CN111645680B - Method, device, terminal and storage medium for determining vehicle trafficability - Google Patents
Method, device, terminal and storage medium for determining vehicle trafficability Download PDFInfo
- Publication number
- CN111645680B CN111645680B CN202010323004.9A CN202010323004A CN111645680B CN 111645680 B CN111645680 B CN 111645680B CN 202010323004 A CN202010323004 A CN 202010323004A CN 111645680 B CN111645680 B CN 111645680B
- Authority
- CN
- China
- Prior art keywords
- target object
- determining
- height
- value
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 44
- 230000008859 change Effects 0.000 claims abstract description 12
- 238000012937 correction Methods 0.000 claims description 25
- 230000003068 static effect Effects 0.000 claims description 15
- 230000006870 function Effects 0.000 claims description 14
- 238000010586 diagram Methods 0.000 description 9
- 230000006399 behavior Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000002085 persistent effect Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The present application relates to a method, apparatus, terminal, and storage medium for determining vehicle trafficability, which obtains coordinates, velocities, reflection cross-sectional areas, and radial distances of a target object and a reference object by determining the target object and the reference object from acquired vehicle surrounding environment information. And determining the height predicted value of the target object by combining the obtained height prediction function. Meanwhile, the road surface height of the target object is determined based on the longitudinal position of the target object. And correcting the height position of the target object based on the height predicted value and the road surface height of the target object, and determining a reference passing value of the target object based on the acquired speed change information when the reference object passes through the target object. Determining a passable value of the target object based on the corrected height position of the target object and the reference passable value; and if the passable value is larger than or equal to the preset passable value, determining that the vehicle can pass through the target object. Therefore, the accuracy of judging the feasibility of the target object can be improved.
Description
Technical Field
The present application relates to the field of automotive technologies, and in particular, to a method, an apparatus, a terminal, and a storage medium for determining vehicle trafficability.
Background
With the commercialization of the driving assistance technology, the millimeter wave radar has become more and more popular and is gradually becoming an indispensable sensing device for driving assistance.
When a vehicle with a driving assistance function passes through a certain obstacle, such as a road surface deceleration strip, a manhole cover and a road height limiting rod, the vehicle needs to acquire height information of the object to judge whether a collision risk exists or whether the static object can pass through. In order to reduce cost and lighten the target, the conventional vehicle-mounted millimeter wave radar usually simplifies the design of antennas, so that only one pair of antennas or even no antennas exist in the height direction. Such radar has generally poor vertical angle accuracy, which is reflected in the output result, that is, the height information of the target is inaccurate. And incorrect collision risk judgment or feasibility judgment can be caused due to inaccurate height information.
In addition, in the scheme of detecting the height of the target through the radar in the prior art, when the gradient of the road surface changes greatly, false recognition is easy to occur. For example: a metal sewer port at the flat position of the end of the downhill road and a metal joint at the upslope position of the bridge. If the number of false triggers is reduced by increasing the Radar reflection intensity threshold, a static target with a small partial Radar Cross Section (RCS) may be missed for identification.
Disclosure of Invention
The embodiment of the application provides a method, a device, a terminal and a storage medium for determining vehicle trafficability, which can obtain an accurate target height position and improve the judgment accuracy of the vehicle trafficability, so that driving comfort is improved.
In one aspect, an embodiment of the present application provides a method for determining vehicle trafficability, including:
determining a target object and a reference object from the acquired vehicle surrounding environment information, and obtaining coordinates, speed, reflection cross-sectional area and radial distance of the target object and the reference object; the coordinates include a height position, a longitudinal position, and a lateral position;
determining a height prediction value of the target object according to the reflection cross-sectional area and the radial distance of the target object and the obtained height prediction function;
determining a road surface height of the target object based on the longitudinal position of the target object;
correcting the height position of the target object based on the height predicted value and the road surface height of the target object to obtain a corrected height position;
determining a reference passing value of the target object based on the acquired speed change information when the reference object passes through the target object;
determining a passable value of the target object based on the corrected height position of the target object and the reference passable value;
and if the passable value is larger than or equal to the preset passable value, determining that the vehicle can pass through the target object.
In another aspect, an embodiment of the present application provides a device for determining vehicle trafficability, including:
the first determining module is used for determining a target object and a reference object from the acquired vehicle surrounding environment information to obtain the coordinates, the speed, the reflection cross section area and the radial distance of the target object and the reference object; the coordinate information comprises a height position, a longitudinal position and a transverse position;
the second determination module is used for determining a height prediction value of the target object according to the reflection cross section and the radial distance of the target object and the obtained height prediction function;
a third determination module for determining a road surface height of the target object based on the longitudinal position of the target object;
the correction module is used for correcting the height position of the target object based on the height predicted value and the road surface height of the target object to obtain a corrected height position;
the fourth determination module is used for determining a reference passing value of the target object based on the acquired speed change information when the reference object passes through the target object;
a fifth determining module, configured to determine a passable value of the target object based on the corrected height position of the target object and the reference passable value;
and the sixth determining module is used for determining that the vehicle can pass through the target object if the passable value is larger than or equal to the preset passable value.
In another aspect, an embodiment of the present application provides a terminal, where the terminal includes a processor and a memory, where at least one instruction or at least one program is stored in the memory, and the at least one instruction or the at least one program is loaded by the processor and is used to execute the method for determining vehicle accessibility.
In another aspect, the present disclosure provides a computer storage medium, in which at least one instruction or at least one program is stored, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the method for determining vehicle accessibility.
The method, the device, the terminal and the storage medium for determining the vehicle trafficability have the following beneficial effects:
determining a target object and a reference object from the acquired vehicle surrounding environment information to obtain coordinates, speed, a reflection cross-sectional area and a radial distance of the target object and the reference object; the coordinates include a height position, a longitudinal position, and a lateral position. And determining a height prediction value of the target object according to the reflection cross-sectional area and the radial distance of the target object and the obtained height prediction function. At the same time, the road height of the target object is determined based on the longitudinal position of the target object. Then, the height position of the target object is corrected based on the predicted height value and the road surface height of the target object, and the corrected height position is obtained. And determining a reference passing value of the target object based on the acquired speed change information when the reference object passes through the target object. Finally, determining a passable value of the target object based on the corrected height position of the target object and the reference passable value; and if the passable value is larger than or equal to the preset passable value, determining that the vehicle can pass through the target object. According to the method and the device, on one hand, the target object to pass is highly corrected, and on the other hand, the passable value of the vehicle is determined by combining the reference passable value of the reference object, so that the accuracy rate of judging the passable property of the target object can be improved, unexpected deceleration and braking behaviors in automatic driving are reduced, and the driving comfort is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic diagram of an application scenario provided in an embodiment of the present application;
FIG. 2 is a schematic flow chart illustrating a method for determining vehicle trafficability according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of a radar multi-path reflection characteristic provided by an embodiment of the present application;
FIG. 4 is a schematic diagram of a scenario for determining a road height of a target object according to an embodiment of the present disclosure;
FIG. 5 is a schematic diagram of another scenario for determining a road height of a target object according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a device for determining vehicle trafficability according to an embodiment of the present application;
fig. 7 is a hardware block diagram of a server of a method for determining vehicle trafficability according to an embodiment of the present application.
Detailed Description
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 a part of the embodiments of the present application, and not all of the 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 should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be implemented 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 server 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.
Referring to fig. 1, fig. 1 is a schematic diagram of an application scenario provided in an embodiment of the present application, and includes a vehicle 101, a target object 102, and a reference object 103. The vehicle 101 is provided with a radar sensing device and a trafficability determination device that determines the target object 102 and the reference object 103 from vehicle surrounding environment information acquired based on the radar sensing device and makes a determination as to whether or not the target object 102 can be passed.
The vehicle 101 is based on the vehicle surrounding environment information acquired by the radar sensing device. The trafficability determination device of the vehicle 101 determines the target object 102 and the reference object 103 from the vehicle surrounding environment information, and obtains the coordinates, the speed, the reflection cross-sectional area, and the radial distance of the target object 102 and the reference object 103; the coordinates include a height position, a longitudinal position, and a lateral position. The feasibility determining device determines a height prediction value of the target object 102 according to the reflection cross-sectional area and the radial distance of the target object 102 and the acquired height prediction function. The height prediction function may be previously tested based on radar multipath reflection characteristics. Meanwhile, the trafficability determination device also determines the road surface height of the target object 102 based on the longitudinal position of the target object 102. Next, the trafficability determining device corrects the height position of the target object 102 based on the predicted height value and the road surface height of the target object 102 to obtain a corrected height position. Further, the feasibility determining means determines the reference feasibility value of the target object 102 from the acquired speed change information when the reference object 103 passes through the target object 102. Finally, the trafficability determination means determines a trafficable value of the target object 102 based on the corrected height position of the target object 102 and the reference trafficable value; if the passable value is equal to or greater than the preset passable value, the passable determination means determines that the vehicle 101 can pass through the target object 102.
Alternatively, the target object 102 may be a stationary obstacle such as a road deceleration strip, a manhole cover, and a road height limiting rod. The reference object 103 may be another vehicle in front of the vehicle 101.
In the embodiment of the application, the radar sensing device and the feasibility determining device may be arranged in the same device, such as a certain vehicle-mounted terminal; or in multiple devices in a system, such as an automobile; therefore, the execution subject of the method embodiment in the present application may be a vehicle-mounted terminal, or may be an automobile.
While specific embodiments of a method for determining vehicle feasibility of the present application are described below, fig. 2 is a flow chart of a method for determining vehicle feasibility provided by embodiments of the present application, and the present application provides method operation steps as in the embodiments or the flow chart, but may include more or less operation steps based on conventional or non-inventive labor. The order of steps recited in the embodiments is merely one manner of performing the steps in a multitude of orders and does not represent the only order of execution. In practice, the system or server product may be implemented in a sequential or parallel manner (e.g., parallel processor or multi-threaded environment) according to the embodiments or methods shown in the figures. Specifically, as shown in fig. 2, the method may include:
s201: determining a target object and a reference object from the acquired vehicle surrounding environment information, and obtaining coordinates, speed, reflection cross-sectional area and radial distance of the target object and the reference object; the coordinates include a height position, a longitudinal position, and a lateral position.
In the embodiment of the application, the vehicle acquires the surrounding environment information of the vehicle based on the sensing device, and determines the target object and the reference object from the surrounding environment information of the vehicle, the surrounding environment information of the vehicle comprises the coordinates, the speed and the reflection sectional area of the target object and the reference object, and the radial distance can be respectively obtained by the vehicle based on the coordinates of the target object and the coordinates of the reference object through calculation. The target object is a stationary object through which the vehicle will pass, and the reference object is a preceding vehicle that passes through the target object prior to the own vehicle.
Optionally, the target object and the reference object are determined from the acquired vehicle surrounding environment information, and the coordinates, the speed and the reflection section of the target object and the reference object are obtainedEmbodiments of area and radial distance include: acquiring surrounding environment information of the vehicle based on a radar; determining a quasi-target object from the surrounding environment information to obtain a quasi-target object set and coordinates, a speed, a reflection cross-sectional area and a radial distance of each quasi-target object in the quasi-target object set; determining the motion state of each quasi-target object based on the coordinate and the speed of each quasi-target object to obtain a motion state set; determining a static state from the motion state set, and determining a target object according to the coordinate of the quasi-target object corresponding to the static state; and determining the motion state in the motion state set, and determining the reference object according to the reflection sectional area of the quasi-target object corresponding to the motion state. Specifically, the quasi-target objects in the quasi-target object set may include pedestrians, vehicles, road surface obstacles, road facilities, and the like. The coordinates, velocity, cross-sectional reflection area and radial distance of these quasi-target objects can be obtained by radar. The Reflection Cross Section (RCS) represents a physical quantity of the intensity of the echo generated by a quasi-target object under the irradiation of Radar waves. The radial distance represents the distance between the quasi-target object and the radar along the radar wave transmitting direction. Second, the motion state of each of the quasi-target objects is determined. For example, if the speed of the quasi-target object is less than a preset speed (e.g., 1m/s), the motion state of the quasi-target object is determined to be a static state. And if the difference between the transverse position of the quasi-target object corresponding to the static state and the transverse position of the vehicle is within a preset range, determining that the quasi-target object is a target object, wherein the target object is an object to be passed by the vehicle, such as obstacles such as a road deceleration strip, a manhole cover and a road height limiting rod. For another example, if the speed of the quasi-target object is greater than or equal to the preset speed and the relative speed between the quasi-target object and the vehicle is within the preset range, it is determined that the quasi-target object is in a motion state. And if the reflection sectional area of the quasi-target object corresponding to the motion state is within the preset area range, determining the quasi-target object corresponding to the motion state as a reference object. Here, the preset area range is set according to a radar reflection cross-sectional area of the own vehicle, and may be (RCS)0-2dBsm，RCS0+2dBSm), where RCS0Self-indicating vehicleRadar cross-sectional area of (2). The reference object thus determined may be a vehicle ahead of the own vehicle.
S203: and determining a height prediction value of the target object according to the reflection cross-sectional area and the radial distance of the target object and the obtained height prediction function.
According to the multipath reflection characteristics of electromagnetic waves: as shown in fig. 3, the electromagnetic waves directly reflected by the target and secondarily reflected by the ground at a specific height H and radial distance R may interfere with each other at the radar receiving antenna, resulting in a decrease in the level P with respect to the theoretical value.
In the embodiment of the application, the radar multipath reflection characteristic is used for testing in advance to obtain a height prediction function: z is a linear or branched member0G (P, R, RCS); wherein Z is0Representing a height prediction value according to radar multipath characteristics; p is a receiving level; r represents a radial distance; RCS denotes the reflection cross-sectional area. After the target object is determined, the height prediction value of the target object can be determined through a height prediction function according to the reflection cross-sectional area and the radial distance of the target object and the receiving level.
S205: the road surface height of the target object is determined based on the longitudinal position of the target object.
S207: and correcting the height position of the target object based on the height predicted value and the road surface height of the target object to obtain a corrected height position.
In the embodiment of the application, aiming at the condition that the height judgment is often wrong in a road section with a slope in the prior art, the vehicle also determines the road height of the target object according to the longitudinal position of the target object, and corrects the height position of the original target object based on the height predicted value and the road height of the target object, so that accurate height information of the target object can be obtained. Optionally, determining a first height correction value based on the height prediction value and the height position of the target object; the first height correction value is corrected based on the road surface height of the target object, and the corrected first height correction value is determined as the final height position of the target object. Specifically, the first height correction value is determined according to equation (1):
Z1＝a·Z+b·Z0......(1)
wherein Z is1Indicating a first height correction value; z represents a height position of the target object acquired based on the radar; z is a linear or branched member0Representing a height prediction value according to radar multipath characteristics; a. b represents the adjusting parameter, and the specific value is determined according to the actually obtained Z.
In an alternative embodiment, determining the road height of a target object based on its longitudinal position comprises: and directly acquiring the road surface height at the longitudinal position through a high-precision map or a camera sensor according to the longitudinal position of the target object. Based on the above specific embodiment, the first height correction value is corrected according to equation (2):
Z2＝Z1-(H(X)-H(0))......(2)
wherein Z is1Representing a first height correction value; z2Indicating the corrected first height correction value; h (x) represents the road surface height of the target object; h (0) represents the current road height of the vehicle.
In this embodiment of the application, after determining the predicted height value of the target object, before determining the road surface height of the target object based on the longitudinal position of the target object, the method may further include: and performing segmentation fitting on road sections between the vehicle and the target object according to the surrounding environment information of the vehicle, and determining the road slope difference between each road section and the current road section corresponding to the vehicle to obtain a road slope difference set. And determining a road section corresponding to the road slope difference with the first numerical value not being 0 from the road slope difference set as an initial road section, and determining a road section corresponding to the target object as a target road section. The vehicle surrounding environment information may include steps on both sides of the road, cement piers having a uniform height, or guard rails of various materials.
In an alternative embodiment of determining the road height of the target object based on the longitudinal position of the target object, as shown in fig. 4, the distance between the starting road segment and the current road segment is greater than or equal to the distance corresponding to the minimum field angle of the radar (C)1Not less than L), then according to the longitudinal position of the target object, the distance between the starting road section and the current road section, the distance between the target road section and the current road sectionThe road surface slope difference therebetween determines the road surface height of the target object. Here, the distance corresponding to the minimum Field angle of the radar refers to a distance from a boundary between the minimum Field of view (FOV) and the ground to the vehicle. Specifically, the road height of the target object may be determined according to equation (3):
h1＝K(X1-C1)......(3)
where h1 represents the road surface height of the target object; k represents the difference of the road surface slope between the target road section and the current road section; x1Representing a longitudinal position of the target object; c1Representing the distance between the starting road segment and the current road segment.
Based on the above-described embodiment in which the first height correction value is obtained according to equation (1), the first height correction value is corrected according to equation (4):
Z2＝Z1-h1......(4)
wherein Z is1Indicating a first height correction value; z2Indicating the corrected first height correction value; h1 represents the road surface height of the target object.
In another alternative embodiment of determining the road height of the target object based on the longitudinal position of the target object, as shown in fig. 5, the distance between the start road segment and the current road segment is less than the distance corresponding to the minimum field angle of the radar (C)2< L), determining the road surface height of the target object according to the longitudinal position of the target object, the distance corresponding to the minimum field angle of the radar and the road surface slope difference between the target road section and the current road section. Specifically, the road surface height of the target object may be determined according to equation (5):
where h2 represents the road surface height of the target object; k represents the difference of the road surface slope between the target road section and the current road section; x2Representing a longitudinal position of the target object; l represents a distance corresponding to a minimum field angle of the radar; k1Indicating the adjustment factor.
Based on the above-described embodiment in which the first height correction value is obtained according to equation (1), the first height correction value is corrected according to equation (6):
Z2＝Z1-h2......(6)
wherein Z is1Indicating a first height correction value; z2Indicating the corrected first height correction value; h2 represents the road surface height of the target object.
S209: and determining a reference passing value of the target object based on the acquired speed change information when the reference object passes through the target object.
In the embodiment of the application, after the reference object is determined, the reference passing value of the target object is determined based on the acquired speed change information when the reference object passes through the target object. For example, if the reference object does not decelerate when passing through the target object, the reference passing value P is determined050% (the specific parameters are determined according to actual conditions); if the reference object has the deceleration and lane change behaviors before passing through the target object, determining a reference passing value P0＝0。
S211: and determining the passable value of the target object based on the corrected height position of the target object and the reference passable value.
S213: and judging whether the passable value is larger than or equal to a preset passable value or not. If the passable value is larger than or equal to the preset passable value, determining that the vehicle can pass through the target object; otherwise, it is determined that the vehicle cannot pass through the target object.
In the embodiment of the application, after the height position of the target object is corrected based on the height predicted value and the road surface height of the target object to obtain the corrected height position, if the corrected height position is lower than the chassis height of the vehicle or the suspended height is higher than the height of the vehicle body, the target object is determined to be a passing target. And determining a passable value of the target object based on the corrected height position of the target object and the reference passable value, specifically, determining the passable value of the target object according to a formula (7):
wherein, PpassA passable value representing a target object; p0Represents a reference pass value; h1Representing the vehicle chassis height; h2Indicating the height of the vehicle body; h3Representing the height from the chassis to the middle of the roof, by H1And H2Calculating to obtain; z2Indicating the height position of the corrected target object.
In the embodiment of this application, PpassThe higher the value, the higher the probability that the vehicle will pass the target object, if PpassIf the vehicle passing speed is larger than or equal to the preset passing value, determining that the vehicle can pass through the target object; otherwise, the vehicle cannot pass through the target object.
The method for determining the vehicle trafficability provided by the embodiment of the application has the advantages that: on one hand, the height prediction function is obtained through off-line test, and height correction is carried out through on-line table look-up, so that the CPU load can be reduced; on the other hand, the road surface height of the target object is obtained through schemes such as road surface slope difference estimation and the like, so that the risk of false identification can be reduced; on the other hand, the judgment error risk can be further reduced by combining the reference passing value of the reference target.
An embodiment of the present application further provides a device for determining vehicle trafficability, and fig. 6 is a schematic structural diagram of the device for determining vehicle trafficability according to the embodiment of the present application, and as shown in fig. 6, the device includes:
the first determining module 601 is configured to determine a target object and a reference object from the acquired vehicle surrounding environment information, and obtain coordinates, a speed, a reflection cross-sectional area, and a radial distance of the target object and the reference object; the coordinate information comprises a height position, a longitudinal position and a transverse position;
a second determining module 602, configured to determine a height prediction value of the target object according to the reflection cross-sectional area and the radial distance of the target object and the obtained height prediction function;
a third determining module 603 for determining a road height of the target object based on the longitudinal position of the target object;
the correcting module 604 is configured to correct the height position of the target object based on the predicted height value and the road height of the target object, so as to obtain a corrected height position;
a fourth determining module 605, configured to determine a reference passing value of the target object based on the acquired speed change information when the reference object passes through the target object;
a fifth determining module 606, configured to determine a passable value of the target object based on the corrected height position of the target object and the reference passable value;
a sixth determining module 607, configured to determine that the vehicle can pass through the target object if the passable value is greater than or equal to the preset passable value.
In an alternative embodiment, the apparatus further comprises:
the first determining module 601 is specifically configured to: acquiring surrounding environment information of the vehicle based on a radar; determining a quasi-target object from the surrounding environment information to obtain a quasi-target object set and coordinates, a speed, a reflection cross-sectional area and a radial distance of each quasi-target object in the quasi-target object set; determining the motion state of each quasi-target object based on the coordinate and the speed of each quasi-target object to obtain a motion state set; determining a static state from the motion state set, and determining a target object according to the coordinate of the quasi-target object corresponding to the static state; and determining the motion state in the motion state set, and determining the reference object according to the reflection sectional area of the quasi-target object corresponding to the motion state.
In an alternative embodiment, the apparatus further comprises:
the first determining module 601 is specifically configured to: and if the difference between the transverse position of the quasi-target object corresponding to the static state and the transverse position of the vehicle is within a preset range, determining the quasi-target object corresponding to the static state as the target object.
In an alternative embodiment, the apparatus further comprises:
the first determining module 601 is specifically configured to: and if the reflection sectional area of the quasi-target object corresponding to the motion state is within the preset area range, determining the quasi-target object corresponding to the motion state as a reference object.
In an alternative embodiment, the apparatus further comprises:
the third determining module 603 is specifically configured to: determining the road surface height of the longitudinal position of the target object through a high-precision map; or; the road surface height at the longitudinal position of the target object is determined by means of a camera sensor.
In an alternative embodiment, the apparatus further comprises:
the seventh determining module is used for performing segmented fitting on road sections from the vehicle to the target object according to the surrounding environment information of the vehicle, determining the road slope difference between each road section and the current road section corresponding to the vehicle, and obtaining a road slope difference set; the vehicle surrounding environment information is acquired based on a radar; and determining a road section corresponding to the road slope difference with the first numerical value not being 0 from the road slope difference set as an initial road section, and determining a road section corresponding to the target object as a target road section.
In an alternative embodiment, the apparatus further comprises:
the third determining module 603 is specifically configured to: if the distance between the starting road section and the current road section is larger than or equal to the distance corresponding to the minimum field angle of the radar, determining the road height of the target object according to the longitudinal position of the target object, the distance between the starting road section and the current road section and the road slope difference between the target road section and the current road section; or; and if the distance between the starting road section and the current road section is smaller than the distance corresponding to the minimum field angle of the radar, determining the road surface height of the target object according to the longitudinal position of the target object, the distance corresponding to the minimum field angle of the radar and the road surface slope difference between the target road section and the current road section.
In an alternative embodiment, the apparatus further comprises:
the modification module 604 is specifically configured to: determining a first height correction value based on the height prediction value and the height position of the target object; the first height correction value is corrected based on the road surface height of the target object, and the corrected first height correction value is determined as a corrected height position.
The device and method embodiments in the embodiments of the present application are based on the same application concept.
The method provided by the embodiment of the application can be executed in a computer terminal, a server or a similar operation device. Taking the server as an example, fig. 7 is a hardware block diagram of the server according to the method for determining vehicle trafficability provided by the embodiment of the present application. As shown in fig. 7, the server 700 may have a relatively large difference due to different configurations or performances, and may include one or more Central Processing Units (CPUs) 710 (the processors 710 may include but are not limited to a Processing device such as a microprocessor NCU or a programmable logic device FPGA, etc.), a memory 730 for storing data, and one or more storage media 720 (e.g., one or more mass storage devices) for storing an application 723 or data 722. Memory 730 and storage medium 720 may be, among other things, transient storage or persistent storage. The program stored in the storage medium 720 may include one or more modules, each of which may include a series of instruction operations for the server. Still further, central processor 710 may be configured to communicate with storage medium 720 and execute a series of instruction operations in storage medium 720 on server 700. The server 700 may also include one or more power supplies 760, one or more wired or wireless network interfaces 750, one or more input-output interfaces 740, and/or one or more operating systems 721, such as Windows, Mac OS, Unix, Linux, FreeBSD, etc.
The input/output interface 740 may be used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the server 700. In one example, the input/output Interface 740 includes a Network adapter (NIC) that can be connected to other Network devices through a base station to communicate with the internet. In one example, the input/output interface 740 can be a Radio Frequency (RF) module, which is used to communicate with the internet in a wireless manner.
It will be understood by those skilled in the art that the structure shown in fig. 7 is only an illustration and is not intended to limit the structure of the electronic device. For example, server 700 may also include more or fewer components than shown in FIG. 7, or have a different configuration than shown in FIG. 7.
The embodiment of the application also provides a computer storage medium, wherein at least one instruction or at least one program is stored in the storage medium, and the at least one instruction or the at least one program is loaded by a processor and executed to realize the method for determining the vehicle feasibility.
Optionally, in this embodiment, the storage medium may be located in at least one network server of a plurality of network servers of a computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to: 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.
As can be seen from the embodiments of the method, the apparatus, the terminal, and the storage medium for determining vehicle trafficability provided by the present application, in the present application, coordinates, speeds, reflection cross-sectional areas, and radial distances of a target object and a reference object are obtained by determining the target object and the reference object from acquired vehicle surrounding environment information; the coordinates include a height position, a longitudinal position, and a lateral position. And determining a height prediction value of the target object according to the reflection cross-sectional area and the radial distance of the target object and the obtained height prediction function. Meanwhile, the road surface height of the target object is determined based on the longitudinal position of the target object. Then, the height position of the target object is corrected based on the predicted height value and the road surface height of the target object, and the corrected height position is obtained. And determining a reference passing value of the target object based on the acquired speed change information when the reference object passes through the target object. Finally, determining a passable value of the target object based on the corrected height position of the target object and the reference passable value; and if the passable value is larger than or equal to the preset passable value, determining that the vehicle can pass through the target object. According to the method and the device, on one hand, the target object to pass is highly corrected, and on the other hand, the passable value of the vehicle is determined by combining the reference passable value of the reference object, so that the accuracy rate of judging the passable property of the target object can be improved, unexpected deceleration and braking behaviors in automatic driving are reduced, and the driving comfort is improved.
It should be noted that: the sequence of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. And specific embodiments thereof have been described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (11)
1. A method of determining vehicle trafficability, comprising:
determining a target object and a reference object from the acquired vehicle surrounding environment information, and obtaining coordinates, speed, reflection cross-sectional area and radial distance of the target object and the reference object; the coordinates include a height position, a longitudinal position, and a lateral position;
determining a height prediction value of the target object according to the reflection cross-sectional area and the radial distance of the target object and the obtained height prediction function;
determining a road surface height of the target object based on a longitudinal position of the target object;
correcting the height position of the target object based on the height predicted value and the road surface height of the target object to obtain a corrected height position;
determining a reference passing value of the target object based on the acquired speed change information when the reference object passes through the target object;
determining a passable value of the target object based on the corrected height position of the target object and the reference passable value;
and if the passable value is larger than or equal to a preset passable value, determining that the vehicle can pass through the target object.
2. The method of claim 1, wherein determining a target object and a reference object from the obtained vehicle surrounding environment information, and obtaining coordinates, a speed, a reflection cross-sectional area, and a radial distance of the target object and the reference object comprises:
acquiring surrounding environment information of the vehicle based on the radar;
determining a quasi-target object from the surrounding environment information to obtain a quasi-target object set and coordinates, a speed, a reflection cross-sectional area and a radial distance of each quasi-target object in the quasi-target object set;
determining the motion state of each quasi-target object based on the coordinate and the speed of each quasi-target object to obtain a motion state set;
determining a static state from the motion state set, and determining a target object according to the coordinate of the quasi-target object corresponding to the static state;
and determining a motion state in the motion state set, and determining a reference object according to the reflection sectional area of the quasi-target object corresponding to the motion state.
3. The method according to claim 2, wherein the determining a target object according to the coordinate information of the quasi-target object corresponding to the static state comprises:
and if the difference between the transverse position of the quasi-target object corresponding to the static state and the transverse position of the vehicle is within a preset range, determining the quasi-target object corresponding to the static state as the target object.
4. The method according to claim 2, wherein the determining a reference object according to the reflection sectional area information of the quasi-target object corresponding to the motion state comprises:
and if the reflection sectional area of the quasi-target object corresponding to the motion state is within a preset area range, determining the quasi-target object corresponding to the motion state as a reference object.
5. The method of claim 1, wherein said determining a road surface height of the target object based on the longitudinal position of the target object comprises:
determining the road surface height of the target object at the longitudinal position through a high-precision map;
or; determining a road surface height at a longitudinal position of the target object by a camera sensor.
6. The method of claim 1, wherein after determining the predicted value of the height of the target object and before determining the road height of the target object based on the longitudinal position of the target object, the method further comprises:
according to the information of the surrounding environment of the vehicle, performing piecewise fitting on road sections from the vehicle to the target object, and determining the difference of road slopes between each road section and the current road section corresponding to the vehicle to obtain a road slope difference set; the vehicle surrounding environment information is acquired based on a radar;
and determining a road section corresponding to the road slope difference with a first numerical value not being 0 from the road slope difference set as an initial road section, and determining a road section corresponding to the target object as a target road section.
7. The method of claim 6, wherein said determining a road surface height of the target object based on the longitudinal position of the target object comprises:
if the distance between the starting road section and the current road section is greater than or equal to the distance corresponding to the minimum field angle of the radar, determining the road height of the target object according to the longitudinal position of the target object, the distance between the starting road section and the current road section and the road slope difference between the target road section and the current road section;
or; and if the distance between the starting road section and the current road section is smaller than the distance corresponding to the minimum field angle of the radar, determining the road height of the target object according to the longitudinal position of the target object, the distance corresponding to the minimum field angle of the radar and the road slope difference between the target road section and the current road section.
8. The method according to claim 1, wherein the correcting the height position of the target object based on the predicted height value and the road height of the target object to obtain a corrected height position comprises:
determining a first height correction value based on the height prediction value and the height position of the target object;
the first height correction value is corrected based on the road surface height of the target object, and the corrected first height correction value is determined as the corrected height position.
9. A vehicle trafficability determination device, comprising:
the first determining module is used for determining a target object and a reference object from the acquired vehicle surrounding environment information to obtain the coordinates, the speed, the reflection cross section area and the radial distance of the target object and the reference object; the coordinate information comprises a height position, a longitudinal position and a transverse position;
the second determination module is used for determining a height prediction value of the target object according to the reflection cross section and the radial distance of the target object and the obtained height prediction function;
a third determination module for determining a road surface height of the target object based on the longitudinal position of the target object;
the correction module is used for correcting the height position of the target object based on the height predicted value and the road surface height of the target object to obtain a corrected height position;
the fourth determining module is used for determining a reference passing value of the target object based on the acquired speed change information when the reference object passes through the target object;
a fifth determining module, configured to determine a passable value of the target object based on the corrected height position of the target object and the reference passable value;
and the sixth determining module is used for determining that the vehicle can pass through the target object if the passable value is larger than or equal to a preset passable value.
10. A terminal characterized in that it comprises a processor and a memory in which at least one instruction or at least one program is stored, which is loaded by the processor and executes the method for determining vehicle accessibility according to any one of claims 1 to 8.
11. A computer storage medium, characterized in that at least one instruction or at least one program is stored in the storage medium, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the method for determining vehicle accessibility according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010323004.9A CN111645680B (en) | 2020-04-22 | 2020-04-22 | Method, device, terminal and storage medium for determining vehicle trafficability |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010323004.9A CN111645680B (en) | 2020-04-22 | 2020-04-22 | Method, device, terminal and storage medium for determining vehicle trafficability |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111645680A CN111645680A (en) | 2020-09-11 |
| CN111645680B true CN111645680B (en) | 2022-06-14 |
Family
ID=72349277
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010323004.9A Active CN111645680B (en) | 2020-04-22 | 2020-04-22 | Method, device, terminal and storage medium for determining vehicle trafficability |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111645680B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113611029B (en) * | 2021-07-22 | 2023-09-26 | 北京京东乾石科技有限公司 | Monitoring method, device, access control system and readable storage medium |
| CN117198063B (en) * | 2023-09-21 | 2024-04-26 | 苏州安泰阿尔法交通科技发展有限公司 | Method, system and medium for monitoring vehicle superelevation |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106080480A (en) * | 2016-06-29 | 2016-11-09 | 戴姆勒股份公司 | Automobile chassis anticollision device, collision-prevention device and method and automobile |
| CN106314275A (en) * | 2016-08-25 | 2017-01-11 | 乐视控股（北京）有限公司 | Anti-scratching device and method used for car as well as car |
| US20170087952A1 (en) * | 2007-03-20 | 2017-03-30 | Enpulz, Llc | Look ahead vehicle suspension system |
| CN107408348A (en) * | 2015-03-31 | 2017-11-28 | 株式会社电装 | Controller of vehicle and control method for vehicle |
| CN108001446A (en) * | 2016-10-28 | 2018-05-08 | 福特全球技术公司 | The method of operating and motor vehicles of motor vehicles |
| CN108058705A (en) * | 2016-11-09 | 2018-05-22 | 奥迪股份公司 | Vehicle drive assist system and method |
| CN108694841A (en) * | 2018-05-24 | 2018-10-23 | 北理慧动（常熟）车辆科技有限公司 | A kind of intelligent vehicle passage crossroads traffic light method based on V2X technologies |
| US20180348771A1 (en) * | 2018-07-26 | 2018-12-06 | GM Global Technology Operations LLC | Stop contingency planning during autonomous vehicle operation |
| US20190276049A1 (en) * | 2018-03-12 | 2019-09-12 | Toyota Jidosha Kabushiki Kaisha | Driving assistance system |
| CN110276988A (en) * | 2019-06-26 | 2019-09-24 | 重庆邮电大学 | A kind of DAS (Driver Assistant System) based on collision warning algorithm |
| CN110316187A (en) * | 2018-03-30 | 2019-10-11 | 比亚迪股份有限公司 | Automobile and its avoidance obstacle method |
| CN110422170A (en) * | 2019-07-18 | 2019-11-08 | 浙江吉利新能源商用车集团有限公司 | A kind of control method for vehicle, device, system and terminal |
-
2020
- 2020-04-22 CN CN202010323004.9A patent/CN111645680B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170087952A1 (en) * | 2007-03-20 | 2017-03-30 | Enpulz, Llc | Look ahead vehicle suspension system |
| CN107408348A (en) * | 2015-03-31 | 2017-11-28 | 株式会社电装 | Controller of vehicle and control method for vehicle |
| CN106080480A (en) * | 2016-06-29 | 2016-11-09 | 戴姆勒股份公司 | Automobile chassis anticollision device, collision-prevention device and method and automobile |
| CN106314275A (en) * | 2016-08-25 | 2017-01-11 | 乐视控股（北京）有限公司 | Anti-scratching device and method used for car as well as car |
| CN108001446A (en) * | 2016-10-28 | 2018-05-08 | 福特全球技术公司 | The method of operating and motor vehicles of motor vehicles |
| CN108058705A (en) * | 2016-11-09 | 2018-05-22 | 奥迪股份公司 | Vehicle drive assist system and method |
| US20190276049A1 (en) * | 2018-03-12 | 2019-09-12 | Toyota Jidosha Kabushiki Kaisha | Driving assistance system |
| CN110316187A (en) * | 2018-03-30 | 2019-10-11 | 比亚迪股份有限公司 | Automobile and its avoidance obstacle method |
| CN108694841A (en) * | 2018-05-24 | 2018-10-23 | 北理慧动（常熟）车辆科技有限公司 | A kind of intelligent vehicle passage crossroads traffic light method based on V2X technologies |
| US20180348771A1 (en) * | 2018-07-26 | 2018-12-06 | GM Global Technology Operations LLC | Stop contingency planning during autonomous vehicle operation |
| CN110276988A (en) * | 2019-06-26 | 2019-09-24 | 重庆邮电大学 | A kind of DAS (Driver Assistant System) based on collision warning algorithm |
| CN110422170A (en) * | 2019-07-18 | 2019-11-08 | 浙江吉利新能源商用车集团有限公司 | A kind of control method for vehicle, device, system and terminal |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111645680A (en) | 2020-09-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6520203B2 (en) | Mounting angle error detection method and device, vehicle-mounted radar device | |
| RU2727164C1 (en) | Method and apparatus for correcting map data | |
| EP3151034B1 (en) | Automated vehicle radar system to determine yaw-rate of a target vehicle | |
| US9869761B2 (en) | Radar apparatus | |
| EP3104361A1 (en) | Map information generation system, method, and program | |
| US20190212440A1 (en) | Driving lane detection device and driving lane detection method | |
| CN111645680B (en) | Method, device, terminal and storage medium for determining vehicle trafficability | |
| US10435019B2 (en) | Course prediction method and course prediction device | |
| CN112198503A (en) | Target track prediction optimization method and device and radar system | |
| CN110889808A (en) | Positioning method, device, equipment and storage medium | |
| US11407411B2 (en) | Other lane monitoring device | |
| US11507107B2 (en) | Map information system | |
| JPWO2007015288A1 (en) | Axis deviation amount estimation method and axis deviation amount estimation device | |
| WO2018212292A1 (en) | Information processing device, control method, program and storage medium | |
| EP3872454A1 (en) | Measurement accuracy calculation device, host position estimation device, control method, program, and storage medium | |
| US20220113139A1 (en) | Object recognition device, object recognition method and program | |
| CN109581302B (en) | Vehicle-mounted radar data tracking method and system | |
| KR101929681B1 (en) | Method and Apparatus for Peripheral Vehicle Location Estimation using V2V and Environment Scanning Sensor | |
| US20170254881A1 (en) | Apparatus for detecting axial misalignment | |
| CN109029418A (en) | A method of vehicle is positioned in closed area | |
| CN110596639A (en) | Vehicle tracking and positioning method, information marking method, system and control terminal | |
| US11487293B2 (en) | Map-information obstacle-tracking system and method | |
| CN112949489A (en) | Road boundary identification method and device, electronic equipment and storage medium | |
| CN113625234A (en) | Installation angle correction method of vehicle radar and vehicle radar | |
| CN116449329A (en) | Method, system, equipment and storage medium for disambiguating speed of millimeter wave radar |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |