CN111366928B - Vehicle speed determination method and device, storage medium and processor - Google Patents
Vehicle speed determination method and device, storage medium and processor Download PDFInfo
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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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
Technical Field
The application relates to the field of automatic driving, in particular to a method and a device for determining vehicle speed, a storage medium and a processor.
Background
Autonomous vehicles encounter some sudden situations during driving, such as a sudden lane change, a sudden head drop, etc. of a vehicle driving ahead. Because the automatic driving vehicle can not timely acquire the driving state of the vehicle driving ahead, the corresponding measures can not be timely taken, and potential safety hazard problems such as traffic accidents and the like can be caused.
Aiming at the problem that potential safety hazards exist due to the fact that the driving state of a vehicle driving ahead cannot be acquired in time in the driving process of an automatic driving vehicle at the present stage, an effective solution is not provided at present.
Disclosure of Invention
The embodiment of the application provides a vehicle speed determination method and device, a storage medium and a processor, and aims to at least solve the technical problem of potential safety hazards caused by the fact that the existing automatic driving vehicle cannot timely acquire the driving state of a vehicle driving ahead in the driving process.
According to an aspect of an embodiment of the present application, there is provided a vehicle speed determination method including: 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.
Optionally, before obtaining a plurality of mapping information of a plurality of reflection points in a preset plane rectangular coordinate system, the method further includes: acquiring a projection plane, wherein the projection plane is a plane determined by a straight line where the axial direction of a wheel axle of a reference vehicle is located and a perpendicular line of the wheel axle parallel to the ground; acquiring an origin obtained by projecting a radar on a projection plane; and creating a 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.
Optionally, obtaining a plurality of mapping information of a plurality of reflection points in a preset plane rectangular coordinate system includes: determining a plurality of straight lines according to the plurality of reflection points and the radar respectively; respectively determining an included angle between each straight line in the plurality of 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 a plurality of mapping information.
Optionally, determining 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 includes: 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 the X axis and the 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 in two variables.
Optionally, determining an 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, further comprises: 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; respectively according to
Determining N residual values of radial speed and included angle corresponding to each speed component in the plurality of speed components and the N reflecting pointsThe number of the N residual error values which is smaller than the threshold residual error value 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.
Optionally, after determining the actual traveling speed of the target vehicle relative to the reference vehicle, the method further comprises: the running speed of the reference vehicle is adjusted according to 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 another aspect of the embodiments of the present application, there is provided another method for determining a vehicle speed, including: displaying a plurality of radial speeds of a plurality of reflection points on the target vehicle relative to the 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 a plurality of reflection points in a preset plane rectangular coordinate system in an interactive interface; and displaying the actual running speed of the target vehicle relative to the reference vehicle in the interactive interface, wherein the actual running speed is determined according to the plurality of radial speeds and the plurality of mapping information.
Optionally, before displaying a plurality of mapping information of a plurality of reflection points in a preset plane rectangular coordinate system, the method further includes: acquiring a projection plane, wherein the projection plane is a plane determined by a straight line where the axial direction of a wheel axle of a reference vehicle is located and a perpendicular line of the wheel axle parallel to the ground; acquiring an origin obtained by projecting a radar on a projection plane; and creating a 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.
Optionally, before displaying a plurality of mapping information of a plurality of reflection points in a preset plane rectangular coordinate system, the method further includes: determining a plurality of straight lines according to the plurality of reflection points and the radar respectively; respectively determining an included angle between each straight line in the plurality of 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 a plurality of mapping information.
Optionally, before displaying the actual traveling speed of the target vehicle relative to the reference vehicle, the method further includes: 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 the X axis and the 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 in two variables.
Optionally, displaying the actual traveling speed of the target vehicle relative to the reference vehicle includes: 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.
Optionally, after displaying the actual traveling speed of the target vehicle relative to the reference vehicle, the method further includes: and under the condition of receiving the adjusting instruction, displaying the running speed of the reference vehicle after adjustment in the interactive interface, wherein the running speed after adjustment is obtained by adjustment 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.
According to another aspect of the embodiments of the present application, there is also provided a vehicle speed determination apparatus, including: the system 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 a plurality of reflection points in a preset plane rectangular coordinate system; and the determining module is used for 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.
According to another aspect of the embodiments of the present application, there is also provided an unmanned vehicle including: 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; and a controller, which is connected with the radar in a communication way and is used for determining the actual running speed of the target vehicle relative to the unmanned vehicle by executing the above vehicle speed determination method.
According to still another aspect of the embodiments of the present application, there is also provided a storage medium including a stored program, wherein the program when executed controls an apparatus in which the storage medium is located to perform the above determining method of the vehicle speed.
According to still another aspect of the embodiments of the present application, there is also provided a processor for executing a program, wherein the program executes the above method for determining a vehicle speed.
In the embodiment of the application, a plurality of radial speeds of a plurality of reflection points on a target vehicle relative to a reference vehicle are obtained, wherein the plurality of reflection points are reflection points for reflecting 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; the method for 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 achieves the purposes of accurately acquiring the running speed of the vehicles running around the unmanned vehicle and timely adjusting the running state according to the acquired speed, thereby achieving the technical effect of improving the running safety factor of the unmanned vehicle and further solving the technical problem of potential safety hazard caused by the fact that the automatic vehicle cannot timely acquire the running state of the front running vehicle in the running process at the present stage.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a flow chart of a method of determining vehicle speed according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a planar rectangular coordinate system according to an embodiment of the application;
FIG. 3 is a schematic diagram of another rectangular planar coordinate system according to an embodiment of the present application;
FIG. 4 is a flow chart of another method of vehicle speed determination according to an embodiment of the present application;
fig. 5 is a structural diagram of a vehicle speed determination apparatus 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 Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. 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 application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In accordance with an embodiment of the present application, there is provided an embodiment of a method for determining vehicle speed, it being noted that the steps illustrated in the flowchart of the drawings may be carried out in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be carried out in an order different than that presented 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 including the steps of:
step S102, 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 reflecting signals transmitted by a radar installed on the reference vehicle.
According to an alternative embodiment of the application, the target vehicle may be a vehicle travelling in front of an unmanned vehicle, and the reference vehicle is an unmanned vehicle.
Radial velocity refers to the component of the velocity of the target relative to a 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 meeting the target vehicle. The component of the actual travel speed of the target vehicle on the line connecting each reflection point and the radar is the radial speed of the reflection point with respect to the radar (i.e., the radial speed of each reflection point with respect to the reference vehicle).
Step S104, acquiring a plurality of mapping information of a plurality of reflection points in a preset plane rectangular coordinate system.
And step S106, 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.
Through the steps, the purposes of accurately acquiring the running speed of the vehicle running around the unmanned vehicle and timely adjusting the running state according to the acquired speed can be achieved, and therefore the technical effect of improving the running safety factor of the unmanned vehicle is achieved.
According to an alternative embodiment of the present application, before performing step S104, a projection plane is further acquired, where the projection plane is a plane determined by a straight line where the axial direction of the axle of the reference vehicle is located and a perpendicular line of the axle parallel to the ground; acquiring an origin obtained by projecting a radar on a projection plane; and creating a 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.
In an alternative embodiment of the present application, step S104 may be implemented by the following method: 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 a plurality of mapping information.
Fig. 2 is a schematic diagram of a planar rectangular coordinate system according to an embodiment of the present application, and as shown in fig. 2, n1 and n2 are reflection points of the radar signal mentioned above (it should be noted that in practical applications, a plurality of reflection points are required to be obtained, and only two reflection points are shown in fig. 2), V1Is a reflection point n1Theta 1 is a reflection point n with respect to the radial velocity of the reference vehicle1And the included angle between the connecting line of the Y-axis and the origin of the plane rectangular coordinate system. In the same way, V2Is a reflection point n2Relative to the radial speed of the reference vehicle, theta2Is a reflection point n2And the included angle between the connecting line of the Y-axis and the origin of the plane rectangular coordinate system.
In practical application, the radial speed (V) of a plurality of reflection points relative to a reference vehicle is obtained1，V2，…，Vn) And a plurality of mapping information (theta) of a plurality of reflection points in the predetermined plane rectangular coordinate system1，θ2，…，θn)。
According to an alternative embodiment of the present application, step S106 may be implemented by: 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 the X axis and the 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 in two variables.
FIG. 3 is a schematic diagram of another rectangular plane coordinate system according to an embodiment of the present application, as shown in FIG. 3, where the actual traveling speed of the target vehicle is predictedLet the component of X-axis of rectangular plane coordinate system be VxThe component of the Y axis in the rectangular coordinate system of the preset plane is VyKnowing the measured reflection point n1The reflected signal strength is a1Then the reflection point n1Radial velocity V relative to a reference vehicle1And VxAnd VyThe following relationships exist:
V1＝Vycosθ1+Vxsinθ1
for the same reason, for the reflection point n2The following relationships also exist:
V2＝Vycosθ2+Vxsinθ2
wherein n relational expressions can be determined by n reflection points, a linear equation set of two-dimensional is determined by the n relational expressions, and V can be obtained by solving the equation setxAnd VyThe velocity components of the actual traveling velocity of the target vehicle on the X-axis and the Y-axis of the predetermined planar rectangular coordinate system can also be determined.
Here, V isxIs the lateral velocity, V, of the target vehicle relative to the reference vehicleyIs the longitudinal speed of the target vehicle relative to the reference vehicle.
As will be described in detail below with respect to the above-described calculation method,
assuming that the number of reflection points of a target vehicle detected by a radar is Q, each reflection point contains three kinds of information: radial velocity V, angle θ, and signal strength a, respectively. Transverse velocity component V to be calculated for the target vehiclexAnd a longitudinal velocity component VyRadial velocity V with the n-th detected reflection pointnAnd an angle thetanThe relationship between them is shown by the following formula:
Vn＝Vycosθn+Vxsinθn (1)，
since a total of Q reflection points are detected, there are a total of Q of the above equations.
Diagonal matrix of equation set composed of Q equations
The lateral velocity component V to be calculated of the target vehiclexAnd a longitudinal velocity component VyThe calculation formula of (a) is as follows:
wherein,
in an optional embodiment of the present application, step S106 may also be implemented by the following method: 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; respectively according to
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.
The method for eliminating the reflection points with larger errors so as to improve the calculation accuracy of the running speed of the target vehicle comprises the following steps:
step 1: m points are extracted from N reflection points as initial effective points, and the total effective points are
An extraction method is provided.
Step 2: m reflection points obtained by each extraction method are calculated by formula (2)
Due to the sharing of
A method for extracting is adopted, finally obtaining
An
Respectively record as
And step 3: using each group
Calculating the number of the effective points to finally obtain
The number of each valid point is respectively recorded as
Velocity obtained by the ith decimation method
The calculation process of the effective point is illustrated as an example:
step 3 a: setting i to 1;
and step 3 b: traversing N reflection points to utilize
The following expression (3) is used to calculate N residual values, which are respectively recorded as Δ V1，...，ΔVn，...，ΔVN
ΔVn＝|Vn-(Vy，icosθn+Vx，isinθn)| (3)
Step 3c, traversing N residual error values delta V1，...，ΔVn，...，ΔVNStatistic less than threshold
The number of residual values is the number L of effective pointsi；
And step 3 d: if i is i +1, if
Step 4 is carried out, otherwise, the step 3b is skipped;
and 4, step 4: go through
Number of effective points
The speed result corresponding to the number of the found maximum effective points is the final speed calculation result, for example, LkMaximum, then LkCorresponding speed
I.e. the final speed result.
According to an alternative embodiment of the present application, after the execution of step S106 is completed, the travel speed of the reference vehicle is adjusted according to the speed components on the X-axis and the Y-axis of the planar rectangular coordinate system from the actual travel speed of the target vehicle.
After the lateral speed and the longitudinal speed of the target vehicle relative to the reference vehicle are obtained, the running state of the reference vehicle is adjusted according to the lateral speed and the longitudinal speed of the target vehicle, for example, the increase of the lateral speed of the target vehicle is detected, it is judged that the target vehicle is likely to turn around, and at the moment, the running speed of the reference vehicle needs to be adjusted to avoid the target vehicle and avoid the 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 including the steps of:
step S402, displaying a plurality of radial speeds of a plurality of reflection points on the target vehicle relative to the 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.
In an alternative embodiment of the present application, the interactive interface is a human-machine interface of an autonomous vehicle. The target vehicle may be a vehicle traveling in front of the unmanned vehicle, and the reference vehicle may be the unmanned vehicle.
Radial velocity refers to the component of the velocity of the target relative to a 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 meeting the target vehicle. The component of the actual travel speed of the target vehicle on the line connecting each reflection point and the radar is the radial speed of the reflection point with respect to the radar (i.e., the radial speed of each reflection point with respect to the reference vehicle).
And displaying the radial speed in a man-machine interaction interface of the reference vehicle.
Step S404, displaying a plurality of mapping information of a plurality of reflection points in a preset plane rectangular coordinate system in the interactive interface.
And step S406, displaying the actual running speed of the target vehicle relative to the reference vehicle in the interactive interface, wherein the actual running speed is determined according to the plurality of radial speeds and the plurality of mapping information.
Step S402 to step S406 provide another vehicle speed determination method, and it should be noted that, reference may be made to the description related to the embodiment shown in fig. 1 for a preferred implementation of the embodiment shown in fig. 4, which is not described herein again.
According to an alternative embodiment of the present application, before performing step S404, a projection plane is obtained, where the projection plane is a plane determined by a straight line where the axial direction of the axle of the reference vehicle is located and a perpendicular line of the axle parallel to the ground; acquiring an origin obtained by projecting a radar on a projection plane; and creating a plane rectangular coordinate system based on the origin of the projection plane, wherein the straight line in the axial direction of the wheel shaft is the X axis of the plane rectangular coordinate system, and the straight line which passes through the origin and is perpendicular to the X axis is the Y axis of the plane rectangular coordinate system.
According to an alternative embodiment of the present application, before performing step S404, a plurality of straight lines are further determined according to the plurality of reflection points and the radar, respectively; respectively determining an included angle between each straight line in the plurality of 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 a plurality of mapping information.
In an optional embodiment of the present application, before executing step S406, a plurality of linear equations are determined according to the radial velocity and the included angle corresponding to each of the plurality of reflection points, respectively, to obtain a linear equation of two variables system, where two unknowns of the linear equation of two variables are velocity components of the actual traveling velocity of the target vehicle on the X axis and the 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 in two variables.
According to an alternative embodiment of the present application, step S406 may be implemented by the following method: 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.
Alternatively, after the execution of step S406 is completed, in a case where the adjustment instruction is received, the running speed after the adjustment of the reference vehicle is displayed in the interactive interface, and the running speed after the adjustment 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 planar rectangular coordinate system.
After the transverse speed and the longitudinal speed of the target vehicle relative to the reference vehicle are displayed in the man-machine interaction interface, the running state of the reference vehicle is adjusted according to the transverse speed and the longitudinal speed of the target vehicle, for example, it is displayed that the transverse speed of the target vehicle is increased, a user judges that the target vehicle is likely to turn around to run, at the moment, the running speed of the reference vehicle needs to be adjusted, the target vehicle is avoided, and collision with the target vehicle is avoided. The user can send a speed reduction driving instruction through the man-machine interaction interface, the automatic driving vehicle adjusts the driving speed after receiving the instruction sent by the user, and the adjusted driving speed is displayed on the man-machine interaction interface.
It should be noted that the autonomous vehicle may also automatically change the running state according to the actual running speed of the target vehicle, or may change the running state after receiving a control instruction issued by a user, which is not limited herein.
Fig. 5 is a block diagram of a vehicle speed determination apparatus according to an embodiment of the present application, which includes, as shown in fig. 5:
the first acquiring module 50 is configured to acquire a plurality of radial velocities of a plurality of reflection points on the target vehicle relative to the reference vehicle, where the plurality of reflection points are reflection points that reflect a signal transmitted by a radar mounted on the reference vehicle.
The second obtaining module 52 is configured to obtain a plurality of mapping information of a plurality of reflection points in a rectangular coordinate system of a preset plane.
And a determination module 54 for determining an 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 reference may be made to the description related to the embodiment shown in fig. 1 for a preferred implementation of the embodiment shown in fig. 5, and details are not 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, including:
and a radar 60 provided on the unmanned vehicle for detecting a target within a preset range during the driving of the unmanned vehicle.
According to an alternative embodiment of the present application, the radar 60 includes, but is not limited to, a millimeter wave radar, which is disposed on the unmanned vehicle and is used for detecting surrounding obstacles or objects such as pedestrians during the driving process of the unmanned vehicle.
And a controller 62, communicatively connected to the radar 60, for performing the above vehicle speed determination method to determine an actual travel speed of the target vehicle relative to the unmanned vehicle.
The controller 62 is provided on the unmanned vehicle for executing the following vehicle speed determination method:
step S602, a plurality of radial speeds of a plurality of reflection points on the target vehicle relative to a reference vehicle are obtained, wherein the plurality of reflection points are reflection points for reflecting signals transmitted by a radar installed on the reference vehicle;
step S604, acquiring a plurality of mapping information of a plurality of reflection points in a preset plane rectangular coordinate system;
step S606, an actual traveling speed of the target vehicle with respect to the reference vehicle is determined according to the plurality of radial speeds and the plurality of mapping information.
It should be noted that, reference may be made to the description related to the embodiment shown in fig. 1 for a preferred implementation of the embodiment shown in fig. 6, and details are not repeated here.
The embodiment of the application also provides a storage medium which comprises a stored program, wherein when the program runs, the device where the storage medium is located is controlled to execute the vehicle speed determination method.
The storage medium stores a program for executing the following functions: 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 embodiment of the application also provides a processor which is used for running the program, wherein the program runs to execute the above method for determining the vehicle speed.
The processor is used for running a program for executing the following functions: 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 for reflecting 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 above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present application, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application 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 solutions of the present application, or portions or all or portions of the technical solutions that contribute to the prior art, may be embodied in the form of a software product, which is stored in a storage medium and includes 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 embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present application and it should be noted that those skilled in the art can make several improvements and modifications without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present 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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| JP2006337025A (en) * | 2005-05-31 | 2006-12-14 | Hitachi Ltd | Absolute velocity measuring device |
| JP6269552B2 (en) * | 2015-03-31 | 2018-01-31 | トヨタ自動車株式会社 | Vehicle travel control device |
| EP3176603B1 (en) * | 2015-12-01 | 2020-04-29 | Veoneer Sweden AB | A vehicle radar system |
| JP6597517B2 (en) * | 2016-08-10 | 2019-10-30 | 株式会社デンソー | Target detection device |
| EP4099057A1 (en) * | 2016-09-09 | 2022-12-07 | Arriver Software AB | Determining relative velocity in a vehicle radar system |
| CN108944929B (en) * | 2018-05-31 | 2019-11-15 | 合肥中科自动控制系统有限公司 | A kind of target extraction method for Vehicle Adaptive Cruising Control Systems |
| CN110389338A (en) * | 2019-06-26 | 2019-10-29 | 深圳市华讯方舟微电子科技有限公司 | Judge method, apparatus, millimetre-wave radar and the storage medium of traffic condition |
| CN110361735B (en) * | 2019-07-22 | 2023-04-07 | 成都纳雷科技有限公司 | Vehicle speed measuring method and device based on speed measuring radar |
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