrying out obstacle identification according to the obstacle size, the obstacle species and the obstacle position.
It should be noted that, the obstacle identification according to the obstacle size, the obstacle type, and the obstacle position may be performed by using the obstacle size, the obstacle type, and the obstacle position as determination information, matching the determination information with a determination information sample in a preset mapping relationship table to obtain a matching result, and performing obstacle identification according to the matching result.
In a first embodiment, when an obstacle detection instruction is received, an initial ultrasonic wave is transmitted according to the obstacle detection instruction, an initial ultrasonic wave echo corresponding to the initial ultrasonic wave is received, whether obstacle position detection is carried out or not is judged according to the initial ultrasonic wave echo, if obstacle position detection is carried out, the initial ultrasonic wave is adjusted according to the initial ultrasonic wave echo to obtain a target ultrasonic wave, the target ultrasonic wave is transmitted, a target ultrasonic wave echo corresponding to the target ultrasonic wave is received, an obstacle position and an obstacle size are determined according to the initial ultrasonic wave echo and the target ultrasonic wave echo, and obstacle identification is carried out according to the obstacle size, the obstacle species and the obstacle position; according to the invention, the initial ultrasonic wave and the adjusted target ultrasonic wave are compared to obtain the comparison result, and the barrier is identified according to the comparison result, so that the barrier identification precision is improved, and the user experience is improved.
Referring to fig. 3, fig. 3 is a flowchart illustrating a second embodiment of the obstacle identification method according to the present invention, and the second embodiment of the obstacle identification method according to the present invention is provided based on the first embodiment shown in fig. 2.
In the second embodiment, the step S20 includes:
step S201: and receiving an initial ultrasonic echo corresponding to the initial ultrasonic wave, and judging whether an obstacle exists in a preset area of the target vehicle according to the initial ultrasonic echo.
It can be understood that an initial ultrasonic echo corresponding to the initial ultrasonic wave may be received by an ultrasonic sensor mounted on the target vehicle, and whether an obstacle exists in a preset area of the target vehicle may be determined by analyzing the density or direction of the ultrasonic echo according to the initial ultrasonic echo.
Step S202: and if the obstacle exists, determining the type of the obstacle according to the initial ultrasonic echo.
It should be understood that the ultrasonic echo may be analyzed to obtain parameters such as the direction, size, and density of the ultrasonic echo, and the obstacle type may be determined according to the parameters.
Step S203: and judging whether to detect the position of the obstacle according to the type of the obstacle.
If the type of the obstacle is a type that does not interfere with the normal operation of the target vehicle, the obstacle position detection may not be performed, so that the energy consumption can be reduced.
In the second embodiment, the step S30 includes:
step S301: and if the position of the obstacle is detected, determining the beam adjusting direction and the beam contraction size of the initial ultrasonic wave according to the initial ultrasonic wave echo.
In a specific implementation, for example, if the obstacle type is identified as a short obstacle, the beam adjustment direction of the initial ultrasonic wave is determined to be adjusted to the lowest point, and the beam contraction size is determined to be narrowed.
Step S302: and adjusting the beam direction and the beam width of the initial ultrasonic wave according to the adjustment direction and the contraction size to obtain a target ultrasonic wave, and transmitting the target ultrasonic wave.
In a specific implementation, for example, if the beam adjustment direction of the initial ultrasound wave is to be adjusted to the lowest point and the beam contraction size is to be narrowed, the beam direction of the ultrasound wave may be moved downward, and the beam width is reduced by a preset value, where the preset value may be set by a user or obtained through multiple experiments, and a schematic diagram of the adjustment process is shown in fig. 4.
In the second embodiment, the step S40 includes:
step S401: and receiving a target ultrasonic echo corresponding to the target ultrasonic wave, and determining the coordinate information of the obstacle according to the initial ultrasonic echo and the target ultrasonic echo.
In a specific implementation, for example, a target ultrasonic echo corresponding to a target ultrasonic wave may be received, whether an obstacle exists or not may be determined according to the target ultrasonic echo, if so, the beam direction of the ultrasonic wave is gradually moved upward until no obstacle exists, the upward movement speed of the ultrasonic wave and the time difference between the appearance of the obstacle and the disappearance of the obstacle are obtained, the coordinate information of the obstacle is calculated according to the upward movement speed of the ultrasonic wave and the time difference, and the detection schematic diagram is shown in fig. 5.
Step S402: and determining the position and the size of the obstacle according to the coordinate information.
In a second embodiment, when an obstacle detection command is received, an initial ultrasonic wave is emitted according to the obstacle detection command, an initial ultrasonic wave echo corresponding to the initial ultrasonic wave is received, whether an obstacle exists in a preset area of a target vehicle is judged according to the initial ultrasonic wave echo, if an obstacle exists, the type of the obstacle is determined according to the initial ultrasonic wave echo, whether obstacle position detection is performed is judged according to the type of the obstacle, if the obstacle position detection is performed, the beam adjusting direction and the beam shrinking size of the initial ultrasonic wave are determined according to the initial ultrasonic wave echo, the beam direction and the beam width of the initial ultrasonic wave are adjusted according to the adjusting direction and the shrinking size to obtain a target ultrasonic wave, the target ultrasonic wave is emitted, and a target ultrasonic wave echo corresponding to the target ultrasonic wave is received, determining coordinate information of an obstacle according to the initial ultrasonic echo and the target ultrasonic echo, determining an obstacle position and an obstacle size according to the coordinate information, and identifying the obstacle according to the obstacle size, the obstacle types and the obstacle position; according to the method and the device, the type of the obstacle is judged by acquiring the initial ultrasonic echo, whether obstacle position detection is carried out or not is judged according to the type of the obstacle, if the obstacle position detection is carried out, the beam direction and the beam width of the initial ultrasonic wave are adjusted, the target ultrasonic wave is obtained, the target ultrasonic echo corresponding to the target ultrasonic wave is received, and obstacle identification is carried out according to the initial ultrasonic echo and the target ultrasonic echo, so that the energy consumption of an obstacle identification function can be reduced, and the accuracy of obstacle identification is improved.
Referring to fig. 6, fig. 6 is a flowchart illustrating a method for identifying an obstacle according to a third embodiment of the present invention, and the method for identifying an obstacle according to the third embodiment of the present invention is provided based on the first embodiment shown in fig. 2.
In a third embodiment, the step S402 includes:
step S4021: and judging whether an obstacle exists according to the initial ultrasonic echo, and obtaining an initial judgment result.
The determination of whether or not an obstacle is present based on the initial ultrasonic echo may be determined by analyzing the density, size, intensity, or the like of the initial ultrasonic echo.
Step S4022: and judging whether the obstacle exists according to the target ultrasonic echo, and obtaining a target judgment result.
Step S4023: and determining the coordinate information of the obstacle and the size of the obstacle according to the initial judgment result and the target judgment result.
It can be understood that the time period in which the obstacle can be detected is determined based on the initial judgment result and the target judgment result, and the coordinate information of the obstacle and the size of the obstacle are determined based on the time period and the speed at which the ultrasonic wave moves up step by step.
In the second embodiment, the step S50 includes:
step S501: and taking the size of the obstacle, the type of the obstacle and the position of the obstacle as judgment information.
Step S502: and matching the judgment information with a judgment information sample in a preset mapping relation table to obtain a matching result.
Step S503: and identifying the barrier according to the matching result.
Further, before step S501, the method further includes:
acquiring a judgment information sample and an obstacle sample;
and establishing a corresponding relation between the judgment information sample and the barrier sample, and establishing a preset mapping table according to the corresponding relation.
In a third embodiment, when an obstacle detection instruction is received, an initial ultrasonic wave is emitted according to the obstacle detection instruction, an initial ultrasonic wave echo corresponding to the initial ultrasonic wave is received, whether obstacle position detection is carried out or not is judged according to the initial ultrasonic wave echo, if obstacle position detection is carried out, the initial ultrasonic wave is adjusted according to the initial ultrasonic wave echo to obtain a target ultrasonic wave, the target ultrasonic wave is emitted, a target ultrasonic wave echo corresponding to the target ultrasonic wave is received, an obstacle position and an obstacle size are determined according to the initial ultrasonic wave echo and the target ultrasonic wave echo, the obstacle size, the obstacle type and the obstacle position are used as judgment information, and the judgment information is matched with a judgment information sample in a preset mapping relation table, obtaining a matching result, and identifying the barrier according to the matching result; in the embodiment, the size of the obstacle, the type of the obstacle and the position of the obstacle are used as the judgment information, and the judgment information is matched with the judgment information sample to identify the obstacle, so that the speed and the accuracy of obstacle identification can be improved.
Furthermore, an embodiment of the present invention further provides a storage medium, on which an obstacle identification program is stored, where the obstacle identification program, when executed by a processor, implements the steps of the obstacle identification method as described above.
In addition, referring to fig. 7, an embodiment of the present invention further provides an obstacle recognition apparatus, where the obstacle recognition apparatus includes: the ultrasonic monitoring system comprises an initial ultrasonic transmitting module 10, a judging module 20, an adjusting module 30, an obstacle determining module 40 and an obstacle identifying module 50;
the initial ultrasonic wave transmitting module 10 is configured to transmit an initial ultrasonic wave according to an obstacle detection instruction when the obstacle detection instruction is received.
It should be understood that the main execution body of the present embodiment is the obstacle identification device, wherein the obstacle identification device may be an electronic device such as a personal computer or a server.
The type of the obstacle detection instruction can be judged first by sending the initial ultrasonic wave according to the obstacle detection instruction, and then whether the short-distance ultrasonic wave or the long-distance ultrasonic wave is sent is judged according to the type of the obstacle detection instruction.
The judging module 20 is configured to receive an initial ultrasonic echo corresponding to the initial ultrasonic wave, and judge whether to perform obstacle position detection according to the initial ultrasonic echo.
It can be understood that the initial ultrasonic echo corresponding to the initial ultrasonic wave is received by an ultrasonic receiver installed around the target vehicle, the initial ultrasonic echo corresponding to the initial ultrasonic wave is received, whether an obstacle exists in a preset area of the target vehicle or not is judged according to the initial ultrasonic echo, if the obstacle exists, the type of the obstacle is determined according to the initial ultrasonic echo, and whether obstacle position detection is performed or not is judged according to the type of the obstacle.
The adjusting module 30 is configured to, when detecting a position of an obstacle, adjust the initial ultrasonic wave according to the initial ultrasonic wave echo to obtain a target ultrasonic wave, and transmit the target ultrasonic wave.
When the obstacle position is detected, the adjustment direction and the contraction size of the initial ultrasonic wave are determined from the initial ultrasonic echo, and the beam direction and the beam width of the initial ultrasonic wave are adjusted according to the adjustment direction and the contraction size, thereby obtaining the target ultrasonic wave. .
The obstacle determining module 40 is configured to receive a target ultrasonic echo corresponding to the target ultrasonic wave, and determine an obstacle position and an obstacle size according to the initial ultrasonic echo and the target ultrasonic echo.
It should be understood that a target ultrasonic echo corresponding to the target ultrasonic wave is received, coordinate information of the obstacle is determined according to the initial ultrasonic wave echo and the target ultrasonic wave echo, the coordinate information can be coordinates of the obstacle on three-dimensional coordinates, and the obstacle position and the obstacle size are determined according to the coordinate information.
The obstacle identification module 50 is configured to perform obstacle identification according to the obstacle size, the obstacle species, and the obstacle position.
It should be noted that, the obstacle identification according to the obstacle size, the obstacle type, and the obstacle position may be performed by using the obstacle size, the obstacle type, and the obstacle position as determination information, matching the determination information with a determination information sample in a preset mapping relationship table to obtain a matching result, and performing obstacle identification according to the matching result.
In this embodiment, when an obstacle detection instruction is received, an initial ultrasonic wave is transmitted according to the obstacle detection instruction, an initial ultrasonic wave echo corresponding to the initial ultrasonic wave is received, whether obstacle position detection is performed or not is judged according to the initial ultrasonic wave echo, if obstacle position detection is performed, the initial ultrasonic wave is adjusted according to the initial ultrasonic wave echo to obtain a target ultrasonic wave, the target ultrasonic wave is transmitted, a target ultrasonic wave echo corresponding to the target ultrasonic wave is received, an obstacle position and an obstacle size are determined according to the initial ultrasonic wave echo and the target ultrasonic wave echo, and obstacle identification is performed according to the obstacle size, the obstacle type and the obstacle position; according to the embodiment, the initial ultrasonic wave and the adjusted target ultrasonic wave are compared to obtain the comparison result, and the barrier is identified according to the comparison result, so that the barrier identification precision is improved, and the user experience is improved.
In an embodiment, the determining module is further configured to receive an initial ultrasonic echo corresponding to the initial ultrasonic wave, determine whether an obstacle exists in a preset area of a target vehicle according to the initial ultrasonic echo, determine a type of the obstacle according to the initial ultrasonic echo if the obstacle exists, and determine whether to perform obstacle position detection according to the type of the obstacle;
in an embodiment, the adjusting module is further configured to, when performing obstacle position detection, determine an adjusting direction and a contraction size of an initial ultrasonic wave according to the initial ultrasonic wave echo, adjust a beam direction and a beam width of the initial ultrasonic wave according to the adjusting direction and the contraction size to obtain a target ultrasonic wave, and transmit the target ultrasonic wave;
in an embodiment, the obstacle determining module is further configured to receive a target ultrasonic echo corresponding to the target ultrasonic wave, determine coordinate information of an obstacle according to the initial ultrasonic echo and the target ultrasonic echo, and determine an obstacle position and an obstacle size according to the coordinate information;
in an embodiment, the obstacle determining module is further configured to determine whether an obstacle exists according to the initial ultrasonic echo and obtain an initial determination result, determine whether the obstacle exists according to the target ultrasonic echo and obtain a target determination result, and determine coordinate information of the obstacle and an obstacle size according to the initial determination result and the target determination result;
in an embodiment, the obstacle identification module is further configured to use the obstacle size, the obstacle type, and the obstacle position as determination information, match the determination information with a determination information sample in a preset mapping relation table to obtain a matching result, and perform obstacle identification according to the matching result;
in one embodiment, the obstacle recognition device further includes: a preset mapping table establishing module;
the preset mapping table establishing module is used for acquiring a judgment information sample and an obstacle sample, establishing a corresponding relation between the judgment information sample and the obstacle sample, and establishing a preset mapping table according to the corresponding relation.
Other embodiments or specific implementation manners of the obstacle identification device according to the present invention may refer to the above method embodiments, and are not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order, but rather the words first, second, third, etc. are to be interpreted as names.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g., a Read Only Memory (ROM)/Random Access Memory (RAM), a magnetic disk, an optical disk), and includes several instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (9)
1. An obstacle recognition method, characterized by comprising the steps of:
when an obstacle detection instruction is received, transmitting initial ultrasonic waves according to the obstacle detection instruction;
receiving an initial ultrasonic echo corresponding to the initial ultrasonic wave, and judging whether to detect the position of the obstacle according to the initial ultrasonic echo;
if the position of the obstacle is detected, determining the beam adjusting direction and the beam contraction size of the initial ultrasonic wave according to the initial ultrasonic wave echo;
adjusting the beam direction and the beam width of the initial ultrasonic wave according to the beam adjusting direction and the beam contraction size to obtain a target ultrasonic wave and transmitting the target ultrasonic wave;
receiving a target ultrasonic echo corresponding to the target ultrasonic wave, and determining the position and the size of an obstacle according to the initial ultrasonic echo and the target ultrasonic echo;
and carrying out obstacle identification according to the obstacle size, the obstacle species and the obstacle position.
2. The method for identifying an obstacle according to claim 1, wherein the step of receiving an initial ultrasonic echo corresponding to the initial ultrasonic wave and determining whether to perform obstacle position detection based on the initial ultrasonic echo specifically includes:
receiving an initial ultrasonic echo corresponding to the initial ultrasonic wave, and judging whether an obstacle exists in a preset area of a target vehicle according to the initial ultrasonic echo;
if the obstacle exists, determining the type of the obstacle according to the initial ultrasonic echo;
and judging whether to detect the position of the obstacle according to the type of the obstacle.
3. The method for identifying an obstacle according to claim 1, wherein the step of receiving a target ultrasonic echo corresponding to the target ultrasonic wave and determining an obstacle position and an obstacle size from the initial ultrasonic echo and the target ultrasonic echo specifically comprises:
receiving a target ultrasonic echo corresponding to the target ultrasonic wave, and determining coordinate information of an obstacle according to the initial ultrasonic echo and the target ultrasonic echo;
and determining the position and the size of the obstacle according to the coordinate information.
4. The obstacle recognition method according to claim 3, wherein the step of determining the coordinate information of the obstacle from the initial ultrasonic echo and the target ultrasonic echo specifically includes:
judging whether an obstacle exists according to the initial ultrasonic echo, and obtaining an initial judgment result;
judging whether the obstacle exists according to the target ultrasonic echo and obtaining a target judgment result;
and determining the coordinate information of the obstacle and the size of the obstacle according to the initial judgment result and the target judgment result.
5. The method for recognizing obstacles according to claim 1, wherein the step of recognizing obstacles according to the size of the obstacle, the type of the obstacle, and the position of the obstacle specifically comprises:
taking the size of the obstacle, the type of the obstacle and the position of the obstacle as judgment information;
matching the judgment information with a judgment information sample in a preset mapping relation table to obtain a matching result;
and identifying the barrier according to the matching result.
6. The obstacle recognition method according to claim 5, wherein, prior to the step of using the obstacle size, the obstacle type, and the obstacle position as determination information, the obstacle recognition method further comprises:
acquiring a judgment information sample and an obstacle sample;
and establishing a corresponding relation between the judgment information sample and the barrier sample, and establishing a preset mapping table according to the corresponding relation.
7. An obstacle recognition device, characterized by comprising: memory, a processor and an obstacle identification program stored on the memory and executable on the processor, which obstacle identification program, when executed by the processor, carries out the steps of the obstacle identification method according to any one of claims 1 to 6.
8. A storage medium, characterized in that the storage medium has stored thereon an obstacle identification program which, when executed by a processor, implements the steps of the obstacle identification method according to any one of claims 1 to 6.
9. An obstacle recognition apparatus, characterized by comprising: the device comprises an initial ultrasonic wave sending module, a judging module, an adjusting module, an obstacle determining module and an obstacle identifying module;
the initial ultrasonic wave sending module is used for sending initial ultrasonic waves according to the obstacle detection instruction when receiving the obstacle detection instruction;
the judging module is used for receiving an initial ultrasonic echo corresponding to the initial ultrasonic wave and judging whether to detect the position of the obstacle according to the initial ultrasonic echo;
the adjusting module is used for adjusting the initial ultrasonic wave according to the initial ultrasonic wave echo to obtain a target ultrasonic wave and transmitting the target ultrasonic wave when the position of the obstacle is detected;
the obstacle determining module is used for receiving a target ultrasonic echo corresponding to the target ultrasonic wave and determining an obstacle position and an obstacle size according to the initial ultrasonic echo and the target ultrasonic echo;
the obstacle identification module is used for carrying out obstacle identification according to the obstacle size, the obstacle species and the obstacle position;
the adjusting module is further configured to determine a beam adjusting direction and a beam shrinking size of an initial ultrasonic wave according to the initial ultrasonic echo if the position of the obstacle is detected, adjust the beam direction and the beam width of the initial ultrasonic wave according to the beam adjusting direction and the beam shrinking size, so as to obtain a target ultrasonic wave, and transmit the target ultrasonic wave.
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| CN112327307B (en) * | 2020-11-04 | 2024-06-04 | 广州小鹏自动驾驶科技有限公司 | Detection method and device based on ultrasonic radar and vehicle |
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