CN110988885B - Method, device and system for monitoring surrounding environment of automobile and storage medium - Google Patents
Method, device and system for monitoring surrounding environment of automobile and storage medium Download PDFInfo
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- CN110988885B CN110988885B CN201911344444.6A CN201911344444A CN110988885B CN 110988885 B CN110988885 B CN 110988885B CN 201911344444 A CN201911344444 A CN 201911344444A CN 110988885 B CN110988885 B CN 110988885B
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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
- G01S15/02—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
- G01S15/42—Simultaneous measurement of distance and other co-ordinates
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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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Abstract
The invention discloses a method, a device and a system for monitoring the surrounding environment of an automobile and a storage medium, wherein the method comprises the following steps: acquiring the monitoring speed and the yaw velocity of an automobile CAN network in real time, and calculating the motion trail information of the automobile; acquiring the ultrasonic flight time, the ultrasonic echo height and the ultrasonic aftershock time of the radar after the radar detects the obstacle in real time, and realizing the function of monitoring the obstacle around the automobile in real time; and calculating the angle and the position of the obstacle relative to the automobile by utilizing a positioning calculation step, a Doppler distance calculation step, a triangular positioning distance calculation step, a real-time obstacle tracking step and an obstacle distance judgment step. The method can obtain the position information of the obstacles in the surrounding environment of the automobile, provide the position information of the obstacles in a short distance for an automatic parking system, a passenger-assistant parking system and more automatic driving systems, and simultaneously display the distance information of the obstacles in the periphery of the automobile through an interface, thereby contributing to the development of the automobile navigation technology.
Description
Technical Field
The invention relates to the technical field of advanced auxiliary driving of automobiles, in particular to a method, a device and a system for monitoring the surrounding environment of an automobile and a storage medium.
Background
The advanced auxiliary driving brings great convenience to the traveling of a vehicle driver, and can increase the safety and intelligence of the vehicle used by the vehicle owner; at present, automatic parking systems are increasingly installed on automobiles, and output parameters obtained by the automatic parking system can be used as input parameters of an automatic parking decision part, so that automatic parking has higher precision and function embodiment. Under the condition of low speed, the invention can also provide clearer and more visual peripheral obstacle conditions for the driver, and particularly can provide better obstacle prompt at blind areas. Accordingly, the prior art is yet to be improved and developed.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
The invention provides a method, a device and a system for monitoring the surrounding environment of an automobile and a storage medium.
Disclosure of Invention
In order to meet the above requirements, a first object of the present invention is to provide a method for monitoring an environment around an automobile based on an ultrasonic radar.
The second purpose of the invention is to provide a device for monitoring the surrounding environment of the automobile based on the ultrasonic radar.
The third purpose of the invention is to provide a system for monitoring the surrounding environment of the automobile based on the ultrasonic radar.
It is a fourth object of the invention to provide a non-transitory computer readable storage medium having a computer program stored thereon.
In order to achieve the purpose, the invention adopts the following technical scheme:
a method for monitoring the surrounding environment of an automobile based on an ultrasonic radar is applied to the automobile provided with a plurality of short-distance radars and long-distance radars, and comprises the following steps:
acquiring the monitoring speed and the yaw velocity of an automobile CAN network in real time, and calculating the motion trail information of the automobile; and the ultrasonic flight time, the ultrasonic echo height, the ultrasonic echo width and the ultrasonic aftershock time of the radar after the obstacle is detected are obtained in real time, so that the function of monitoring the obstacle around the automobile in real time is realized.
Utilizing a positioning calculation step to obtain the yaw velocity and the longitudinal velocity of the automobile in each CAN message updating period in real time; obtaining the angular deviation of the automobile relative to the automobile starting point through the integral of the yaw angular speed; obtaining the transverse displacement and the longitudinal displacement of the automobile relative to a starting point by approximately integrating and superposing the motion trail of the automobile in each period;
obtaining the distance of the obstacles detected by the radar in the advancing and retreating processes of the automobile by utilizing a Doppler distance calculation step, and calculating the real distance of the obstacles according to the current driving speed direction of the automobile and the installation angle of the radar;
utilizing a triangulation positioning distance calculation step to obtain the ultrasonic flight time of the radar respectively detected by the two radars in real time, and calculating the actual position of the obstacle relative to the automobile according to the pythagorean theorem by combining the distance between the two radars;
and acquiring the echo height, the echo width and the aftershock time of the ultrasonic radar in real time by utilizing the steps of tracking the obstacle in real time and judging the distance of the obstacle, and calculating the angle and the position of the obstacle relative to the automobile.
The method further comprises the following step of tracking the obstacle in real time and judging the position of the obstacle obtained in the step of distance between the obstacles as auxiliary data when the obstacle is calculated in the step of calculating the triangulation distance, wherein the position of the obstacle obtained in the step of calculating the triangulation distance is main data.
According to the principle of calculus, the automobile speed constant of each CAN message updating period is the average value of the current speed of the automobile and the speed of the automobile in the previous period, and the automobile speed constant of each CAN message updating period is the average value of the current yaw rate of the automobile and the yaw rate of the automobile in the previous period;
according to the calculus principle, the step of calculating the turning radius of each CAN message period of the automobile is as follows: the quotient of the speed in each CAN message period of the automobile and the yaw rate in the automobile period is obtained.
The further technical scheme is that the positioning calculation step adopts a local positioning algorithm with 10m as a boundary, when the displacement of the automobile exceeds 10m, a coordinate system is established according to the current automobile position, and the coordinates and the corner of the automobile are reset;
calculating to obtain the displacement of the automobile in each CAN message period: the product of the speed of each CAN message period and the CAN message period of the automobile;
calculating the current displacement of the automobile: the sum of the products of the speed in each current CAN message period and the CAN message period of the automobile;
obtaining the angular deflection of the automobile by integrating the yaw angular velocity of the automobile;
and calculating the X coordinate and the Y coordinate of the central point of the rear axle of the automobile according to the turning radius of each CAN message period of the automobile, the current displacement data of the automobile and the angle deflection amount of the automobile.
The method further adopts the technical scheme that the Doppler distance calculation step comprises the steps of obtaining the installation angle of each radar, and obtaining the distances between the four short-distance radars installed at the front end of the automobile and the obstacle according to the calculus principle, wherein the distances between the four short-distance radars and the obstacle are half of the difference between the ultrasonic flight distance of the radar and the automobile running distance;
and acquiring the distance between the long-distance radar and the obstacle, wherein the distance between the long-distance radar and the obstacle is half of the sum of the flying distance of the radar ultrasonic waves and the driving distance of the automobile.
The further technical scheme is that if the current radar can detect an obstacle and the nearby radar also receives ultrasonic waves, the step of calculating the triangulation distance can be adopted to position the obstacle.
According to the technical scheme, the triangular positioning distance calculating step comprises the steps of carrying out positioning algorithm based on single-transmission and multiple-reception of radar, obtaining the distance between the current radar and the obstacle and the distance between the nearby radar and the obstacle according to a speed distance formula and the first ultrasonic flight time detected by the current radar and the second ultrasonic flight time detected by the nearby radar, combining the distances between the two radars to form a triangle, and calculating the coordinates of the obstacle through the coordinates of the radar.
The invention also discloses an automobile surrounding environment monitoring device based on the ultrasonic radar, which comprises the following units:
the monitoring unit is used for acquiring the monitoring speed and the yaw velocity of the CAN network of the automobile in real time and calculating the motion trail information of the automobile; acquiring the ultrasonic flight time, the ultrasonic echo height and the ultrasonic aftershock time of the radar after the radar detects the obstacle in real time, and realizing the function of monitoring the obstacle around the automobile in real time;
the positioning calculation unit is used for acquiring the yaw velocity and the longitudinal velocity of the automobile in each CAN message updating period in real time by using the positioning calculation step; obtaining the angular deviation of the automobile relative to the automobile starting point through the integral of the yaw angular speed; obtaining the transverse displacement and the longitudinal displacement of the automobile relative to the automobile starting point by approximately integrating and superposing the motion trail of the automobile in each period;
the Doppler distance calculation unit is used for acquiring the distance of the obstacles detected by the radar in the advancing and retreating processes of the automobile and calculating the real distance of the obstacles according to the current driving speed direction of the automobile and the installation angle of the radar;
the triangular positioning distance calculation unit is used for acquiring the ultrasonic flight time of the radar detected by the two radars in real time by utilizing the triangular positioning distance calculation step, and calculating the actual position of the obstacle relative to the automobile according to the pythagorean theorem by combining the distance between the two radars;
a real-time tracking unit for acquiring echo height, echo width and aftershock time of the ultrasonic radar in real time by using the steps of tracking the obstacle and judging the distance of the obstacle in real time, and calculating the angle and position of the obstacle relative to the automobile
The invention also discloses a system for monitoring the surrounding environment of the automobile based on the ultrasonic radar, which comprises a memory, a processor and a program for monitoring the surrounding environment of the automobile based on the ultrasonic radar, wherein the program is stored in the memory and can run on the processor, and when the program for monitoring the surrounding environment of the automobile based on the ultrasonic radar is executed by the processor, the method for monitoring the surrounding environment of the automobile based on the ultrasonic radar can be realized.
The invention also discloses a non-transitory computer-readable storage medium on which a computer program is stored, which when executed by a processor implements the method for monitoring the surrounding environment of an automobile based on an ultrasonic radar as described in any one of the above.
Compared with the prior art, the invention has the beneficial effects that: by adopting the method for monitoring the surrounding environment of the automobile based on the ultrasonic radar, the position information of the obstacles in the surrounding environment of the automobile can be obtained, the position information of the obstacles in a short distance can be provided for an automatic parking system, a passenger-replacing parking system and more automatic driving systems, and meanwhile, the distance information of the obstacles in the surrounding of the automobile can be displayed through an interface, so that the method contributes to the development of the automobile navigation technology.
The invention is further described below with reference to the accompanying drawings and specific embodiments.
Drawings
FIG. 1 is a schematic flow chart of an embodiment of a method for monitoring an environment around an automobile based on an ultrasonic radar according to the present invention;
FIG. 2 is a schematic view of a vehicle with 12 ultrasonic radars mounted around the vehicle;
FIG. 3 is a schematic view of the angular positions of 12 ultrasonic radars installed around a vehicle;
FIG. 4 is a schematic view of an angular state (top view) of an ultrasonic radar installed around a vehicle;
FIG. 5 is a schematic view of the angular state (left side view) of the ultrasonic radar installed around the vehicle;
FIG. 6 is a schematic diagram of a frame assembly of an ultrasonic radar-based device for monitoring an environment around a vehicle according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a frame composition of an embodiment of the system for monitoring the surrounding environment of an automobile based on an ultrasonic radar.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
As shown in the method flowchart of fig. 1, which is a flowchart of a specific embodiment of the method for monitoring an environment around an automobile based on an ultrasonic radar of the present invention, the method is applied to an automobile equipped with a plurality of short-range radars and long-range radars, and includes:
s1, acquiring the monitoring speed and the yaw rate of the CAN network of the automobile in real time, and calculating the motion trail information of the automobile; acquiring the ultrasonic flight time, the ultrasonic echo height and the ultrasonic aftershock time of the radar after the radar detects the obstacle in real time, and realizing the function of monitoring the obstacle around the automobile in real time;
s2, acquiring the yaw velocity and the longitudinal velocity of the automobile in each CAN message updating period in real time by using the positioning calculation step; obtaining the angular deviation of the automobile relative to the automobile starting point through the integral of the yaw angular speed; obtaining the transverse displacement and the longitudinal displacement of the automobile relative to the automobile starting point by approximately integrating and superposing the motion trail of the automobile in each period;
s3, obtaining the distance of the obstacle detected by the radar in the forward and backward processes of the automobile by utilizing the Doppler distance calculation step, and calculating the real distance of the obstacle according to the current driving speed direction of the automobile and the installation angle of the radar;
s4, utilizing the step of calculating the triangular positioning distance to obtain the ultrasonic flight time of the radar respectively detected by the two radars in real time, and calculating the actual position of the obstacle relative to the automobile according to the Pythagorean theorem by combining the distance between the two radars;
and S5, tracking the obstacle in real time and judging the distance of the obstacle, acquiring the echo height, the echo width and the aftershock time of the ultrasonic radar in real time, and calculating the angle and the position of the obstacle relative to the automobile.
In a preferred embodiment, the positioning information obtained in the above steps S1-S5 is transmitted to the processing unit of the vehicle through data transmission, and after being processed by the processing unit of the vehicle, the processed positioning information is displayed on the display screen of the vehicle in an imaging manner, so that the driver can conveniently judge the current environment around the vehicle, thereby better assisting the driver in driving the vehicle.
In a preferred embodiment, when the step of calculating the triangulation distance calculates an obstacle, the step of tracking the obstacle in real time and determining the distance between the obstacle is configured as auxiliary data, and the step of calculating the triangulation distance is configured as main data.
In a preferred embodiment, the positioning calculating step includes, according to the principle of calculus, using the vehicle speed constant of each CAN message update period as an average value of the current vehicle speed and the previous vehicle speed, and using the vehicle speed constant of each CAN message update period as an average value of the current yaw rate and the previous vehicle yaw rate;
according to the calculus principle, the turning radius of each CAN message period of the automobile is calculated as follows: quotient of speed in each CAN message period of automobile and yaw velocity in automobile period
The positioning calculation step adopts a local positioning algorithm with 10m as a boundary, and when the displacement of the automobile exceeds 10m, a coordinate system is established according to the current automobile position, and the coordinates and the turning angle of the automobile are reset;
calculating to obtain the displacement of the automobile in each CAN message period: the product of the speed of each CAN message period and the CAN message period of the automobile;
calculating the current displacement of the automobile: the sum of the products of the speed in each current CAN message period and the CAN message period of the automobile;
the automobile angular deflection is obtained by integrating the yaw angular velocity;
in a preferred embodiment, the doppler distance calculating step includes obtaining an installation angle of each radar, and obtaining distances to the obstacle detected by four short-range radars installed at the front end of the automobile according to a calculus principle, wherein the distances to the obstacle detected by the four short-range radars are half of a difference between a flight distance of ultrasonic waves of the radar and a running distance of the automobile;
and acquiring the distance between the long-distance radar and the obstacle, wherein the distance between the long-distance radar and the obstacle is half of the sum of the flying distance of the radar ultrasonic waves and the driving distance of the automobile.
In a preferred embodiment, if the radar detects an obstacle and the radar nearby receives ultrasonic waves, the triangulation distance calculation step may be used to locate the obstacle.
In a preferred embodiment, the step of calculating the triangulation location distance includes, based on a radar-based single-transmission multi-reception line location algorithm, obtaining a distance between a current radar and an obstacle and a distance between a nearby radar and the obstacle according to a speed distance formula and a first ultrasonic flight time detected by the current radar and a second ultrasonic flight time detected by the nearby radar;
coordinates of the obstacle are calculated from the coordinates of the radar.
As a specific implementation manner, the following steps are implemented by taking an automobile as a specific carrier:
referring to fig. 2, 3, 4 and 5, the periphery of the automobile is provided with 12 ultrasonic radars, wherein 9-12 represent long-distance radars and 1-8 represent short-distance radars. The radar can output the obstacle distance and the ultrasonic echo intensity. And establishing a coordinate system as shown in the figure, wherein the original point is the central point of the rear axle of the automobile, the x-axis passes through the central line of the automobile, the direction of the x-axis points to the advancing direction of the automobile, and the y-axis passes through the rear axle of the automobile and points to the main driving direction. The body is equipped with 12 radar three-dimensional coordinate representations such as (xa, ya, za), where z represents the radar height relative to the horizon.
Each radar has a mounting angle relative to the X-axis in addition to the mounting position, so as to ensure that the radar can cover objects around the automobile, as shown in fig. 3, 4 and 5 (specifically, a represents the automobile, B represents the long-distance radar, C represents the short-distance radar, and the long-distance radar C is set at an angle β a (which can be adjusted according to actual needs), and an included angle is formed between the short-distance radar B and the X-axis). Wherein the radar mounting and layout is symmetrical about the centerline of the automobile a;
the long-distance radar B can detect an obstacle 5m away at the maximum, and the short-distance radar C can detect an obstacle 2.5m away at the maximum.
The radar has two modes, a self-transmitting and self-receiving mode and a pure receiving mode. The frequency of the long-distance radar B is higher than that of the short-distance radar C, and thus ultrasonic waves emitted from the long-distance radar B and the short-distance radar C cannot be received by each other. The short-distance radars C can mutually receive ultrasonic waves sent by the opposite side, so that a one-transmitting and multi-receiving mode can be adopted;
the long-distance radar B can measure 5m far at the farthest, sound waves are sent out in a back and forth mode, the flight distance is 10m, the propagation speed of the sound waves in the air is 340m/s, the farthest flight time is 34ms, in addition, the system controls the sampling time, the scheduling time of the long-distance radar is selected to be 40ms, namely, ultrasonic waves are sent every 40ms to detect surrounding obstacles.
The short-distance radar C detects an obstacle 2.5m away at the farthest, sound waves are sent out in a back and forth mode, the flying distance is 5m, the propagation speed of the sound waves in the air is 340m/s (mean value is adopted), the farthest flying time is 17ms, the system controls sampling time, and the scheduling time of the short-distance radar C is selected to be 20 ms. A one-shot multi-shot mode is adopted, for example, in fig. 2, the radar 1 and the radar 4 simultaneously send ultrasonic waves, and at the moment, the radar 2 and the radar 3 simultaneously enter a receiving mode; then the radar 2 sends ultrasonic waves; radar 1 and radar 3 are in receive mode at the same time; the radar 3 then transmits ultrasonic waves and the radar 2 and the radar 4 are simultaneously in a receiving mode.
Vehicle sound parameters:
the body parameters are expressed in the following table:
watch 1
Positioning calculation:
the updating period of the speed information on the CAN message is TvThe updating period of the yaw rate information on the CAN message is TФ。
The CAN message updating period is very short, so that the automobile CAN be considered to do uniform acceleration motion in each updating period.
So the speed in each cycle is (V)now+Vpast) Per cycle,/2Yaw angular velocity ofnow+Фpast)/2. Each period is very short, and the motion of the automobile in each period can be regarded as circular motion. The turn radius for each cycle is:
R＝((Vnow+Vpast)/2)/((Фnow+Фpast)/2)。
the positioning algorithm adopts a local positioning algorithm with 10m as a boundary, when the automobile displacement exceeds 10m, a coordinate system is immediately established according to the current automobile position, the coordinate system is the same as the current automobile coordinate system, and the coordinate system is the current global coordinate system. The x-coordinate, y-coordinate and the rotation angle α of the automobile are reset to 0 at this time.
The displacement of the vehicle in each cycle is (V)now+Vpast)/2*TvCurrent displacement: snow＝(Vnow+Vpast)/2*Tv+Spast。
The angular deflection of the vehicle can be obtained by integrating the yaw rate α now (this process is an implementation manner in which the angular deflection of the vehicle is obtained by integrating the yaw rate):
((Фnow+Фpast)*TФ)+αpast。
wherein alpha ispastIs the previous vehicle body angle, alphanowIs the current body turning angle, at the initial position.
The position of the central point of the rear axle of the automobile:
xnow：xnow＝xpast+R*((sin(αnow)-sin(αpast))；
the position of the central point of the rear axle of the automobile:
ynow：ynow＝ypast+R*((cos(αnow)-cos(αpast))；
this allows a local range of positioning.
Doppler distance calculation step:
because the ultrasonic wave transmitting direction is different from the automobile traveling direction in the automobile moving process, the Doppler effect is generated.
The installation angle of each radar relative to the x-axis is beta a, and because the installation angles of the radars are symmetrical about the center line of the automobile, the radar installation angle is beta a
β1＝180°-β4，β2＝180°-β3，β5＝180°-β6，β7＝180°-β8，β9＝180°-β10，β11＝180°-β12。
Because of the short flight time of the ultrasonic radar, the ultrasonic radar can transmit the ultrasonic wave in one ultrasonic wave transmission period TTOFInside, the car has only moved longitudinally.
If the car is moving forward. The actual distance D from No. 1-4 radar to the obstacle is the ultrasonic flight distance minus half of the automobile running distance, so
D＝(340-((Vnow+Vpast)/2))*(TTOF/2)。
The actual distance D from No. 5-8 radar to the obstacle is the ultrasonic flight distance plus half of the automobile driving distance, so that
D＝(340+((Vnow+Vpast)/2))*(TTOF/2)。
If the automobile moves backwards, the actual distance D between the No. 1-4 radar and the obstacle is the sum of the ultrasonic flight distance and half of the automobile driving distance, so that
D＝(340+((Vnow+Vpast)/2))*(TTOF/2)。
The actual distance D from No. 5-8 radar to the obstacle is the ultrasonic flight distance minus half of the automobile running distance, so that
D＝(340-((Vnow+Vpast)/2))*(TTOF/2)。
And a triangulation distance calculation step:
for the radar No. 1-4, the distance between the obstacle and the self vehicle can be more accurately described by utilizing a single-transmitting multi-receiving-line positioning algorithm of the radar. If the radar detects an obstacle and the radar nearby receives ultrasonic waves, the object can be located by using a triangulation algorithm. The distance between the two radars is d, and the flight time detected by the current radar is TTOF1Near radar detectionMeasured time of flight TTOF2For the case of only one obstacle, the distance from the radar to the obstacle is TTOF1170, distance from the radar to the obstacle is (T)TOF2-TTOF1/2) 340, three sides of triangle d, TTOF1*170、TTOF2-TTOF1340, and the coordinates of both radars are also known at this time, so the coordinates of the obstacle with respect to the entire vehicle can also be calculated.
Tracking the obstacle in real time and judging the distance between the obstacles:
the ultrasonic radar has a detection range in which an obstacle can be detected only if the obstacle is within the detection range, and the approximate properties of the ultrasonic radar are described as a detection distance Dmax, a horizontal detection angle and a vertical detection angle. The same obstacle has the same height of echo when being closer to the ultrasonic radar at the same angle; the same obstacle, at the same distance from the radar, has an echo height that is approximately high the closer it is to the center line of transmission of the radar.
By using the obstacle distance and the echo height for a plurality of times, the obstacle can be tracked and the position of the obstacle can be roughly estimated. For an obstacle capable of performing triangulation, triangulation is used as a main point, and obstacle tracking determination is used as a secondary point.
As shown in fig. 6, the present invention also discloses an apparatus for monitoring the surrounding environment of an automobile based on an ultrasonic radar, which comprises the following units:
the monitoring unit 100 is used for acquiring the monitoring speed and the yaw velocity of the CAN network of the automobile in real time and calculating the motion track information of the automobile; acquiring the ultrasonic flight time, the ultrasonic echo height and the ultrasonic aftershock time of the radar after the radar detects the obstacle in real time, and realizing the function of monitoring the obstacle around the automobile in real time; (ii) a
The positioning calculation unit 200 is configured to obtain, in real time, a yaw rate and a longitudinal rate of the vehicle in each CAN message update period by using a positioning calculation step; obtaining the angular deviation of the automobile relative to the automobile starting point through the integral of the yaw angular speed; obtaining the transverse displacement and the longitudinal displacement of the automobile relative to the automobile starting point by approximately integrating and superposing the motion trail of the automobile in each period;
the doppler distance calculation unit 300 is configured to obtain a distance between obstacles detected by a radar in the forward and backward processes of the vehicle, and calculate a real distance between the obstacles according to a current vehicle driving speed and a current radar installation angle;
the triangulation distance calculation unit 400 is configured to obtain ultrasonic flight times of the radars detected by the two radars in real time by using a triangulation distance calculation step, and calculate an actual position of the obstacle relative to the automobile according to the pythagorean theorem by combining the distances between the two radars;
and the real-time tracking unit 500 is used for acquiring the echo height, the echo width and the aftershock time of the ultrasonic radar in real time by utilizing the steps of tracking the obstacle in real time and judging the distance of the obstacle, and calculating the angle and the position of the obstacle relative to the automobile.
The steps executed by the monitoring unit 100, the positioning calculation unit 200, the doppler distance calculation unit 300, the triangulation distance calculation unit 400, and the real-time tracking unit 500 correspond to the steps S1-S5 in fig. 1.
As shown in fig. 7, the present invention also discloses a system for monitoring an automobile surrounding environment based on an ultrasonic radar, which includes a memory 600, a processor 700, and an automobile surrounding environment monitoring program based on an ultrasonic radar, which is stored in the memory 600 and can be run on the processor 700, and when the automobile surrounding environment monitoring program based on an ultrasonic radar is executed by the processor 700, the method for monitoring an automobile surrounding environment based on an ultrasonic radar as described in any one of the above embodiments is implemented.
The Memory 600 may be a Read-Only Memory (ROM) or other types of static storage devices that can store static information and instructions, a Random Access Memory (RAM) or other types of dynamic storage devices that can store information and instructions, an Electrically Erasable Programmable Read-Only Memory (EEPROM), a Compact Disc Read-Only Memory (CD-ROM) or other optical Disc storage, optical Disc storage (including Compact Disc, laser Disc, optical Disc, digital versatile disks, blu-ray disks, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to such. The memory may be self-contained and coupled to the processor via a communication bus. The memory may also be integral to the processor.
The invention also discloses a non-transitory computer-readable storage medium on which a computer program is stored, which when executed by a processor implements the method for monitoring the surrounding environment of an automobile based on an ultrasonic radar as described in any one of the above. The storage medium may be an internal storage unit of the aforementioned server, such as a hard disk or a memory of the server. The storage medium may also be an external storage device of the device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the device. Further, the storage medium may also include both an internal storage unit and an external storage device of the apparatus.
It should be noted that, as will be clear to those skilled in the art, specific implementation processes of the above apparatus, system and units may refer to corresponding descriptions in the foregoing method embodiments, and for convenience and brevity of description, no further description is provided herein.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of illustrating clearly the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention. It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus, system, and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative. For example, the division of each unit is only one logic function division, and there may be another division manner in actual implementation. For example, more than one unit or component may be combined or may be integrated into another system, or some features may be omitted, or not implemented.
The steps in the method of the embodiment of the invention can be sequentially adjusted, combined and deleted according to actual needs. The units in the device of the embodiment of the invention can be merged, divided and deleted according to actual needs.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention essentially or partially contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a terminal, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A method for monitoring the surrounding environment of an automobile based on an ultrasonic radar is applied to the automobile provided with a plurality of short-distance radars and long-distance radars, and is characterized by comprising the following steps:
acquiring the monitoring speed and the yaw velocity of an automobile CAN network in real time, and calculating the motion trail information of the automobile; the method comprises the steps of acquiring the ultrasonic flight time, the ultrasonic echo height, the ultrasonic echo width and the ultrasonic aftershock time of a radar after the radar detects an obstacle in real time, and realizing the function of monitoring the obstacle around the automobile in real time;
utilizing a positioning calculation step to obtain the yaw velocity and the longitudinal velocity of the automobile in each CAN message updating period in real time; obtaining the angular deviation of the automobile relative to the automobile starting point through the integral of the yaw angular speed; obtaining the transverse displacement and the longitudinal displacement of the automobile relative to a starting point by approximately integrating and superposing the motion trail of the automobile in each period;
obtaining the distance of the obstacles detected by the radar in the advancing and retreating processes of the automobile by utilizing a Doppler distance calculation step, and calculating the real distance of the obstacles according to the current driving speed direction of the automobile and the installation angle of the radar;
utilizing a triangulation positioning distance calculation step to obtain the ultrasonic flight time of the radar respectively detected by the two radars in real time, and calculating the actual position of the obstacle relative to the automobile according to the pythagorean theorem by combining the distance between the two radars;
and acquiring the echo height, the echo width and the aftershock time of the ultrasonic radar in real time by utilizing the steps of tracking the obstacle in real time and judging the distance of the obstacle, and calculating the angle and the position of the obstacle relative to the automobile.
2. The method of claim 1, wherein the step of tracking the obstacle in real time and determining the distance between the obstacle is used as auxiliary data, and the step of calculating the triangulation distance is used as main data, when the step of calculating the triangulation distance calculates the obstacle.
3. The method according to claim 1, wherein the positioning calculation step includes using the vehicle velocity constant of each CAN message update period as an average of the current vehicle velocity and the previous vehicle velocity, and using the vehicle yaw rate constant of each CAN message update period as an average of the current vehicle yaw rate and the previous vehicle yaw rate, according to the principle of calculus;
and (3) calculating the turning radius of each CAN message period of the automobile as follows: the quotient of the speed in each CAN message period of the automobile and the yaw rate in the automobile period is obtained.
4. The ultrasonic radar-based automobile surrounding environment monitoring method as claimed in claim 3, wherein the positioning calculation step adopts a local positioning algorithm with a boundary of 10m, when the automobile displacement exceeds 10m, a coordinate system is established according to the current automobile position, and the coordinates and the turning angle of the automobile are reset;
calculating to obtain the displacement of the automobile in each CAN message period: the product of the speed of each CAN message period and the CAN message period of the automobile;
calculating the current displacement of the automobile: the sum of the products of the speed in each current CAN message period and the CAN message period of the automobile;
obtaining the angular deflection of the automobile by integrating the yaw angular velocity of the automobile; and calculating the X coordinate and the Y coordinate of the central point of the rear axle of the automobile according to the turning radius of each CAN message period of the automobile, the current displacement data of the automobile and the angle deflection amount of the automobile.
5. The ultrasonic radar-based automobile surroundings monitoring method according to claim 1, wherein the doppler distance calculating step includes obtaining an installation angle of each radar, obtaining distances to obstacles detected by four short-range radars installed at a front end of an automobile according to a calculus principle, the distances to obstacles detected by the four short-range radars being half of a difference between a flight distance of the ultrasonic waves of the radar minus a running distance of the automobile;
and acquiring the distance between the long-distance radar and the obstacle, wherein the distance between the long-distance radar and the obstacle is half of the sum of the flying distance of the radar ultrasonic waves and the driving distance of the automobile.
6. The method of claim 1, wherein the step of calculating the triangulation distance is used to locate an obstacle if the radar detects an obstacle and the radar in the vicinity receives ultrasonic waves.
7. The ultrasonic-radar-based method for monitoring the surrounding environment of the vehicle as claimed in claim 6, wherein the step of calculating the triangulation distance includes a radar-based single-shot multiple-shot positioning algorithm, which obtains the distance between the current radar and the obstacle and the distance between the nearby radar and the obstacle according to a velocity distance formula based on the first ultrasonic flight time detected by the current radar and the second ultrasonic flight time detected by the nearby radar, and then combines the distances between the two radars to form a triangle, and calculates the coordinates of the obstacle according to the coordinates of the radars.
8. Automobile surrounding environment monitoring devices based on ultrasonic radar, its characterized in that includes following unit:
the monitoring unit is used for acquiring the monitoring speed and the yaw velocity of the CAN network of the automobile in real time and calculating the motion trail information of the automobile; acquiring the ultrasonic flight time, the ultrasonic echo height and the ultrasonic aftershock time of the radar after the radar detects the obstacle in real time, and realizing the function of monitoring the obstacle around the automobile in real time;
the positioning calculation unit is used for acquiring the yaw velocity and the longitudinal velocity of the automobile in each CAN message updating period in real time by using the positioning calculation step; obtaining the angular deviation of the automobile relative to the automobile starting point through the integral of the yaw angular speed; obtaining the transverse displacement and the longitudinal displacement of the automobile relative to the automobile starting point by approximately integrating and superposing the motion trail of the automobile in each period;
the Doppler distance calculation unit is used for acquiring the distance of the obstacles detected by the radar in the advancing and retreating processes of the automobile and calculating the real distance of the obstacles according to the current driving speed direction of the automobile and the installation angle of the radar;
the triangular positioning distance calculation unit is used for acquiring the ultrasonic flight time of the radar detected by the two radars in real time by utilizing the triangular positioning distance calculation step, and calculating the actual position of the obstacle relative to the automobile according to the pythagorean theorem by combining the distance between the two radars;
and the real-time tracking unit is used for acquiring the echo height, the echo width and the aftershock time of the ultrasonic radar in real time by utilizing the steps of tracking the obstacle and judging the distance of the obstacle, and calculating the angle and the position of the obstacle relative to the automobile.
9. The system for monitoring the surrounding environment of an automobile based on the ultrasonic radar is characterized by comprising a memory, a processor and an automobile surrounding environment monitoring program based on the ultrasonic radar, wherein the automobile surrounding environment monitoring program based on the ultrasonic radar is stored in the memory and can run on the processor, and when the automobile surrounding environment monitoring program based on the ultrasonic radar is executed by the processor, the automobile surrounding environment monitoring method based on the ultrasonic radar as claimed in any one of claims 1 to 7 is realized.
10. A non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the sodar-based automotive surroundings monitoring method according to any one of claims 1-7.
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| CN112639821B (en) * | 2020-05-11 | 2021-12-28 | 华为技术有限公司 | Method and system for detecting vehicle travelable area and automatic driving vehicle adopting system |
| CN112666563B (en) * | 2020-11-27 | 2024-09-13 | 惠州华阳通用电子有限公司 | Obstacle recognition method based on ultrasonic radar system |
| CN114859357B (en) * | 2021-02-04 | 2024-07-12 | 广州汽车集团股份有限公司 | Obstacle positioning detection method and system |
| CN113325400A (en) * | 2021-06-02 | 2021-08-31 | 辉创电子科技(苏州)有限公司 | Method for identifying high and low objects in horizontal parking space based on ultrasonic waves |
| CN114103933B (en) * | 2021-09-10 | 2024-03-15 | 华人运通(上海)自动驾驶科技有限公司 | Obstacle positioning method, parking control method, device and vehicle |
| CN114299759A (en) * | 2021-12-31 | 2022-04-08 | 珠海上富电技股份有限公司 | Parking space detection precision improving method and vehicle |
| CN115220020A (en) * | 2022-03-24 | 2022-10-21 | 广州汽车集团股份有限公司 | Ultrasonic radar fault detection method and ECU |
| CN115755060A (en) * | 2022-05-06 | 2023-03-07 | 惠州市德赛西威汽车电子股份有限公司 | Obstacle positioning method and device based on vehicle, vehicle and storage medium |
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| CN103913748B (en) * | 2014-03-06 | 2017-03-08 | 武汉理工大学 | A kind of automobile sensory perceptual system based on multisensor and cognitive method |
| DE102016115734A1 (en) * | 2015-09-04 | 2017-03-09 | GM Global Technology Operations LLC | Method and systems for aligning a steering system of a vehicle |
| CN108189754B (en) * | 2017-12-23 | 2018-12-18 | 西安科技大学 | A kind of automobile anti-collision method of multipoint mode active probe |
| CN109633657A (en) * | 2018-11-28 | 2019-04-16 | 浙江中车电车有限公司 | A kind of method and system that barrier is tracked based on multiple ultrasonic radars |
| CN109747636A (en) * | 2019-01-15 | 2019-05-14 | 中国第一汽车股份有限公司 | Based on the curb position of long range ultrasonic wave and angle detecting method and its system |
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