CN110967689B - Method and device for determining height of target object and vehicle-mounted radar equipment - Google Patents

Method and device for determining height of target object and vehicle-mounted radar equipment Download PDF

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Publication number
CN110967689B
CN110967689B CN201811140495.2A CN201811140495A CN110967689B CN 110967689 B CN110967689 B CN 110967689B CN 201811140495 A CN201811140495 A CN 201811140495A CN 110967689 B CN110967689 B CN 110967689B
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target object
height
determining
signal
preset
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CN110967689A (en
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张朝鑫
蒋少峰
赖健明
管勋
李文新
肖志光
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Guangzhou Xiaopeng Motors Technology Co Ltd
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Guangzhou Xiaopeng Motors Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/882—Radar or analogous systems specially adapted for specific applications for altimeters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • 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
    • 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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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Electromagnetism (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The embodiment of the invention discloses a method and a device for determining the height of a target object and vehicle-mounted radar equipment, which are used for determining the height of the target object when the target object is detected. The method for determining the height of the target object comprises the following steps: transmitting a wireless probe signal; receiving a reflected signal generated by the target object reflecting the wireless detection signal; and when at least two reflected signals with signal values larger than a preset amplitude threshold value are received in a preset time period, determining that the height of the target object is higher than a preset height threshold value.

Description

Method and device for determining height of target object and vehicle-mounted radar equipment
Technical Field
The invention relates to the technical field of intelligent automobiles, in particular to a method, a device, equipment, a medium and vehicle-mounted radar equipment for determining the height of a target object.
Background
An automatic parking assist system is a system that is created to realize automatic parking. In recent years, automatic parking assist systems have been widely used for vehicles produced by various manufacturers.
In practical applications, sensors or radars are installed around the front bumper and around the rear bumper of the vehicle, and such sensors or radars can serve as both signal transmitters and signal receivers. After the automatic parking assist system is started, the sensor or the radar sends a detection signal to the periphery of the vehicle, and when the detection signal touches an obstacle around the vehicle, the detection signal is reflected back and received by the sensor again. A processor in the vehicle determines the position of the obstacle by using the time interval between the sending and receiving of the detection signal, determines the parked vehicle, the size of the parking space and the distance between the parking space and the roadside based on the determined position of the obstacle, and drives the vehicle into the parking space.
In the above manner, when the sensor or the radar is used to determine the obstacle around the vehicle, it is only possible to determine whether there is an obstacle around the vehicle, and it is not possible to determine the height of the obstacle.
Disclosure of Invention
The embodiment of the invention provides a method, a device, equipment, a medium and vehicle-mounted radar equipment for determining the height of a target object, which are used for determining the height of the target object when the target object is detected.
In a first aspect, an embodiment of the present invention provides a method for determining a height of a target object, including:
transmitting a wireless probe signal;
receiving a reflected signal generated by the target object reflecting the wireless detection signal;
and when at least two reflected signals with signal values larger than a preset amplitude threshold value are received in a preset time period, determining that the height of the target object is higher than a preset height threshold value.
In a possible implementation manner, in the foregoing method provided in an embodiment of the present invention, the method further includes: and when only one reflected signal with the signal value larger than the preset amplitude threshold value is received within the preset time length, determining that the height of the target object is lower than the preset height threshold value.
In a possible implementation manner, in the foregoing method provided in an embodiment of the present invention, the method further includes: and when the reflected signal is not received within the preset time, determining that no target object exists in the transmission direction of the wireless detection signal.
In a possible implementation manner, the above method is provided in an embodiment of the present invention, wherein the wireless probe signal is an ultrasonic signal or a radar signal.
In a possible implementation manner, in the foregoing method provided in an embodiment of the present invention, the method further includes:
determining the target object with the height higher than a preset height threshold value as a vehicle-body-like object;
determining the target object with the height lower than a preset height threshold value as a road edge-like object;
and when the distance between two adjacent similar vehicle body objects is larger than a preset distance threshold value and a similar road edge object exists between the two adjacent similar vehicle body objects, determining the position between the two adjacent similar vehicle body objects as a parking space.
In a second aspect, an embodiment of the present invention provides an apparatus for determining a height of a target object, including:
a transmitting unit for transmitting a wireless probe signal;
the receiving unit is used for receiving a reflected signal generated by the reflection of the wireless detection signal by the target object;
and the processing unit is used for determining that the height of the target object is higher than the preset height threshold value when at least two reflection signals with signal values larger than the preset amplitude threshold value are received in the preset time length.
In a possible implementation manner, an embodiment of the present invention provides that, in the apparatus described above, the processing unit is further configured to: and when only one reflected signal with the signal value larger than the preset amplitude threshold value is received within the preset time length, determining that the height of the target object is lower than the preset height threshold value.
In a possible implementation manner, an embodiment of the present invention provides that, in the apparatus described above, the processing unit is further configured to: and when the reflected signal is not received within the preset time, determining that no target object exists in the transmission direction of the wireless detection signal.
In a possible implementation manner, in the above apparatus provided by an embodiment of the present invention, the apparatus further includes: and the parking space detection unit is used for determining the target object with the height higher than the preset height threshold value as a similar vehicle body object, determining the target object with the height lower than the preset height threshold value as a similar road edge object, and determining the position between two adjacent similar vehicle body objects as a parking space when the distance between the two adjacent similar vehicle body objects is determined to be larger than the preset distance threshold value and the similar road edge object exists between the two adjacent similar vehicle body objects.
In a third aspect, an embodiment of the present invention provides a vehicle-mounted radar apparatus, where the vehicle-mounted radar apparatus includes the device provided in the second aspect of the embodiment of the present invention.
In a fourth aspect, an embodiment of the present invention provides an apparatus for determining a height of a target object, including: at least one processor, at least one memory, and computer program instructions stored in the memory, which when executed by the processor, implement the method provided by the first aspect of an embodiment of the present invention.
In a fifth aspect, the present invention provides a computer-readable storage medium, on which computer program instructions are stored, which, when executed by a processor, implement the method provided by the first aspect of the present invention.
According to the method, the device, the equipment, the medium and the vehicle-mounted radar equipment for determining the height of the target object, provided by the embodiment of the invention, the height of the target object is determined to be higher than the preset height threshold value when the wireless detection signal is transmitted and the reflection signal generated by the target object reflecting the wireless detection signal is received and at least two reflection signals with signal values larger than the preset amplitude threshold value are received in the preset time period, so that the target object is detected and the height of the target object is determined at the same time.
Drawings
Fig. 1 is a schematic flow chart of a method for determining a height of a target object according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating the reflection of an ultrasonic signal by a target object according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the reflection of an ultrasonic signal by another target object according to an embodiment of the present invention;
fig. 4 is a schematic flowchart of a specific flow of a method for determining a height of a target object according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a device for determining a height of a target object according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a device for determining a height of a target object according to an embodiment of the present invention.
Detailed Description
Specific embodiments of a method, an apparatus, a device, a medium, and a vehicle-mounted radar apparatus for determining a height of a target object according to embodiments of the present invention are described in detail below with reference to the accompanying drawings.
It should be noted that the determination scheme of the height of the target object provided in the embodiment of the present invention is not only suitable for the vehicle-mounted radar device to detect the height of the surrounding obstacle, but also suitable for the radar device installed on the device or object capable of performing secondary reflection on the reflected signal reflected by the obstacle.
As shown in fig. 2, the method for determining the height of the target object according to the embodiment of the present invention may include the following steps:
step 101, transmitting a wireless detection signal.
In specific implementation, the step of transmitting the wireless probe signal refers to that the sensor or the transmitting device transmits the wireless probe signal in one or more directions. The wireless detection signal may be an ultrasonic signal or a radar signal.
In one example, taking the example that the on-board ultrasonic sensor emits the ultrasonic signal, when the vehicle starts the automatic parking assistance system or the vehicle uses the ultrasonic sensor to detect the surrounding object, the central control device (or the Controller) of the vehicle drives the ultrasonic sensor to emit a short and fixed-frequency ultrasonic signal through a Micro Controller Unit (MCU). The ultrasonic sensor is a transceiver integrated ultrasonic sensor, and can transmit ultrasonic signals and receive ultrasonic signals.
And 102, receiving a reflected signal generated by the target object reflecting the wireless detection signal.
In specific implementation, the wireless detection signal is reflected when encountering a target object in the transmission process, and the reflected signal generated by reflection is transmitted back to the sensor or the transmitting device along the original path. At this time, the sensor or the transmitting device will receive the reflected signal generated by the reflection of the wireless detection signal by the target object. The sensor or the transmitting device is a transmitting-receiving integrated device, and can transmit wireless detection signals and receive the wireless detection signals.
It should be noted that the target object mentioned in the embodiments of the present invention does not refer to a specific object, and any obstacle detected by the wireless detection signal may be the target object.
In a possible implementation manner, after receiving the reflected signal, the embodiment of the present invention may further calculate the distance between the target object and the transmitting device based on an interval duration between the time when the reflected signal is received and the time when the wireless probe signal is transmitted.
In one example, still taking the vehicle-mounted ultrasonic sensor as an example, after the vehicle-mounted ultrasonic sensor transmits an ultrasonic signal to the periphery of the vehicle, the ultrasonic signal is reflected when encountering an obstacle, and a reflected signal is generated. The vehicle-mounted ultrasonic sensor receives the reflected signal, reports the moment of receiving the reflected signal to the central control equipment of the vehicle, and performs amplification processing, filtering processing, detection processing and the like on the reflected signal. The central control apparatus (or controller) of the vehicle calculates the distance between the obstacle and the on-vehicle ultrasonic sensor based on the time interval between the time when the ultrasonic sensor transmits the ultrasonic signal and the time when the reflected signal is received.
Step 103, when at least two reflected signals with signal values larger than a preset amplitude threshold value are received in a preset time period, determining that the height of the target object is higher than a preset height threshold value.
The preset time length and the preset height threshold may be set according to empirical values, for example, the preset time length is 30 milliseconds, and the preset height threshold is 0.5 meter.
The preset amplitude threshold value can be set in a time-sharing mode within a preset time period according to the waveform property of the reflected signal, so that the accuracy of detecting the signal value is improved, and the false detection rate is reduced. Of course, the predetermined amplitude threshold may also be set to a fixed value, for example, the predetermined amplitude threshold is 0.8 volts (V).
In one example, taking the ultrasonic signal as an example, since the ultrasonic signal generated by the vehicle-mounted ultrasonic sensor has smaller signal amplitudes at the front end and the rear end and larger signal amplitude at the middle part, the reflected signal will have the same waveform as the ultrasonic signal, that is, the signal amplitudes at the front end and the rear end of the reflected signal are smaller and the signal amplitude at the middle part is larger. In view of this, when determining whether the received signal values are greater than the preset amplitude threshold value within the preset time period, different preset amplitude threshold values may be set at different time periods, and assuming that the preset time period is 30 ms, the preset amplitude threshold value may be set to 0.8V within a time period of 0-10 ms, to 1.2V within a time period of 10-20 ms, and to 0.8V within a time period of 20-30 ms, according to the waveform property of the reflected signal.
In practical applications, still taking the vehicle-mounted ultrasonic sensor as an example, as shown in fig. 2, after the vehicle-mounted ultrasonic sensor 20 transmits the ultrasonic signal 21 to the surroundings of the vehicle, the ultrasonic signal 21 is reflected after encountering the target object 22, and the vehicle-mounted ultrasonic sensor 20 receives the reflected signal 23. Meanwhile, since the on-vehicle ultrasonic sensor 20 is mounted on the vehicle, when the reflected signal 23 is transmitted to the vehicle, reflection also occurs, that is, a reflected signal 24 is formed which propagates toward the direction of the target object 22.
If the height of the target object 22 is higher than the preset height threshold value and the area of the received signal is larger, the reflected signal 24 will be transmitted again when being transmitted to the position of the target object 22, so as to generate a secondary reflected signal 25, and the secondary reflected signal 25 can be received by the on-vehicle ultrasonic sensor 20. By analogy, after the vehicle-mounted ultrasonic sensor 20 transmits the ultrasonic signal 21, if the height of the target object is higher than the preset height threshold, the vehicle-mounted ultrasonic sensor 20 may receive two or more reflected signals.
As shown in fig. 3, if the height of the target object 26 is lower than the preset height threshold and the area of the received signal is smaller, the reflected signal 24 will not be transmitted again when being transmitted to the position of the target object 26, in which case the on-board ultrasonic sensor 20 can only receive one reflected signal, i.e. the reflected signal 23, generated by the reflection of the target object 26 after transmitting the ultrasonic signal 21; in another case, when the reflected signal 24 is transmitted to the location of the target object 26, it will be transmitted again, with a small portion of the signal producing a secondary reflected signal. Although this secondary reflection signal can be received by the in-vehicle ultrasonic sensor 20, since the signal amplitude of this secondary reflection signal is small, when the signal value of the secondary reflection signal is compared with the preset amplitude threshold value, its signal value is smaller than the preset amplitude threshold value, and it will be regarded as an invalid signal.
Based on the above principle, the embodiment of the present invention may determine whether a target object exists in the transmission direction of the wireless probe signal according to the number of reflected signals having signal values greater than a preset amplitude threshold after receiving the reflected signal generated by the target object reflecting the wireless probe signal, and further determine the height of the target object when the target object exists. The method specifically comprises the following conditions:
in the first case, when at least two reflected signals with signal values larger than a preset amplitude threshold value are received within a preset time period, it is determined that the height of the target object is higher than the preset height threshold value.
And secondly, when only one reflected signal with the signal value larger than the preset amplitude threshold value is received within the preset time, determining that the height of the target object is lower than the preset height threshold value.
And thirdly, when the reflected signal is not received within the preset time, determining that no target object exists in the transmission direction of the wireless detection signal.
The following describes a specific process of the method for determining the height of the target object according to the embodiment of the present invention in detail with reference to fig. 4.
As shown in fig. 4, taking a vehicle-mounted ultrasonic sensor as an example, a specific process of the method for determining the height of a target object provided in the embodiment of the present invention may include the following steps:
step 401, the vehicle-mounted ultrasonic sensor transmits a short ultrasonic signal with fixed frequency to a preset direction.
Step 402, the vehicle-mounted ultrasonic sensor judges whether a reflected signal is received, if so, step 403 is executed, otherwise, step 407 is executed. Wherein the reflected signal is generated by the reflection of the ultrasonic signal by the target object in the transmission direction of the ultrasonic signal.
In step 403, when the on-board ultrasonic sensor determines that the reflected signal is received, it is determined that the target object exists in the transmission direction of the ultrasonic signal.
Of course, in other embodiments of the present invention, when the vehicle-mounted ultrasonic sensor receives the reflected signal, the vehicle-mounted ultrasonic sensor may also report the information of the received reflected signal to the central control device of the vehicle, and when the central control device of the vehicle receives the information of the received reflected signal sent by the vehicle-mounted ultrasonic sensor, it is determined that the target object exists in the transmission direction of the ultrasonic signal.
In step 404, the vehicle-mounted ultrasonic sensor judges whether the number of the reflected signals of which the signal values received within a preset time period are greater than a preset amplitude threshold value is greater than one, if so, step 405 is executed, and if not, step 406 is executed.
Of course, in other embodiments of the present invention, when the vehicle-mounted ultrasonic sensor receives the reflected signal, the reflected signal may also be reported to the central control device of the vehicle, the central control device of the vehicle determines whether the number of the reflected signals, of which the signal values received within the preset time period are greater than the preset amplitude threshold value, is greater than one, and then the central control device of the vehicle feeds back the determination result to the vehicle-mounted ultrasonic sensor.
Wherein the preset time period may be set according to an empirical value, for example, the preset time period is 30 ms.
The predetermined amplitude threshold may be set in time intervals within a predetermined time period according to the waveform property of the reflected signal, or may be set to a fixed value, for example, the predetermined amplitude threshold is 0.8 volts (V).
Step 405, when the vehicle-mounted ultrasonic sensor judges that the number of the reflected signals with the signal values larger than the preset amplitude threshold value in the preset time period is at least two, determining that the height of the target object is higher than the preset height threshold value. The preset height threshold may be set according to an empirical value, for example, the preset height threshold is 0.5 m.
And 406, when the vehicle-mounted ultrasonic sensor judges that the number of the reflected signals of which the signal values are larger than the preset amplitude threshold value in the preset time period is only one, determining that the height of the target object is lower than the preset height threshold value.
Step 407, when the vehicle-mounted ultrasonic sensor determines that the reflected signal is not received, it is determined that the target object does not exist in the transmission direction of the ultrasonic signal.
In one possible embodiment, after determining the height of the target object, the category of the target object may also be determined according to the height of the target object. For example, a target object with a height higher than a preset height threshold is determined as a vehicle-like body object, and a target object with a height lower than the preset height threshold is determined as a road-like edge object.
In specific implementation, after the target object with the height higher than the preset height threshold is determined as the similar vehicle body object and the target object with the height lower than the preset height threshold is determined as the similar road edge object, the position between two adjacent similar vehicle body objects can be determined as the parking space when the distance between the two adjacent similar vehicle body objects is determined to be larger than the preset distance threshold and the similar road edge object exists between the two adjacent similar vehicle body objects.
In the prior art, when an automatic parking assist system detects a parking space by using a vehicle-mounted ultrasonic sensor, the vehicle-mounted ultrasonic sensor can only determine whether an obstacle exists around a vehicle, but cannot determine the height of the obstacle, which easily causes misjudgment of the parking space, for example, misjudgment of a gap between two obstacles on one side of a road edge as the parking space.
When the method for determining the height of the target object provided by the embodiment of the invention is applied to the vehicle-mounted ultrasonic sensor, the vehicle-mounted ultrasonic sensor can determine whether an obstacle exists around a vehicle or not, and can also determine the height of the obstacle under the condition that the obstacle exists, so that the type of the obstacle is determined to be a vehicle-body-like object or a road-edge-like object based on the height of the obstacle, and the parking space is detected according to the type of the obstacle, and the misjudgment rate of the parking space detection can be reduced.
Based on the same inventive concept, the embodiment of the invention also provides a device for determining the height of the target object.
As shown in fig. 5, an apparatus for determining a height of a target object according to an embodiment of the present invention includes:
a sending unit 501, configured to send a wireless probe signal.
The receiving unit 502 is configured to receive a reflected signal generated by the target object reflecting the wireless probe signal.
The processing unit 503 is configured to determine that the height of the target object is higher than the preset height threshold when at least two reflected signals with signal values larger than the preset amplitude threshold are received within a preset time period.
In a possible implementation, the processing unit 503 is further configured to: and when only one reflected signal with the signal value larger than the preset amplitude threshold value is received within the preset time length, determining that the height of the target object is lower than the preset height threshold value.
In a possible implementation, the processing unit 503 is further configured to: and when the reflected signal is not received within the preset time, determining that no target object exists in the transmission direction of the wireless detection signal.
In one possible embodiment, the apparatus further comprises: the parking space detection unit 504 is configured to determine a target object with a height higher than a preset height threshold as a similar vehicle body object, determine a target object with a height lower than the preset height threshold as a similar road edge object, and determine a position between two adjacent similar vehicle body objects as a parking space when it is determined that a distance between the two adjacent similar vehicle body objects is greater than a preset distance threshold and the similar road edge object exists between the two adjacent similar vehicle body objects.
In addition, an embodiment of the present invention further provides a vehicle-mounted radar apparatus, where the vehicle-mounted radar apparatus includes the apparatus for determining the height of the target object provided in the above-mentioned embodiment of the present invention.
In addition, the method and apparatus for determining the height of the target object in the embodiments of the present invention described in conjunction with fig. 1 to 5 may be implemented by a device for determining the height of the target object. Fig. 6 is a schematic diagram illustrating a hardware structure of a target object height determining apparatus according to an embodiment of the present invention.
The target object height determination device may comprise a processor 601 and a memory 602 in which computer program instructions are stored.
Specifically, the processor 601 may include a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or may be configured as one or more Integrated circuits implementing embodiments of the present invention.
Memory 602 may include mass storage for data or instructions. By way of example, and not limitation, memory 602 may include a Hard Disk Drive (HDD), floppy Disk Drive, flash memory, optical Disk, magneto-optical Disk, tape, or Universal Serial Bus (USB) Drive or a combination of two or more of these. Memory 602 may include removable or non-removable (or fixed) media, where appropriate. The memory 602 may be internal or external to the data processing apparatus, where appropriate. In a particular embodiment, the memory 602 is a non-volatile solid-state memory. In a particular embodiment, the memory 602 includes Read Only Memory (ROM). Where appropriate, the ROM may be mask-programmed ROM, Programmable ROM (PROM), Erasable PROM (EPROM), Electrically Erasable PROM (EEPROM), electrically rewritable ROM (EAROM), or flash memory or a combination of two or more of these.
The processor 601 realizes the method for determining the height of the target object in any of the above embodiments by reading and executing the computer program instructions stored in the memory 602.
In one example, the target object height determination device may also include a communication interface 603 and a bus 610. As shown in fig. 6, the processor 601, the memory 602, and the communication interface 603 are connected via a bus 610 to complete communication therebetween.
The communication interface 603 is mainly used for implementing communication between modules, apparatuses, units and/or devices in the embodiments of the present invention.
Bus 610 includes hardware, software, or both to couple the components of the target object height determination device to each other. By way of example, and not limitation, a bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hypertransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an infiniband interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a video electronics standards association local (VLB) bus, or other suitable bus or a combination of two or more of these. Bus 610 may include one or more buses, where appropriate. Although specific buses have been described and shown in the embodiments of the invention, any suitable buses or interconnects are contemplated by the invention.
The target object height determining device may perform the target object height determining method in the embodiment of the present invention based on the received reflection signal, thereby implementing the target object height determining method and apparatus described in conjunction with fig. 1 to 5.
In addition, in combination with the method for determining the height of the target object in the foregoing embodiments, the embodiments of the present invention may be implemented by providing a computer-readable storage medium. The computer readable storage medium having stored thereon computer program instructions; the computer program instructions, when executed by a processor, implement any of the above-described embodiments of the method for determining the height of a target object.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (10)

1. A method for determining a height of a target object, comprising:
transmitting a wireless probe signal;
receiving a reflected signal generated by the target object reflecting the wireless detection signal;
when at least two reflected signals with signal values larger than a preset amplitude threshold value are received within a preset time period, determining that the height of the target object is higher than a preset height threshold value;
wherein the method further comprises:
determining the target object with the height higher than the preset height threshold value as a vehicle body-like object;
determining the target object with the height lower than the preset height threshold value as a road edge-like object;
and when the distance between two adjacent similar vehicle body objects is determined to be larger than a preset distance threshold value and a similar road edge object exists between the two adjacent similar vehicle body objects, determining the position between the two adjacent similar vehicle body objects as a parking space.
2. The method of claim 1, further comprising: and when only one reflected signal with a signal value larger than a preset amplitude threshold value is received within a preset time period, determining that the height of the target object is lower than the preset height threshold value.
3. The method of claim 1, further comprising: and when the reflected signal is not received within the preset time, determining that no target object exists in the transmission direction of the wireless detection signal.
4. The method of claim 1, wherein the wireless probe signal is an ultrasonic signal or a radar signal.
5. An apparatus for determining a height of a target object, comprising:
a transmitting unit for transmitting a wireless probe signal;
a receiving unit, configured to receive a reflected signal generated by reflection of the wireless probe signal by the target object;
the processing unit is used for determining that the height of the target object is higher than a preset height threshold value when at least two reflection signals with signal values larger than a preset amplitude threshold value are received within a preset time length;
wherein the apparatus further comprises: and the parking space detection unit is used for determining the target object with the height higher than the preset height threshold value as a similar vehicle body object, determining the target object with the height lower than the preset height threshold value as a similar road edge object, and determining the position between two adjacent similar vehicle body objects as a parking space when the distance between the two adjacent similar vehicle body objects is determined to be larger than the preset distance threshold value and the similar road edge object exists between the two adjacent similar vehicle body objects.
6. The apparatus of claim 5, wherein the processing unit is further configured to: and when only one reflected signal with a signal value larger than a preset amplitude threshold value is received within a preset time period, determining that the height of the target object is lower than the preset height threshold value.
7. The apparatus of claim 5, wherein the processing unit is further configured to: and when the reflected signal is not received within the preset time, determining that no target object exists in the transmission direction of the wireless detection signal.
8. An in-vehicle radar apparatus characterized in that it comprises the determination means of the target object height of any of claims 5-7.
9. An apparatus for determining a height of a target object, comprising: at least one processor, at least one memory, and computer program instructions stored in the memory that, when executed by the processor, implement the method of any of claims 1-4.
10. A computer-readable storage medium having computer program instructions stored thereon, which when executed by a processor implement the method of any one of claims 1-4.
CN201811140495.2A 2018-09-28 2018-09-28 Method and device for determining height of target object and vehicle-mounted radar equipment Active CN110967689B (en)

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