CN111913183A - Vehicle lateral obstacle avoidance method, device and equipment and vehicle - Google Patents

Vehicle lateral obstacle avoidance method, device and equipment and vehicle Download PDF

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Publication number
CN111913183A
CN111913183A CN202010732451.XA CN202010732451A CN111913183A CN 111913183 A CN111913183 A CN 111913183A CN 202010732451 A CN202010732451 A CN 202010732451A CN 111913183 A CN111913183 A CN 111913183A
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China
Prior art keywords
obstacle
information
vehicle
map
obstacle information
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Pending
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CN202010732451.XA
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Chinese (zh)
Inventor
李超
杜建宇
刘斌
栗海兵
曹天书
王恒凯
赵逸群
王皓南
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FAW Group Corp
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FAW Group Corp
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Priority to CN202010732451.XA priority Critical patent/CN111913183A/en
Publication of CN111913183A publication Critical patent/CN111913183A/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G01C21/32—Structuring or formatting of map data
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section

Abstract

The embodiment of the invention discloses a vehicle lateral obstacle avoidance method, a vehicle lateral obstacle avoidance device, vehicle lateral obstacle avoidance equipment and a vehicle. The method comprises the following steps: constructing an obstacle map based on the global coordinate system; the obstacle map is a gridding map; determining first obstacle information according to data acquired by an ultrasonic radar on the side of the vehicle; converting the first obstacle information into the obstacle map to obtain second obstacle information; updating the second obstacle information according to the running information of the vehicle; and generating reminding information according to the updated second obstacle information so as to remind the driver of the obstacle on the side. According to the vehicle lateral obstacle avoidance method disclosed by the embodiment of the invention, the second obstacle information is updated according to the running information of the vehicle, so that a driver can acquire the obstacle information in the blind area of the ultrasonic radar, and therefore, the obstacle avoidance is carried out, and the safety of vehicle running is improved.

Description

Vehicle lateral obstacle avoidance method, device and equipment and vehicle
Technical Field
The embodiment of the invention relates to the technical field of intelligent driving, in particular to a method, a device and equipment for avoiding obstacles laterally of a vehicle and the vehicle.
Background
Generally speaking, two front and rear ultrasonic radars are generally arranged on the side surface of a vehicle, which inevitably causes a blind area of a driver in the middle of the side surface of the vehicle, although a vehicle panoramic picture can reflect the information around the vehicle more truly, when the visual condition is harsh, the panoramic picture can not reflect the information of obstacles around the vehicle accurately, when the vehicle runs on a narrow road section with obstacles on the side surface, if the obstacles are in the blind area of the driver on the side surface of the vehicle, the driver turns to the vehicle and easily causes the occurrence of vehicle scratch accidents.
Disclosure of Invention
The embodiment of the invention provides a vehicle lateral obstacle avoidance method, a vehicle lateral obstacle avoidance device, vehicle lateral obstacle avoidance equipment and a vehicle, so that the lateral obstacle avoidance of the vehicle is realized, and the driving safety of the vehicle is improved.
In a first aspect, an embodiment of the present invention provides a vehicle lateral obstacle avoidance method, including:
constructing an obstacle map based on the global coordinate system; the obstacle map is a gridding map;
determining first obstacle information according to data acquired by an ultrasonic radar on the side of the vehicle;
converting the first obstacle information into the obstacle map to obtain second obstacle information;
updating the second obstacle information according to the running information of the vehicle;
and generating reminding information according to the updated second obstacle information so as to remind the driver of the obstacle on the side.
Further, constructing an obstacle map based on the global coordinate system includes:
determining an initial area of the obstacle map by using a rectangle with a set size and taking the origin of the global coordinate system as the center;
and carrying out gridding division on the initial area to obtain an obstacle map.
Further, determining first obstacle information from data collected by the ultrasonic radar on the side of the vehicle includes:
filtering data acquired by an ultrasonic radar on the side surface of the vehicle to obtain first obstacle information; the first obstacle information includes relative position information of a plurality of points on an obstacle with respect to the ultrasonic radar, respectively.
Further, converting the first obstacle information into the obstacle map to obtain second obstacle information, including:
acquiring first position information of an ultrasonic radar in the global coordinate system;
and determining second position information of the obstacle in a global coordinate system according to the first position information and the first obstacle information to obtain second obstacle information.
Further, determining second position information of the obstacle in a global coordinate system according to the first position information and the first obstacle information, and obtaining second obstacle information, including:
determining coordinate points of a plurality of points on the obstacle in the global coordinate system;
adjusting the confidence coefficient of the grid where the coordinate point is located to be a set value to obtain second obstacle information; the confidence is used to characterize whether there is an obstacle in the mesh.
Further, updating the second obstacle information according to the operation information of the vehicle includes:
acquiring the running speed and pose information of a vehicle;
and updating the second obstacle information according to the running speed and the pose information.
Further, generating a reminding message according to the updated second obstacle message to remind the driver of the obstacle on the side of the driver, including:
dividing the obstacle map into at least two sub-areas;
for each subregion, acquiring a minimum distance from the obstacle to the vehicle in the subregion;
and if the minimum distance is smaller than the set threshold, generating reminding information to remind the driver of the obstacle on the side.
In a second aspect, an embodiment of the present invention further provides a vehicle lateral obstacle avoidance device, including:
the barrier map building module is used for building a barrier map based on the global coordinate system; the obstacle map is a gridding map;
the first obstacle information determining module is used for determining first obstacle information according to data acquired by the ultrasonic radar on the side face of the vehicle;
the second obstacle information acquisition module is used for converting the first obstacle information into the obstacle map to acquire second obstacle information;
the second obstacle information updating module is used for updating the second obstacle information according to the running information of the vehicle;
and the barrier reminding module is used for generating reminding information according to the updated second barrier information so as to remind the driver of the barrier on the side.
In a third aspect, an embodiment of the present invention further provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the computer program to implement the vehicle lateral obstacle avoidance method according to the embodiment of the present invention.
In a fourth aspect, the embodiment of the present invention provides a vehicle, including a vehicle lateral obstacle avoidance device, where the vehicle lateral obstacle avoidance device is used to implement the vehicle lateral obstacle avoidance method according to the embodiment of the present invention.
The embodiment of the invention provides a vehicle lateral obstacle avoidance method, a vehicle lateral obstacle avoidance device, equipment and a vehicle, wherein an obstacle map is constructed based on a global coordinate system; the obstacle map is a gridding map; determining first obstacle information according to data acquired by an ultrasonic radar on the side of the vehicle; converting the first obstacle information into an obstacle map to obtain second obstacle information; updating the second obstacle information according to the running information of the vehicle; and generating reminding information according to the updated second obstacle information so as to remind the driver of the obstacle on the side. According to the vehicle lateral obstacle avoidance method disclosed by the embodiment of the invention, the second obstacle information is updated according to the running information of the vehicle, so that a driver can acquire the obstacle information in the blind area of the ultrasonic radar, and therefore, the obstacle avoidance is carried out, and the safety of vehicle running is improved.
Drawings
Fig. 1 is a flowchart of a vehicle lateral obstacle avoidance method according to a first embodiment of the present invention;
FIG. 2 is an exemplary diagram of constructing an obstacle map in accordance with a first embodiment of the present invention;
FIG. 3 is a schematic diagram of a vehicle side ultrasonic radar according to a first embodiment of the present invention;
FIG. 4 is a diagram illustrating radar data filtering according to a first embodiment of the present invention;
FIG. 5 is a block diagram illustrating a method for partitioning a region according to a first embodiment of the present invention;
FIG. 6 is an exemplary diagram of an obstacle alert in accordance with one embodiment of the present invention;
fig. 7 is a schematic structural diagram of a vehicle lateral obstacle avoidance device according to a second embodiment of the present invention;
FIG. 8 is a schematic structural diagram of a computer device according to a third embodiment of the present invention;
fig. 9 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a vehicle lateral obstacle avoidance method according to an embodiment of the present invention, where the present embodiment is applicable to a situation where a driver is reminded to avoid a lateral obstacle, and the method may be executed by a vehicle lateral obstacle avoidance apparatus, as shown in fig. 1, and the method specifically includes the following steps:
and step 110, constructing an obstacle map based on the global coordinate system.
Wherein, the obstacle map is a gridding map. The global coordinate system may be a coordinate system established with the position and posture of the vehicle rear axle center when the vehicle is started as the origin, the direction of the vehicle longitudinal axis as the x-axis, and the vehicle transverse axis as the y-axis. The obstacle map is a grid of real distances around the vehicle.
In this embodiment, the method for constructing the obstacle map based on the global coordinate system may be: determining a rectangle with a set size taking the origin of the global coordinate system as the center as an initial area of the obstacle map; and carrying out gridding division on the initial area to obtain an obstacle map.
The size of the rectangle may be 50m × 50m, and the size of each grid may be 10cm × 10cm, so that the obstacle map is formed by 500 × 500 grids. Exemplarily, fig. 2 is an exemplary diagram of constructing an obstacle map in the present embodiment, and as shown in fig. 2, a rectangular area with an origin of a global coordinate system as a center is divided into grids to obtain an obstacle area map. Each grid contains a confidence level, when the confidence level is 1, the existence of an obstacle in the grid is indicated, and when the confidence level is 0, the nonexistence of the obstacle in the grid is indicated.
And step 120, determining first obstacle information according to data collected by the ultrasonic radar on the side surface of the vehicle.
In this embodiment, the vehicle both sides are provided with 2 ultrasonic radar respectively, are long distance ultrasonic radar. Fig. 3 is a schematic diagram of the vehicle side ultrasonic radar in the present embodiment. As shown in fig. 3, the vehicle side surface is provided with the ultrasonic radar only in the front and rear, and the ultrasonic radar cannot detect obstacle information in the middle area of the vehicle, thereby forming a blind area.
Wherein the first obstacle information may include relative position information of a plurality of points on the obstacle with respect to the ultrasonic radar, respectively.
Specifically, the manner of determining the first obstacle information according to the data collected by the ultrasonic radar on the side of the vehicle may be: and filtering data acquired by the ultrasonic radar on the side surface of the vehicle to obtain first obstacle information.
In this embodiment, since the ultrasonic radar inevitably has interference, it is first necessary to perform filtering processing on the acquired data. For example: the collected radar data often has the condition that one frame and two frames jump continuously, so that the data of one frame and two frames which jump frequently needs to be removed. Fig. 4 is an exemplary diagram of filtering radar data in the present embodiment. As shown in fig. 4, radar data having one frame transition and two consecutive frame transitions is processed.
And step 130, converting the first obstacle information into an obstacle map to obtain second obstacle information.
In this embodiment, the first obstacle information is converted into the obstacle map, and the manner of obtaining the second obstacle information may be: acquiring first position information of the ultrasonic radar in a global coordinate system; and determining second position information of the obstacle in the global coordinate system according to the first position information and the first obstacle information to obtain second obstacle information.
Optionally, second position information of the obstacle in the global coordinate system is determined according to the first position information and the first obstacle information, and a manner of obtaining the second obstacle information may be: determining coordinate points of a plurality of points on the obstacle in a global coordinate system; adjusting the confidence coefficient of the grid where the coordinate point is located to be a set value to obtain second obstacle information; the confidence level is used to characterize whether there is an obstacle in the mesh.
Wherein the set value may be set to 1.
And step 140, updating the second obstacle information according to the running information of the vehicle.
The operation information may include operation speed and pose information. Specifically, the manner of updating the second obstacle information according to the operation information of the vehicle may be: acquiring the running speed and pose information of a vehicle; and updating the second barrier information according to the running speed and the pose information.
The pose information can be pose information of the vehicle at each moment in the running process. Specifically, the change information of the position of the obstacle in the global coordinate system is determined according to the running speed and the pose information of the vehicle, and the second obstacle information is updated according to the change information of the position.
And 150, generating reminding information according to the updated second obstacle information so as to remind the driver of the obstacle on the side.
In this embodiment, the manner of generating the reminding information according to the updated second obstacle information to remind the driver of the obstacle on the side may be: dividing the obstacle map into at least two sub-areas; for each subarea, acquiring the minimum distance between an obstacle in the subarea and the vehicle; and if the minimum distance is smaller than the set threshold, generating reminding information to remind the driver of the obstacle on the side.
Wherein the set threshold may be set to 4 m.
In this embodiment, when the obstacle map is divided, the area distribution of the two sides of the vehicle may be divided. For example, fig. 5 is a method for dividing the area in this embodiment, as shown in fig. 5, two side surfaces of the vehicle are divided into two areas, namely, left front, left rear, right front and right rear (the side surface of the vehicle may be divided into a plurality of areas according to system requirements, which is not limited in this patent). The length of the lateral distance is 5 meters (the lateral radar can detect 5 meters of obstacles furthest), the coordinates of the obstacles in the obstacle map are continuously updated along with the continuous movement of the vehicle, and the distance between each lateral area and the vehicle is continuously calculated.
As shown, A (x)a,ya)、B(xa,ya)、C(xc,yc)、D(xd,yd) Four boundary points, E (x), of the vehiclee,ye)、F(xf,yf) Is the center point coordinates of the vehicle side.
In this embodiment, the distance between the obstacle and the vehicle in each area is calculated, and different voice, light or icon prompts are given to the driver according to the different distances. For example, fig. 6 is an exemplary diagram of an obstacle reminder in this embodiment, as shown in fig. 6, when there is no obstacle around the vehicle, or the distance between the obstacle and the vehicle is greater than 4 meters (the distance can be calibrated), no radar icon is displayed around the vehicle icon, and when the distance between the obstacle and the vehicle in a certain area is less than 1 meter, a radar icon 1 is displayed in a corresponding area on the side of the vehicle; when the distance between an obstacle in a certain area and the nearest vehicle is greater than 1 meter and less than 2 meters, displaying a radar icon 2 in the corresponding area on the side surface of the vehicle; when the distance between an obstacle in a certain area and the nearest vehicle is greater than 2 meters and less than 3 meters, displaying a radar icon 3 in the corresponding area on the side surface of the vehicle; when the distance between an obstacle in a certain area and the nearest vehicle is greater than 3 meters and less than 4 meters, the radar icon is displayed in the corresponding area on the side face of the vehicle at the moment.
According to the technical scheme of the embodiment, the barrier map is constructed based on the global coordinate system; the obstacle map is a gridding map; determining first obstacle information according to data acquired by an ultrasonic radar on the side of the vehicle; converting the first obstacle information into an obstacle map to obtain second obstacle information; updating the second obstacle information according to the running information of the vehicle; and generating reminding information according to the updated second obstacle information so as to remind the driver of the obstacle on the side. According to the vehicle lateral obstacle avoidance method disclosed by the embodiment of the invention, the second obstacle information is updated according to the running information of the vehicle, so that a driver can acquire the obstacle information in the blind area of the ultrasonic radar, and therefore, the obstacle avoidance is carried out, and the safety of vehicle running is improved.
Example two
Fig. 7 is a schematic structural diagram of a vehicle lateral obstacle avoidance device according to a second embodiment of the present invention. As shown in fig. 7, the apparatus includes: the obstacle map building module 210, the first obstacle information determining module 220, the second obstacle information obtaining module 230, the second obstacle information updating module 240 and the obstacle reminding module 250.
An obstacle map construction module 210 for constructing an obstacle map based on the global coordinate system; the obstacle map is a gridding map;
a first obstacle information determination module 220, configured to determine first obstacle information according to data acquired by an ultrasonic radar on a side of the vehicle;
a second obstacle information obtaining module 230, configured to convert the first obstacle information into the obstacle map, so as to obtain second obstacle information;
a second obstacle information updating module 240 for updating the second obstacle information according to the operation information of the vehicle;
and an obstacle reminding module 250, configured to generate reminding information according to the updated second obstacle information, so as to remind the driver of an obstacle on the side.
Optionally, the obstacle mapping module 210 is further configured to:
determining a rectangle with a set size taking the origin of the global coordinate system as the center as an initial area of the obstacle map;
and carrying out gridding division on the initial area to obtain an obstacle map.
Optionally, the first obstacle information determining module 220 is further configured to:
filtering data acquired by an ultrasonic radar on the side surface of the vehicle to obtain first obstacle information; the first obstacle information includes relative position information of a plurality of points on an obstacle with respect to the ultrasonic radar, respectively.
Optionally, the second obstacle information obtaining module 230 is further configured to:
acquiring first position information of an ultrasonic radar in the global coordinate system;
and determining second position information of the obstacle in a global coordinate system according to the first position information and the first obstacle information to obtain second obstacle information.
Optionally, the second obstacle information obtaining module 230 is further configured to:
determining coordinate points of a plurality of points on the obstacle in the global coordinate system;
adjusting the confidence coefficient of the grid where the coordinate point is located to be a set value to obtain second obstacle information; the confidence is used to characterize whether there is an obstacle in the mesh.
Optionally, the second obstacle information updating module 240 is further configured to:
acquiring the running speed and pose information of a vehicle;
and updating the second obstacle information according to the running speed and the pose information.
Optionally, the obstacle alert module 250 is further configured to:
dividing the obstacle map into at least two sub-areas;
for each subregion, acquiring a minimum distance from the obstacle to the vehicle in the subregion;
and if the minimum distance is smaller than the set threshold, generating reminding information to remind the driver of the obstacle on the side.
The device can execute the methods provided by all the embodiments of the invention, and has corresponding functional modules and beneficial effects for executing the methods. For details not described in detail in this embodiment, reference may be made to the methods provided in all the foregoing embodiments of the present invention.
EXAMPLE III
Fig. 8 is a schematic structural diagram of a computer device according to a third embodiment of the present invention. FIG. 8 illustrates a block diagram of a computer device 312 suitable for use in implementing embodiments of the present invention. The computer device 312 shown in FIG. 8 is only an example and should not bring any limitations to the functionality or scope of use of embodiments of the present invention. Device 312 is a computing device for a typical vehicle lateral obstacle avoidance function.
As shown in FIG. 8, computer device 312 is in the form of a general purpose computing device. The components of computer device 312 may include, but are not limited to: one or more processors 316, a storage device 328, and a bus 318 that couples the various system components including the storage device 328 and the processors 316.
Bus 318 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MCA) bus, an enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.
Computer device 312 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by computer device 312 and includes both volatile and nonvolatile media, removable and non-removable media.
Storage 328 may include computer system readable media in the form of volatile Memory, such as Random Access Memory (RAM) 330 and/or cache Memory 332. The computer device 312 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 334 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 8, and commonly referred to as a "hard drive"). Although not shown in FIG. 8, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a Compact disk-Read Only Memory (CD-ROM), a Digital Video disk (DVD-ROM), or other optical media) may be provided. In these cases, each drive may be connected to bus 318 by one or more data media interfaces. Storage 328 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
Program 336 having a set (at least one) of program modules 326 may be stored, for example, in storage 328, such program modules 326 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which may comprise an implementation of a network environment, or some combination thereof. Program modules 326 generally carry out the functions and/or methodologies of embodiments of the invention as described herein.
The computer device 312 may also communicate with one or more external devices 314 (e.g., keyboard, pointing device, camera, display 324, etc.), with one or more devices that enable a user to interact with the computer device 312, and/or with any devices (e.g., network card, modem, etc.) that enable the computer device 312 to communicate with one or more other computing devices. Such communication may occur via input/output (I/O) interfaces 322. Also, computer device 312 may communicate with one or more networks (e.g., a Local Area Network (LAN), Wide Area Network (WAN), etc.) and/or a public Network, such as the internet, via Network adapter 320. As shown, network adapter 320 communicates with the other modules of computer device 312 via bus 318. It should be appreciated that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the computer device 312, including but not limited to: microcode, device drivers, Redundant processing units, external disk drive Arrays, disk array (RAID) systems, tape drives, and data backup storage systems, to name a few.
Processor 316 executes programs stored in storage device 328 to perform various functional applications and data processing, such as implementing the vehicle side obstacle avoidance method provided by the above-described embodiments of the present invention.
Example four
Fig. 9 is a schematic structural diagram of a vehicle according to an embodiment of the present invention, and as shown in fig. 9, the vehicle includes a vehicle lateral obstacle avoidance apparatus according to an embodiment of the present invention, the apparatus includes: the barrier map building module is used for building a barrier map based on the global coordinate system; the obstacle map is a gridding map; the first obstacle information determining module is used for determining first obstacle information according to data acquired by the ultrasonic radar on the side face of the vehicle; the second obstacle information acquisition module is used for converting the first obstacle information into the obstacle map to acquire second obstacle information; the second obstacle information updating module is used for updating the second obstacle information according to the running information of the vehicle; and the barrier reminding module is used for generating reminding information according to the updated second barrier information so as to remind the driver of the barrier on the side.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (10)

1. A vehicle lateral obstacle avoidance method is characterized by comprising the following steps:
constructing an obstacle map based on the global coordinate system; the obstacle map is a gridding map;
determining first obstacle information according to data acquired by an ultrasonic radar on the side of the vehicle;
converting the first obstacle information into the obstacle map to obtain second obstacle information;
updating the second obstacle information according to the running information of the vehicle;
and generating reminding information according to the updated second obstacle information so as to remind the driver of the obstacle on the side.
2. The method of claim 1, wherein constructing the obstacle map based on the global coordinate system comprises:
determining a rectangle with a set size taking the origin of the global coordinate system as the center as an initial area of the obstacle map;
and carrying out gridding division on the initial area to obtain an obstacle map.
3. The method of claim 1, wherein determining first obstacle information from data collected by an ultrasonic radar on a side of a vehicle comprises:
filtering data acquired by an ultrasonic radar on the side surface of the vehicle to obtain first obstacle information; the first obstacle information includes relative position information of a plurality of points on an obstacle with respect to the ultrasonic radar, respectively.
4. The method of claim 3, wherein translating the first obstacle information into the obstacle map, obtaining second obstacle information comprises:
acquiring first position information of an ultrasonic radar in the global coordinate system;
and determining second position information of the obstacle in a global coordinate system according to the first position information and the first obstacle information to obtain second obstacle information.
5. The method of claim 4, wherein determining second position information of the obstacle in the global coordinate system according to the first position information and the first obstacle information, and obtaining second obstacle information comprises:
determining coordinate points of a plurality of points on the obstacle in the global coordinate system;
adjusting the confidence coefficient of the grid where the coordinate point is located to be a set value to obtain second obstacle information; the confidence is used to characterize whether there is an obstacle in the mesh.
6. The method of claim 1, wherein updating the second obstacle information based on vehicle operation information comprises:
acquiring the running speed and pose information of a vehicle;
and updating the second obstacle information according to the running speed and the pose information.
7. The method according to claim 1, wherein generating a warning message to warn a driver of an obstacle in the driver's side based on the updated second obstacle information comprises:
dividing the obstacle map into at least two sub-areas;
for each subregion, acquiring a minimum distance from the obstacle to the vehicle in the subregion;
and if the minimum distance is smaller than the set threshold, generating reminding information to remind the driver of the obstacle on the side.
8. A vehicle lateral obstacle avoidance device, comprising:
the barrier map building module is used for building a barrier map based on the global coordinate system; the obstacle map is a gridding map;
the first obstacle information determining module is used for determining first obstacle information according to data acquired by the ultrasonic radar on the side face of the vehicle;
the second obstacle information acquisition module is used for converting the first obstacle information into the obstacle map to acquire second obstacle information;
the second obstacle information updating module is used for updating the second obstacle information according to the running information of the vehicle;
and the barrier reminding module is used for generating reminding information according to the updated second barrier information so as to remind the driver of the barrier on the side.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the vehicle lateral obstacle avoidance method of any of claims 1-7.
10. A vehicle, characterized by comprising a vehicle lateral obstacle avoidance device for implementing the vehicle lateral obstacle avoidance method according to any one of claims 1 to 7.
CN202010732451.XA 2020-07-27 2020-07-27 Vehicle lateral obstacle avoidance method, device and equipment and vehicle Pending CN111913183A (en)

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Cited By (4)

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CN112462368A (en) * 2020-11-25 2021-03-09 中国第一汽车股份有限公司 Obstacle detection method and device, vehicle and storage medium
CN112729320A (en) * 2020-12-22 2021-04-30 中国第一汽车股份有限公司 Method, device and equipment for constructing obstacle map and storage medium
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