CN111366928B - Vehicle speed determination method and device, storage medium and processor - Google Patents

Abstract

The application discloses a vehicle speed determination method and device, a storage medium and a processor. Wherein, the method comprises the following steps: acquiring a plurality of radial speeds of a plurality of reflection points on the target vehicle relative to the reference vehicle, wherein the plurality of reflection points are reflection points which reflect signals transmitted by a radar installed on the reference vehicle; acquiring a plurality of mapping information of a plurality of reflection points in a preset plane rectangular coordinate system; and determining the actual running speed of the target vehicle relative to the reference vehicle according to the plurality of radial speeds and the plurality of mapping information. The method and the device solve the technical problem that potential safety hazards exist due to the fact that the driving state of the front driving vehicle cannot be timely acquired in the driving process of the automatic driving vehicle at the present stage.

Description

Method and device for determining vehicle speed, storage medium and processor

technical field

The present application relates to the field of automatic driving, and in particular, to a method and device for determining vehicle speed, a storage medium, and a processor.

Background technique

Autonomous vehicles will encounter some unexpected situations during the driving process, for example, the vehicle driving in front suddenly changes lanes, makes a sudden U-turn, etc. Since the autonomous vehicle cannot obtain the driving status of the vehicle driving ahead in time, it cannot take timely measures, which may lead to safety hazards such as traffic accidents.

At this stage, there is no effective solution to the problem that the autonomous vehicle cannot obtain the driving status of the driving vehicle ahead in time during the driving process, resulting in potential safety hazards.

SUMMARY OF THE INVENTION

The embodiments of the present application provide a vehicle speed determination method and device, a storage medium, and a processor, so as to at least solve the potential safety hazard caused by the fact that the current automatic driving vehicle cannot obtain the driving state of the driving vehicle ahead in time during the driving process. technical problem.

According to an aspect of the embodiments of the present application, a method for determining vehicle speed is provided, including: acquiring multiple radial velocities of multiple reflection points on a target vehicle relative to a reference vehicle, wherein the multiple reflection points are reflection references The reflection point of the signal emitted by the radar installed on the vehicle; obtains multiple mapping information of multiple reflection points in the preset plane rectangular coordinate system; determines the target vehicle relative to the reference vehicle according to multiple radial velocities and multiple mapping information actual driving speed.

Optionally, before acquiring multiple mapping information of the multiple reflection points in the preset plane rectangular coordinate system, the above method further includes: acquiring a projection plane, wherein the projection plane is the straight line and the axial direction of the wheel axle of the reference vehicle. The plane determined by the vertical line of the wheel axle parallel to the ground; obtain the origin obtained by the radar projection on the projection plane; create a plane rectangular coordinate system based on the origin of the projection plane, wherein the straight line with the axial direction of the wheel axle is the plane rectangular coordinate system. X-axis, the straight line passing through the origin and perpendicular to the X-axis is the Y-axis of the plane rectangular coordinate system.

Optionally, acquiring multiple mapping information of multiple reflection points in a preset plane rectangular coordinate system includes: determining multiple straight lines according to the multiple reflection points and the radar; respectively determining each straight line in the multiple straight lines and the plane right angle The included angle of the Y axis of the coordinate system is obtained, and multiple included angles are obtained; the multiple included angles are used as multiple mapping information.

Optionally, determining the actual traveling speed of the target vehicle relative to the reference vehicle according to the multiple radial velocities and the multiple mapping information includes: determining the actual traveling speed of the target vehicle relative to the reference vehicle according to the radial velocity and the included angle corresponding to each of the multiple reflection points respectively. A binary linear equation is obtained, and a binary linear equation system is obtained, in which the two unknowns of the binary linear equation are the speed components of the actual driving speed of the target vehicle on the X and Y axes of the plane rectangular coordinate system; The system of linear equations determines the speed components of the actual traveling speed of the target vehicle on the X and Y axes of the plane Cartesian coordinate system.

个数量的速度分量；分别依据

个数量的速度分量中的每个速度分量与N个反射点对应的径向速度和夹角确定N个残差值，N个残差值中小于门限残差值的个数为N个反射点中有效反射点的个数；将最大的有效反射点个数对应的速度分量作为目标车辆相对于基准车辆的实际行驶速度。Optionally, determining the actual traveling speed of the target vehicle relative to the reference vehicle according to multiple radial velocities and multiple mapping information, further comprising: setting the number of multiple reflection points to be N, and selecting M reflection points from the N reflection points. According to the radial velocity and angle corresponding to the M reflection points obtained by each selection method, determine the velocity components of the actual driving speed of the target vehicle on the X-axis and Y-axis of the plane rectangular coordinate system, and obtain

number of velocity components; respectively according to

The radial velocity and the included angle corresponding to each of the velocity components in the number of velocity components and the N reflection points determine N residual values, and the number of the N residual values smaller than the threshold residual value is the N reflection points The number of effective reflection points in the middle; the speed component corresponding to the maximum number of effective reflection points is taken as the actual driving speed of the target vehicle relative to the reference vehicle.

Optionally, after determining the actual traveling speed of the target vehicle relative to the reference vehicle, the method further includes: adjusting the speed components of the reference vehicle on the X-axis and the Y-axis of the plane Cartesian coordinate system according to the actual traveling speed of the target vehicle. Driving speed.

According to another aspect of the embodiments of the present application, another method for determining the speed of a vehicle is also provided, including: during the driving of the vehicle, displaying in the interactive interface of the reference vehicle multiple reflection points on the target vehicle relative to the reference Multiple radial velocities of the vehicle, wherein the multiple reflection points are reflection points that reflect the signals emitted by the radar installed on the reference vehicle; multiple mappings of the multiple reflection points in the preset plane rectangular coordinate system are displayed in the interactive interface information; the actual driving speed of the target vehicle relative to the reference vehicle is displayed in the interactive interface, and the actual driving speed is determined according to multiple radial velocities and multiple mapping information.

Optionally, before displaying a plurality of mapping information of the plurality of reflection points in a preset plane rectangular coordinate system, the above method further includes: acquiring a projection plane, wherein the projection plane is the straight line and the axial direction of the wheel axle of the reference vehicle. The plane determined by the vertical line of the wheel axle parallel to the ground; obtain the origin obtained by the radar projection on the projection plane; create a plane rectangular coordinate system based on the origin of the projection plane, wherein the straight line with the axial direction of the wheel axle is the plane rectangular coordinate system. X-axis, the straight line passing through the origin and perpendicular to the X-axis is the Y-axis of the plane rectangular coordinate system.

Optionally, before displaying a plurality of mapping information of the plurality of reflection points in the preset plane rectangular coordinate system, the above method further includes: respectively determining a plurality of straight lines according to the plurality of reflection points and the radar; The included angle between a straight line and the Y axis of the plane rectangular coordinate system is obtained, and multiple included angles are obtained; the multiple included angles are used as multiple mapping information.

Optionally, before displaying the actual running speed of the target vehicle relative to the reference vehicle, the above method further includes: determining a plurality of binary linear equations according to the radial velocity and the included angle corresponding to each reflection point in the plurality of reflection points, respectively. , obtain a binary linear equation system, in which the two unknowns of the binary linear equation are the speed components of the actual speed of the target vehicle on the X and Y axes of the plane rectangular coordinate system; determine the target according to the binary linear equation system The speed components of the actual traveling speed of the vehicle on the X and Y axes of the plane Cartesian coordinate system.

Optionally, displaying the actual traveling speed of the target vehicle relative to the reference vehicle includes: displaying the speed components of the actual traveling speed of the target vehicle on the X axis and the Y axis of the plane rectangular coordinate system.

Optionally, after displaying the actual running speed of the target vehicle relative to the reference vehicle, the method further includes: in the case of receiving the adjustment instruction, displaying the adjusted running speed of the reference vehicle in the interactive interface, and the adjusted running speed. It is obtained by adjusting the speed components on the X-axis and Y-axis of the plane Cartesian coordinate system based on the actual driving speed of the target vehicle.

According to another aspect of the embodiments of the present application, there is also provided a vehicle speed determination device, comprising: a first acquisition module configured to acquire multiple radial velocities of multiple reflection points on the target vehicle relative to the reference vehicle, Wherein, the multiple reflection points are reflection points that reflect the signal emitted by the radar installed on the reference vehicle; the second acquisition module is used to acquire multiple mapping information of the multiple reflection points in the preset plane rectangular coordinate system; the determination module, It is used to determine the actual traveling speed of the target vehicle relative to the reference vehicle according to multiple radial velocities and multiple mapping information.

According to another aspect of the embodiments of the present application, there is also provided an unmanned vehicle, including: a radar, which is arranged on the unmanned vehicle and is used to detect an unmanned vehicle within a preset range during the driving of the unmanned vehicle. A target; a controller, connected in communication with the radar, for executing the above vehicle speed determination method to determine the actual traveling speed of the target vehicle relative to the unmanned vehicle.

According to still another aspect of the embodiments of the present application, a storage medium is also provided, the storage medium includes a stored program, wherein when the program runs, the device where the storage medium is located is controlled to execute the above vehicle speed determination method.

According to yet another aspect of the embodiments of the present application, a processor is also provided, and the processor is configured to run a program, wherein the above method for determining the vehicle speed is executed when the program runs.

In the embodiments of the present application, multiple radial velocities of multiple reflection points on the target vehicle relative to the reference vehicle are obtained, wherein the multiple reflection points are reflection points that reflect the signals emitted by the radar installed on the reference vehicle; Multiple mapping information of multiple reflection points in the preset plane rectangular coordinate system; the method of determining the actual driving speed of the target vehicle relative to the reference vehicle based on multiple radial velocities and multiple mapping information achieves accurate acquisition of unmanned driving. The driving speed of the vehicles driving around the vehicle is adjusted in time according to the obtained speed, so as to achieve the technical effect of improving the driving safety factor of the unmanned vehicle, and solve the problem that the current automatic driving vehicle cannot be driven during the driving process. The technical problem of potential safety hazard caused by timely acquisition of the driving state of the vehicle in front.

Description of drawings

The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The schematic embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation of the present application. In the attached image:

1 is a flowchart of a method for determining a vehicle speed according to an embodiment of the present application;

2 is a schematic diagram of a plane rectangular coordinate system according to an embodiment of the present application;

3 is a schematic diagram of another plane rectangular coordinate system according to an embodiment of the present application;

FIG. 4 is a flowchart of another vehicle speed determination method according to an embodiment of the present application;

5 is a structural diagram of a device for determining vehicle speed according to an embodiment of the present application;

FIG. 6 is a schematic structural diagram of an unmanned vehicle according to an embodiment of the present application.

Detailed ways

In order to make those skilled in the art better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only The embodiments are part of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the scope of protection of the present application.

It should be noted that the terms "first", "second", etc. in the description and claims of the present application and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. It is to be understood that data so used may be interchanged under appropriate circumstances so that the embodiments of the application described herein can be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having" and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those expressly listed Rather, those steps or units may include other steps or units not expressly listed or inherent to these processes, methods, products or devices.

According to an embodiment of the present application, an embodiment of a method for determining a vehicle speed is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings may be executed in a computer system such as a set of computer-executable instructions, and , although a logical order is shown in the flowcharts, in some cases steps shown or described may be performed in an order different from that herein.

FIG. 1 is a flowchart of a method for determining a vehicle speed according to an embodiment of the present application. As shown in FIG. 1 , the method includes the following steps:

Step S102: Acquire multiple radial velocities of multiple reflection points on the target vehicle relative to the reference vehicle, where the multiple reflection points are reflection points reflecting signals emitted by a radar installed on the reference vehicle.

According to an optional embodiment of the present application, the above-mentioned target vehicle may be a vehicle driving in front of an unmanned vehicle, and the reference vehicle is an unmanned vehicle.

The radial velocity refers to the component of the velocity of the target relative to the reference point on the line connecting the two. The radar on the reference vehicle transmits electromagnetic wave signals to the surroundings, and the electromagnetic wave signals are reflected back after encountering the target vehicle. The component of the actual traveling speed of the target vehicle on the connection line between each reflection point and the radar is the radial velocity of the reflection point relative to the radar (ie, the radial velocity of each reflection point relative to the reference vehicle).

Step S104, acquiring multiple mapping information of multiple reflection points in a preset plane rectangular coordinate system.

In step S106, the actual traveling speed of the target vehicle relative to the reference vehicle is determined according to the plurality of radial velocities and the plurality of mapping information.

Through the above steps, the purpose of accurately obtaining the driving speed of the vehicle driving around the unmanned vehicle can be achieved, and the driving state can be adjusted in time according to the obtained speed, thereby achieving the technical effect of improving the driving safety factor of the unmanned vehicle.

According to an optional embodiment of the present application, before step S104 is performed, a projection plane needs to be acquired, wherein the projection plane is a plane determined by a straight line where the axle axial direction of the reference vehicle is located and a vertical line of the axle parallel to the ground ; Obtain the origin obtained by the radar projection on the projection plane; create a plane Cartesian coordinate system based on the origin of the projection plane, where the straight line with the axial direction of the wheel shaft is the X axis of the plane Cartesian coordinate system, passing through the origin and perpendicular to the X axis The straight line is the Y-axis of the plane Cartesian coordinate system.

In an optional embodiment of the present application, step S104 can be implemented by the following methods: respectively determining a plurality of straight lines according to a plurality of reflection points and radar; The included angles are obtained, and multiple included angles are obtained; the multiple included angles are used as multiple mapping information.

FIG. 2 is a schematic diagram of a plane rectangular coordinate system according to an embodiment of the present application. As shown in FIG. 2 , n1 and n2 are the reflection points of the radar signal mentioned above (it should be noted that in practical applications, it is necessary to obtain many only two reflection points are shown in Fig. 2), V ₁ is the radial velocity of the reflection point n ₁ relative to the reference vehicle, θ1 is the connection line between the reflection point n ₁ and the origin of the plane rectangular coordinate system and The included angle of the Y axis of the plane Cartesian coordinate system. Similarly, V ₂ is the radial velocity of the reflection point n ₂ relative to the reference vehicle, and θ ₂ is the angle between the line connecting the reflection point n ₂ and the origin of the plane rectangular coordinate system and the Y axis of the plane rectangular coordinate system.

In practical applications, the radial _velocities (V ₁ , V ₂ , . (θ ₁ , θ ₂ , ..., θ _n ).

According to an optional embodiment of the present application, step S106 can be implemented in the following manner: according to the radial velocity and the included angle corresponding to each reflection point in the multiple reflection points, a plurality of binary linear equations are respectively determined to obtain a binary A system of linear equations, in which the two unknowns of the binary linear equation are the speed components of the actual speed of the target vehicle on the X and Y axes of the plane Cartesian coordinate system; the actual speed of the target vehicle is determined according to the system of binary linear equations The velocity components on the X and Y axes of the plane Cartesian coordinate system.

FIG. 3 is a schematic diagram of another plane rectangular coordinate system according to an embodiment of the present application. As shown in FIG. 3 , the component of the actual traveling speed of the target vehicle in the X-axis of the preset plane rectangular coordinate system is V _x . The component of the Y-axis of the plane rectangular coordinate system is V _y , and the signal intensity reflected by the measured reflection point n ₁ is known as a ₁ , then the radial velocity V ₁ and V _x and V of the reflection point n ₁ relative to the reference vehicle _y has the following relationship:

V ₁ =V _y cosθ ₁ +V _x sinθ ₁

Similarly, the following relationship also exists for the reflection point _n2 :

V ₂ =V _y cosθ ₂ +V _x sinθ ₂

Among them, n relational expressions can be determined from n reflection points, and a binary linear equation system can be determined by these n relational expressions, and the values of V _x and V _y can be obtained by solving the equation system, and the target vehicle can also be determined. The speed components of the actual driving speed on the X-axis and Y-axis of the preset plane Cartesian coordinate system.

It should be noted that, V _x here is the lateral speed of the target vehicle relative to the reference vehicle, and V _y is the longitudinal speed of the target vehicle relative to the reference vehicle.

The above calculation method is described in detail below.

Assuming that the number of reflection points of the target vehicle detected by the radar is Q, each reflection point contains three kinds of information: radial velocity V, angle θ, and signal strength a. The relationship between the lateral velocity component V _x and the longitudinal velocity component V _y of the target vehicle to be calculated and the detected radial velocity V _n of the nth reflection point and the angle θ _n is shown in the following formula:

V _n =V _y cosθ _n +V _x sinθ _n (1),

Since a total of Q reflection points are detected, there are Q total of the above equations.

则目标车辆待计算的横向速度分量V_x和纵向速度分量V_y的计算公式如下：Let the diagonal matrix of the system of equations consisting of these Q equations

Then the calculation formulas of the lateral speed component V _x and the longitudinal speed component V _y of the target vehicle to be calculated are as follows:

in,

个数量的速度分量；分别依据

个数量的速度分量中的每个速度分量与N个反射点对应的径向速度和夹角确定N个残差值，N个残差值中小于门限残差值的个数为N个反射点中有效反射点的个数；将最大的有效反射点个数对应的速度分量作为目标车辆相对于基准车辆的实际行驶速度。In an optional embodiment of the present application, step S106 can also be implemented by the following methods: setting the number of multiple reflection points to N, selecting M reflection points from the N reflection points; respectively obtaining according to each selection method The radial velocity and the angle corresponding to the M reflection points determine the velocity components of the actual traveling speed of the target vehicle on the X-axis and Y-axis of the plane rectangular coordinate system, and obtain

number of velocity components; respectively according to

The radial velocity and the included angle corresponding to each of the velocity components in the number of velocity components and the N reflection points determine N residual values, and the number of the N residual values smaller than the threshold residual value is the N reflection points The number of effective reflection points in the middle; the speed component corresponding to the maximum number of effective reflection points is taken as the actual driving speed of the target vehicle relative to the reference vehicle.

The above method provides a method for eliminating reflection points with large errors in order to improve the calculation accuracy of the driving speed of the target vehicle, which specifically includes the following steps:

种抽取方法。Step 1: Extract M points from N reflection points as initial valid points, then there are a total of

an extraction method.

由于共有

种抽取方法，最终得到了

个

分别记作

Step 2: The M reflection points obtained by each extraction method are calculated by formula (2)

due to shared

extraction method, and finally we get

indivual

respectively recorded as

计算有效点的个数，最终得到

个有效点的个数，分别记作

以第i种抽取方法得到的速度

为例说明有效点的计算过程：Step 3: Use Each Set

Calculate the number of valid points, and finally get

The number of valid points, respectively denoted as

The speed obtained by the ith extraction method

An example to illustrate the calculation process of the effective point:

Step 3a: set i=1;

通过下面的公示(3)计算出N个残差值分别记作ΔV₁，...，ΔV_n，...，ΔV_N Step 3b: Traverse N reflection points to utilize

According to the following publicity (3), the N residual values are calculated as ΔV ₁ , . . . , ΔV _n , . . . , ΔV _N

ΔV _n =|V _n -(V _{y, i} cosθ _n +V _{x, i} sinθ _n )| (3)

的残差值的个数即为有效点的个数L_i；Step 3c: Traverse N residual values ΔV ₁ , . . . , ΔV _n , . . , ΔV _N , the statistics are less than the threshold

The number of residual values is the number of valid points L _i ;

则进行步骤4，否则跳转到步骤3b；Step 3d: i=i+1, if

Then go to step 4, otherwise jump to step 3b;

个有效点的个数

找到最大的有效点的个数所对应的速度结果即为最终的速度计算结果，例如L_k最大，则L_k所对应的速度

即为最终的速度结果。Step 4: Traverse

number of valid points

The speed result corresponding to the maximum number of valid points is the final speed calculation result. For example, if L _k is the largest, then the speed corresponding to L _k

is the final speed result.

According to an optional embodiment of the present application, after step S106 is completed, the traveling speed of the reference vehicle is adjusted according to the speed components on the X-axis and the Y-axis of the plane rectangular coordinate system from the actual traveling speed of the target vehicle.

After obtaining the lateral speed and longitudinal speed of the target vehicle relative to the reference vehicle, adjust the driving state of the reference vehicle according to the lateral speed and longitudinal speed of the target vehicle. For example, if the lateral speed of the target vehicle is detected to increase, it is judged that the target vehicle may turn around. At this time, it is necessary to adjust the driving speed of the reference vehicle, avoid the target vehicle, and avoid collision with the target vehicle.

FIG. 4 is a flowchart of another vehicle speed determination method according to an embodiment of the present application. As shown in FIG. 4 , the method includes the following steps:

Step S402, during the driving of the vehicle, display the multiple radial velocities of multiple reflection points on the target vehicle relative to the reference vehicle in the interactive interface of the reference vehicle, wherein the multiple reflection points are installed on the reflection reference vehicle. The reflection point of the signal emitted by the radar.

According to an optional embodiment of the present application, the above-mentioned interactive interface refers to a human-machine interactive interface of an automatic driving vehicle. The target vehicle may be a vehicle driving in front of an unmanned vehicle, and the reference vehicle is an unmanned vehicle.

The radial velocity refers to the component of the velocity of the target relative to the reference point on the line connecting the two. The radar on the reference vehicle transmits electromagnetic wave signals to the surroundings, and the electromagnetic wave signals are reflected back after encountering the target vehicle. The component of the actual traveling speed of the target vehicle on the connection line between each reflection point and the radar is the radial velocity of the reflection point relative to the radar (ie, the radial velocity of each reflection point relative to the reference vehicle).

The above radial velocities are displayed in the human-machine interface of the reference vehicle.

Step S404, displaying multiple mapping information of multiple reflection points in the preset plane rectangular coordinate system on the interactive interface.

Step S406, displaying the actual traveling speed of the target vehicle relative to the reference vehicle in the interactive interface, where the actual traveling speed is determined according to multiple radial speeds and multiple mapping information.

Steps S402 to S406 provide another method for determining the vehicle speed. It should be noted that the preferred implementation of the embodiment shown in FIG. 4 may refer to the relevant description of the embodiment shown in FIG. 1 , which will not be repeated here.

According to an optional embodiment of the present application, before step S404 is performed, a projection plane is acquired, wherein the projection plane is a plane determined by a straight line where the axial direction of the wheel axle of the reference vehicle is located and a vertical line of the wheel axle parallel to the ground; The origin obtained by radar projection on the projection plane; a plane rectangular coordinate system is created based on the origin of the projection plane, where the line with the axial direction of the wheel axle is the X axis of the plane rectangular coordinate system, and the line passing through the origin and perpendicular to the X axis is The Y axis of the plane Cartesian coordinate system.

According to an optional embodiment of the present application, before step S404 is performed, it is also necessary to determine a plurality of straight lines according to the plurality of reflection points and the radar; Included angles, multiple included angles are obtained; multiple included angles are used as multiple mapping information.

In an optional embodiment of the present application, before step S406 is performed, a plurality of binary linear equations are determined according to the radial velocity and the included angle corresponding to each reflection point in the plurality of reflection points, and a binary linear equation is obtained. A system of equations, in which the two unknowns of the binary linear equation are the speed components of the actual speed of the target vehicle on the X and Y axes of the plane rectangular coordinate system; according to the system of binary linear equations, the actual speed of the target vehicle is determined in The velocity components on the X and Y axes of the planar Cartesian coordinate system.

According to an optional embodiment of the present application, step S406 may be implemented by the following method: displaying the speed components of the actual traveling speed of the target vehicle on the X-axis and the Y-axis of the plane rectangular coordinate system.

Optionally, after the execution of step S406 is completed, in the case of receiving the adjustment instruction, the adjusted traveling speed of the reference vehicle is displayed in the interactive interface, and the adjusted traveling speed is based on the actual traveling speed of the target vehicle in the plane Cartesian coordinate system. The velocity components on the X-axis and Y-axis are adjusted to obtain.

After displaying the lateral speed and longitudinal speed of the target vehicle relative to the reference vehicle in the human-machine interface, adjust the driving state of the reference vehicle according to the lateral speed and longitudinal speed of the target vehicle. For example, the lateral speed displayed to the target vehicle increases, and the user judges The target vehicle may have to turn around and drive. At this time, it is necessary to adjust the driving speed of the reference vehicle to avoid the target vehicle and avoid collision with the target vehicle. The user can send an instruction to slow down through the human-computer interaction interface, and the autonomous vehicle adjusts the driving speed after receiving the instruction issued by the user, and displays the adjusted driving speed on the human-computer interaction interface.

It should be noted that the self-driving vehicle can also automatically change the driving state according to the actual driving speed of the target vehicle, and can also change the driving state after receiving a control command issued by the user, which is not limited here.

FIG. 5 is a structural diagram of a vehicle speed determination device according to an embodiment of the present application. As shown in FIG. 5 , the device includes:

The first acquisition module 50 is configured to acquire multiple radial velocities of multiple reflection points on the target vehicle relative to the reference vehicle, wherein the multiple reflection points are reflection points reflecting signals emitted by a radar installed on the reference vehicle.

The second acquiring module 52 is configured to acquire multiple mapping information of multiple reflection points in the preset plane rectangular coordinate system.

The determining module 54 is configured to determine the actual traveling speed of the target vehicle relative to the reference vehicle according to the plurality of radial speeds and the plurality of mapping information.

It should be noted that for the preferred implementation of the embodiment shown in FIG. 5 , reference may be made to the relevant description of the embodiment shown in FIG. 1 , which will not be repeated here.

FIG. 6 is a schematic structural diagram of an unmanned vehicle according to an embodiment of the present application. As shown in FIG. 6 , the unmanned vehicle includes:

The radar 60 is arranged on the unmanned vehicle, and is used for detecting a target within a preset range during the driving of the unmanned vehicle.

According to an optional embodiment of the present application, the radar 60 includes, but is not limited to, a millimeter-wave radar, which is arranged on the unmanned vehicle and is used for detecting surrounding obstacles or pedestrians and other targets during the driving of the unmanned vehicle.

The controller 62, connected in communication with the radar 60, is configured to perform the above vehicle speed determination method to determine the actual traveling speed of the target vehicle relative to the unmanned vehicle.

A controller 62 is provided on the unmanned vehicle for performing the following vehicle speed determination methods:

Step S602, acquiring multiple radial velocities of multiple reflection points on the target vehicle relative to the reference vehicle, wherein the multiple reflection points are reflection points reflecting signals emitted by the radar installed on the reference vehicle;

Step S604, acquiring multiple mapping information of multiple reflection points in the preset plane rectangular coordinate system;

In step S606, the actual traveling speed of the target vehicle relative to the reference vehicle is determined according to multiple radial velocities and multiple mapping information.

It should be noted that, for the preferred implementation of the embodiment shown in FIG. 6 , reference may be made to the relevant description of the embodiment shown in FIG. 1 , which will not be repeated here.

Embodiments of the present application further provide a storage medium, where the storage medium includes a stored program, wherein, when the program runs, the device where the storage medium is located is controlled to execute the above vehicle speed determination method.

The storage medium is used to store a program that performs the function of acquiring a plurality of radial velocities of a plurality of reflection points on a target vehicle relative to a reference vehicle, wherein the plurality of reflection points are reflections of signals emitted by a radar mounted on the reference vehicle point; obtain multiple mapping information of multiple reflection points in the preset plane rectangular coordinate system; determine the actual running speed of the target vehicle relative to the reference vehicle according to multiple radial velocities and multiple mapping information.

Embodiments of the present application further provide a processor, where the processor is used to run a program, wherein the above method for determining the vehicle speed is executed when the program runs.

The processor is configured to execute a program for obtaining a plurality of radial velocities of a plurality of reflection points on the target vehicle relative to a reference vehicle, wherein the plurality of reflection points are reflection points reflecting signals emitted by radar mounted on the reference vehicle obtaining multiple mapping information of multiple reflection points in a preset plane rectangular coordinate system; determining the actual running speed of the target vehicle relative to the reference vehicle according to multiple radial velocities and multiple mapping information.

The above-mentioned serial numbers of the embodiments of the present application are only for description, and do not represent the advantages or disadvantages of the embodiments.

In the above-mentioned embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are only illustrative, for example, the division of the units may be a logical function division, and there may be other division methods in actual implementation, for example, multiple units or components may be combined or Integration into another system, or some features can be ignored, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of units or modules, and may be in electrical or other forms.

The units described as separate components may or may not be physically separated, and components shown as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.

The integrated unit, if implemented in the form of a software functional unit and sold or used as an independent product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the present application can be embodied in the form of software products in essence, or the parts that contribute to the prior art, or all or part of the technical solutions, and the computer software products are stored in a storage medium , including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes .

The above are only the preferred embodiments of the present application. It should be pointed out that for those skilled in the art, without departing from the principles of the present application, several improvements and modifications can also be made. It should be regarded as the protection scope of this application.

Claims (15)

1. A method of determining vehicle speed, comprising:

acquiring a plurality of radial speeds of a plurality of reflection points on a target vehicle relative to a reference vehicle, wherein the plurality of reflection points are reflection points which reflect signals transmitted by a radar installed on the reference vehicle;

acquiring a plurality of mapping information of the plurality of reflection points in a preset plane rectangular coordinate system;

determining an actual travel speed of the target vehicle relative to the reference vehicle from the plurality of radial speeds and the plurality of mapping information,

determining an actual travel speed of the target vehicle relative to the reference vehicle from the plurality of radial speeds and the plurality of mapping information, including:

setting the number of the plurality of reflection points to be N, and selecting M reflection points from the N reflection points;

determining the speed components of the actual running speed of the target vehicle on the X axis and the Y axis of the plane rectangular coordinate system according to the radial speed and the included angle corresponding to the M reflecting points obtained by each selection method respectively to obtain

A number of velocity components;

according to respectively

Determining N residual values according to the radial speed and the included angle of each speed component in the number of speed components corresponding to the N reflecting points, wherein the number of the N residual values smaller than the threshold residual value is the number of effective reflecting points in the N reflecting points;

and taking the speed component corresponding to the maximum number of effective reflection points as the actual running speed of the target vehicle relative to the reference vehicle.

2. The method of claim 1, before obtaining a plurality of mapping information of the plurality of reflection points in a predetermined rectangular plane coordinate system, the method further comprising:

acquiring a projection plane, wherein the projection plane is a plane determined by a straight line where the axial direction of the wheel axle of the reference vehicle is located and a perpendicular line of the wheel axle parallel to the ground;

acquiring an origin obtained by the radar projected on the projection plane;

and creating the plane rectangular coordinate system based on the origin of the projection plane, wherein the straight line in the axial direction of the wheel axle is the X axis of the plane rectangular coordinate system, and the straight line passing through the origin and perpendicular to the X axis is the Y axis of the plane rectangular coordinate system.

3. The method of claim 1, wherein obtaining a plurality of mapping information of the plurality of reflection points in a predetermined plane rectangular coordinate system comprises:

determining a plurality of straight lines according to the plurality of reflection points and the radar respectively;

respectively determining an included angle between each of the straight lines and the Y axis of the plane rectangular coordinate system to obtain a plurality of included angles;

and taking the plurality of included angles as the plurality of mapping information.

4. The method of claim 3, wherein determining an actual travel speed of the target vehicle relative to the reference vehicle from the plurality of radial speeds and the plurality of mapping information comprises:

determining a plurality of linear equations according to the radial speed and the included angle corresponding to each reflection point in the plurality of reflection points respectively to obtain a linear equation of two-dimensional system, wherein two unknowns of the linear equation of two-dimensional system are speed components of the actual running speed of the target vehicle on an X axis and a Y axis of the rectangular plane coordinate system;

and determining the speed components of the actual running speed of the target vehicle on the X axis and the Y axis of the plane rectangular coordinate system according to the system of linear equations with two elements.

5. The method of claim 4, wherein after determining the actual travel speed of the target vehicle relative to the reference vehicle, the method further comprises:

and adjusting the running speed of the reference vehicle according to speed components of the actual running speed of the target vehicle on the X axis and the Y axis of the plane rectangular coordinate system.

6. A method of determining vehicle speed, comprising:

displaying a plurality of radial speeds of a plurality of reflection points on a target vehicle relative to a reference vehicle in an interactive interface of the reference vehicle during the running of the vehicle, wherein the plurality of reflection points are reflection points reflecting signals transmitted by a radar installed on the reference vehicle;

displaying a plurality of mapping information of the plurality of reflection points in a preset plane rectangular coordinate system in the interactive interface;

displaying an actual traveling speed of the target vehicle relative to the reference vehicle in the interactive interface, the actual traveling speed being determined according to the plurality of radial speeds and the plurality of mapping information;

determining the actual travel speed from a plurality of radial speeds and the plurality of mapping information, comprising:

setting the number of the plurality of reflection points to be N, and selecting M reflection points from the N reflection points;

determining the speed components of the actual running speed of the target vehicle on the X axis and the Y axis of the plane rectangular coordinate system according to the radial speed and the included angle corresponding to the M reflecting points obtained by each selection method respectively to obtain the speed components

A number of velocity components;

according to respectively

Determining N residual values according to the radial speed and the included angle of each speed component in the number of speed components corresponding to the N reflecting points, wherein the number of the N residual values smaller than the threshold residual value is the number of effective reflecting points in the N reflecting points;

and taking the speed component corresponding to the maximum number of effective reflection points as the actual running speed of the target vehicle relative to the reference vehicle.

7. The method of claim 6, prior to displaying the plurality of mapping information of the plurality of reflection points in a predetermined planar rectangular coordinate system, the method further comprising:

acquiring a projection plane, wherein the projection plane is a plane determined by a straight line where the axial direction of the wheel axle of the reference vehicle is located and a perpendicular line of the wheel axle parallel to the ground;

acquiring an origin obtained by the radar projected on the projection plane;

and creating the plane rectangular coordinate system based on the origin of the projection plane, wherein the straight line in the axial direction of the wheel axle is the X axis of the plane rectangular coordinate system, and the straight line passing through the origin and perpendicular to the X axis is the Y axis of the plane rectangular coordinate system.

8. The method of claim 6, prior to displaying the plurality of mapping information of the plurality of reflection points in a predetermined planar rectangular coordinate system, the method further comprising:

determining a plurality of straight lines according to the plurality of reflection points and the radar respectively;

respectively determining an included angle between each of the straight lines and the Y axis of the plane rectangular coordinate system to obtain a plurality of included angles;

and taking the plurality of included angles as the plurality of mapping information.

9. The method of claim 8, wherein prior to displaying the actual travel speed of the target vehicle relative to the reference vehicle, the method further comprises:

determining a plurality of linear equations according to the radial speed and the included angle corresponding to each reflection point in the plurality of reflection points respectively to obtain a linear equation of two-dimensional system, wherein two unknowns of the linear equation of two-dimensional system are speed components of the actual running speed of the target vehicle on an X axis and a Y axis of the rectangular plane coordinate system;

and determining the speed components of the actual running speed of the target vehicle on the X axis and the Y axis of the plane rectangular coordinate system according to the system of linear equations with two elements.

10. The method of claim 9, wherein displaying an actual travel speed of the target vehicle relative to the reference vehicle comprises:

and displaying the speed components of the actual running speed of the target vehicle on the X axis and the Y axis of the plane rectangular coordinate system.

11. The method of claim 9, wherein after displaying the actual travel speed of the target vehicle relative to the reference vehicle, the method further comprises:

and displaying the adjusted running speed of the reference vehicle in the interactive interface under the condition of receiving an adjusting instruction, wherein the adjusted running speed is adjusted based on the speed components of the actual running speed of the target vehicle on the X axis and the Y axis of the rectangular plane coordinate system.

12. A vehicle speed determination apparatus, characterized by comprising:

the device comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring a plurality of radial speeds of a plurality of reflection points on a target vehicle relative to a reference vehicle, and the plurality of reflection points are reflection points for reflecting signals transmitted by a radar installed on the reference vehicle;

the second acquisition module is used for acquiring a plurality of mapping information of the plurality of reflection points in a preset plane rectangular coordinate system;

a determination module for determining an actual travel speed of the target vehicle relative to the reference vehicle in dependence on the plurality of radial speeds and the plurality of mapping information,

the determination module is further to:

setting the number of the plurality of reflection points to be N, and selecting M reflection points from the N reflection points;

determining the speed components of the actual running speed of the target vehicle on the X axis and the Y axis of the plane rectangular coordinate system according to the radial speed and the included angle corresponding to the M reflecting points obtained by each selection method respectively to obtain

A number of velocity components;

according to respectively

Determining N residual values according to the radial speed and the included angle corresponding to each speed component in the speed components in the quantity and the N reflecting points, wherein the N residual values are smaller than a doorThe number of the residual limiting values is the number of effective reflection points in the N reflection points;

and taking the speed component corresponding to the maximum number of effective reflection points as the actual running speed of the target vehicle relative to the reference vehicle.

13. An unmanned vehicle, comprising:

the radar is arranged on the unmanned vehicle and used for detecting a target in a preset range in the running process of the unmanned vehicle;

a controller, communicatively coupled to the radar, for performing the vehicle speed determination method of any of claims 1 to 11 to determine an actual travel speed of a target vehicle relative to the unmanned vehicle.

14. A storage medium comprising a stored program, wherein the program when executed controls a device on which the storage medium is located to perform the method of determining a speed of a vehicle according to any one of claims 1 to 11.

15. A processor, characterized in that the processor is configured to run a program, wherein the program is run to perform the method of determining a vehicle speed according to any one of claims 1 to 11.

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