CN112130120A - Parking model generation method and device based on hardware-in-the-loop test system and vehicle - Google Patents
Parking model generation method and device based on hardware-in-the-loop test system and vehicle Download PDFInfo
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- CN112130120A CN112130120A CN201910491691.2A CN201910491691A CN112130120A CN 112130120 A CN112130120 A CN 112130120A CN 201910491691 A CN201910491691 A CN 201910491691A CN 112130120 A CN112130120 A CN 112130120A
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- G01—MEASURING; TESTING
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Abstract
The embodiment of the disclosure relates to a parking model generation method, a parking model generation device and a vehicle based on a hardware-in-the-loop test system, wherein the simulation method of a radar model comprises the following steps: receiving a first parameter input by a user, and arranging a simulation radar system on a simulation vehicle in a hardware-in-loop test system according to the first parameter, wherein the simulation radar system at least comprises first simulation radars arranged on two sides of the front end of the simulation vehicle, and the detection visual angle of the first simulation radar is smaller than a preset angle; and obtaining the distance between the first obstacle and the second obstacle according to the first simulation radar so as to obtain a parking model of the simulation vehicle. The technical scheme provided by the invention solves the problem that the simulation test difficulty of the existing radar system is higher.
Description
Technical Field
The embodiment of the disclosure relates to the technical field of communication, in particular to a simulation method, a simulation device and a vehicle for generating a radar model based on a parking model of a hardware-in-the-loop test system.
Background
In order to evaluate the functionality of radar systems in many applications, simulation tests are required in test systems that resemble real environments. The existing radar modeling method is to install virtual radar sensors according to the arrangement number and arrangement method of the radars on the actual vehicle, calculate sensor data through software simulation, perform post-processing, convert the sensor data into CAN (Controller Area Network) data, and realize functional closed loop with ADAS (Advanced Driver Assistance Systems). However, simulation modeling is performed according to the arrangement mode of the radar on the actual vehicle, and it is very difficult to obtain part of ADAS data in simulation, and data calculation is complex, so that the simulation test difficulty of the existing radar system is high.
Disclosure of Invention
The embodiment of the disclosure provides a parking model generation method, a parking model generation device and a parking model generation vehicle based on a hardware-in-the-loop test system, and aims to solve the problem that the existing radar system is high in simulation test difficulty.
In a first aspect, an embodiment of the present disclosure provides a parking model generation method based on a hardware-in-the-loop test system, including:
receiving a first parameter input by a user, and arranging a simulation radar system on a simulation vehicle in a hardware-in-loop test system according to the first parameter, wherein the simulation radar system at least comprises first simulation radars arranged on two sides of the front end of the simulation vehicle, and the detection visual angle of the first simulation radar is smaller than a preset angle;
and obtaining the distance between the first obstacle and the second obstacle according to the first simulation radar so as to obtain a parking model of the simulation vehicle.
Optionally, the obtaining a distance between a first obstacle and a second obstacle according to the first simulated radar to obtain a parking model of the simulated vehicle includes:
acquiring first position information of the first obstacle detected by the first simulated radar, wherein the first position information is position information of the first simulated radar at the final moment in the process of detecting the first obstacle;
acquiring second position information of the first simulated radar when the first simulated radar detects the second obstacle, wherein the second position information is position information of the first simulated radar at the initial moment when the first simulated radar detects the second obstacle;
and calculating whether the distance between the first obstacle and the second obstacle is suitable for parking according to the first position information and the second position information so as to obtain a parking model of the simulated vehicle.
Optionally, the calculating whether the distance between the first obstacle and the second obstacle is suitable for parking includes:
and calculating whether the distance between the first obstacle and the second obstacle is greater than a preset distance, wherein the preset distance is greater than the length of the body of the simulated vehicle.
Optionally, the preset angle is 5 degrees.
In a second aspect, an embodiment of the present disclosure further provides a parking model generation apparatus based on a hardware-in-the-loop test system, where the apparatus includes:
the system comprises a receiving module, a simulation radar system and a simulation radar module, wherein the receiving module is used for receiving a first parameter input by a user, the simulation radar system on a simulation vehicle is arranged in a hardware-in-loop test system according to the first parameter, the simulation radar system at least comprises first simulation radars arranged on two sides of the front end of the simulation vehicle, and the detection visual angle of the first simulation radar is smaller than a preset angle;
and the acquisition module is used for acquiring the distance between the first obstacle and the second obstacle according to the first simulation radar so as to obtain a parking model of the simulation vehicle.
Optionally, the obtaining module is further configured to:
acquiring first position information of the first obstacle detected by the first simulated radar, wherein the first position information is position information of the first simulated radar at the final moment in the process of detecting the first obstacle;
acquiring second position information of the first simulated radar when the first simulated radar detects the second obstacle, wherein the second position information is position information of the first simulated radar at the initial moment when the first simulated radar detects the second obstacle;
and calculating whether the distance between the first obstacle and the second obstacle is suitable for parking according to the first position information and the second position information so as to obtain a parking model of the simulated vehicle.
Optionally, the obtaining module is further configured to:
and calculating whether the distance between the first obstacle and the second obstacle is greater than a preset distance, wherein the preset distance is greater than the length of the body of the simulated vehicle.
Optionally, the preset angle is 5 degrees.
In a third aspect, an embodiment of the present disclosure further provides a vehicle, where a radar system is disposed on the vehicle, the radar system at least includes a first radar, the first radar is disposed on both sides of a front end of the vehicle, and a detection angle of the first radar is smaller than 5 degrees.
Optionally, the vehicle further includes a second radar and a third radar, the second radar is respectively disposed at 2 headlights and 2 taillights of the vehicle, the third radar is disposed around the periphery of the vehicle body of the vehicle, and the detection distance of the second radar is greater than that of the third radar.
Optionally, the detection distance of the first radar is 3.5-4.5 m, and the detection distance of the second radar is 3.5-4.5 m.
Optionally, the detection distance of the first radar is 4m, the detection distance of the second radar is 4m, and the detection distance of the third radar is 2 m.
Optionally, the number of the third radars is 12, wherein 2 of the third radars are disposed at the front end of the vehicle head of the vehicle, 2 of the third radars are disposed at the tail end of the vehicle, 4 of the third radars are disposed on the left side of the vehicle body of the vehicle, and 4 of the third radars are disposed on the right side of the vehicle body of the vehicle.
Optionally, the number of the second radars is 4, and 2 headlights and 2 taillights of the vehicle are respectively provided with one second radar.
In a fourth aspect, an embodiment of the present disclosure further provides a parking method applied to the vehicle according to any one of the third aspects, the parking method including:
under the condition that a first obstacle is detected by a first radar, first position information of the first obstacle detected by the first radar is obtained, wherein the first position information is position information of a final moment in the process that the first obstacle is detected by the first radar;
under the condition that the first radar detects a second obstacle, acquiring second position information of the second obstacle detected by the first radar, wherein the second position information is position information of an initial moment when the second obstacle is detected by the first radar;
and calculating whether the distance between the first obstacle and the second obstacle is suitable for parking or not according to the first position information and the second position information.
Optionally, after acquiring the first position information of the first obstacle detected by the first radar in the case that the first radar detects the first obstacle, the method further includes:
acquiring the speed of the vehicle under the condition that the first radar does not detect a second obstacle;
acquiring a second distance of the vehicle from the first obstacle according to the vehicle speed and the running time information;
and judging whether the second distance is suitable for parking.
In a fifth aspect, an embodiment of the present disclosure further provides a parking apparatus applied to the vehicle according to any one of the third aspects, the parking apparatus including:
the first obtaining module is used for obtaining first position information of a first obstacle detected by a first radar under the condition that the first obstacle is detected by the first radar, wherein the first position information is position information of a final moment in the process that the first obstacle is detected by the first radar;
a second obtaining module, configured to obtain second position information of a second obstacle detected by the first radar when the first radar detects the second obstacle, where the second position information is position information of an initial time when the first radar detects the second obstacle;
and the calculation module is used for calculating whether the distance between the first obstacle and the second obstacle is suitable for parking according to the first position information and the second position information.
Optionally, the parking apparatus further includes a third obtaining module, where the third obtaining module is configured to:
acquiring the speed of the vehicle under the condition that the first radar does not detect a second obstacle;
acquiring a second distance of the vehicle from the first obstacle according to the vehicle speed and the running time information;
and judging whether the second distance is suitable for parking.
In a sixth aspect, embodiments of the present disclosure further provide a computer-readable storage medium, on which a computer program is stored, the computer program, when being executed by a processor, implementing the steps of the hardware-in-the-loop test system-based parking model generation method according to the first aspect; alternatively, the computer program implements the steps of the parking method according to the fourth aspect when executed by a processor.
According to the technical scheme provided by the embodiment of the disclosure, a simulation radar system on a simulation vehicle is arranged in a hardware-in-loop test system according to a first parameter input by a user, the radar system at least comprises first simulation radars arranged on two sides of the front end of the simulation vehicle, and the detection visual angle of the first simulation radar is smaller than a preset angle; and obtaining the distance between the first obstacle and the second obstacle according to the first simulation radar so as to obtain a parking model of the simulation vehicle. Therefore, the hardware-in-the-loop test system can obtain the parking model of the simulated vehicle through the first simulated radar with the angle smaller than the preset angle, so that the parking algorithm of the simulated vehicle is simpler and faster, the simulation test difficulty of the radar system is reduced, and the test period of the simulation test is also reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings needed to be used in the description of the embodiments of the present disclosure will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive labor.
FIG. 1 is a flowchart of a parking model generation method based on a hardware-in-the-loop test system according to an embodiment of the present disclosure;
FIG. 1a is a block diagram of a simulated vehicle for use in the method provided in FIG. 1;
FIG. 1b is a schematic diagram of a scenario applied to the method provided in FIG. 1;
FIG. 1c is a schematic diagram of another scenario applied to the method provided in FIG. 1;
fig. 2 is a structural diagram of a parking model generation apparatus provided by an embodiment of the present disclosure;
FIG. 3 is a block diagram of a vehicle provided by an embodiment of the present disclosure;
FIG. 4 is a flow chart of a method of parking provided by an embodiment of the present disclosure;
fig. 5 is a structural diagram of a parking apparatus according to an embodiment of the present disclosure.
Detailed Description
Technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are some, not all, of the embodiments of the present disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the disclosure without making any creative effort, shall fall within the protection scope of the disclosure.
Referring to fig. 1, fig. 1 is a flowchart of a parking model generation method based on a hardware-in-the-loop test system according to an embodiment of the present disclosure, and as shown in fig. 1, the method includes the following steps:
The simulation radar system at least comprises first simulation radars arranged on two sides of the front end of the simulation vehicle, and the detection visual angle of each first simulation radar is smaller than a preset angle. In a preferred embodiment, the predetermined angle is 5 degrees. Like this for the detection visual angle of first emulation radar is less, and first emulation radar arranges in the front end both sides of emulation vehicle, and in the test scene of parking, the emulation vehicle only travels when almost the parallel and level with the barrier, and first emulation radar just can detect the barrier, compares in the great emulation radar of detection visual angle, and the detection precision of first emulation radar in this embodiment is higher.
In addition, the detection distance of the first simulated radar can be more than 3.5m, that is, the detection distance of the first simulated radar is relatively long, the detection viewing angle is relatively narrow, and the first simulated radar can detect whether the left side and the right side of the simulated vehicle are suitable for parking when the simulated vehicle is parked.
Specifically, in a parking test scene of the hardware-in-the-loop test system, a parking space with the length of 10m is established, the first simulation radar on the simulation vehicle is set to have different detection visual angles, and a parking test is performed, and the obtained test results are shown in the following table.
| First simulation radar detection angle of view (°) | Simulation calculation bit length (m) | Calculating error |
| 1 | 9.94 | 0.60％ |
| 3 | 9.82 | 1.80％ |
| 5 | 9.69 | 3.10％ |
| 7 | 9.55 | 4.50％ |
| 10 | 9.38 | 6.20％ |
| 15 | 9.06 | 9.40％ |
| 20 | 8.75 | 12.50％ |
As can be seen from the test results shown in the above table, the smaller the detection angle of the first simulated radar is, the closer the calculated parking space length is to the set length of the parking space, that is, the smaller the calculation error is. In the embodiment of the invention, the detection visual angle of the first simulation radar can be set to be less than 5 degrees, so that the detection precision of the first simulation radar is higher, and the parking test precision is improved.
The first simulation radars are arranged on two sides of the front end of the simulation vehicle, namely two first simulation radars are arranged on the simulation vehicle, for example, a first simulation radar is arranged at the corner of the head of the simulation vehicle and the left side of the vehicle body, and another first simulation radar is arranged at the corner of the head of the simulation vehicle and the right side of the vehicle body. As shown in fig. 1a, a first radar 11 is provided on each side of the front end of the dummy vehicle.
It should be noted that the simulation method provided by the embodiment of the present invention is suitable for building an ADAS (Advanced Driver Assistance Systems) hardware in a loop test environment. The first parameters at least comprise parameters such as detection distance, detection visual angle and arrangement position of the first simulated radar, that is, the detection parameters of the first simulated radar and the arrangement position on the simulated vehicle can be set by a user in a hardware loop test system, so that the arrangement of the simulated radar system on the simulated vehicle is more flexible.
In addition, the simulated radar system may further include other radars, for example, a second simulated radar and a third simulated radar which are arranged on the simulated vehicle, and at least one second simulated radar may be arranged at 2 headlights and 2 taillights of the simulated vehicle, respectively. As shown in fig. 1a, one second simulated radar 12 is arranged at each of the four corners of the body of the simulated vehicle; a plurality of third simulation radars 13 are arranged around the periphery of the body of the simulation vehicle. The detection distance of the second simulated radar 12 can be larger than that of the third simulated radar 13, so that the detection distance of the second simulated radar 12 arranged at the corner of the body of the simulated vehicle is longer, and the simulated parking algorithm of the simulated vehicle is more favorable.
And 102, acquiring the distance between a first obstacle and a second obstacle according to the first simulation radar to obtain a parking model of the simulation vehicle.
It should be noted that the parking test environment of the simulated vehicle may be constructed in a hardware-in-loop test system. In a parking test environment, if the first simulation radar detects a first obstacle on the right side of the simulation vehicle in the driving process of the simulation vehicle, the first simulation radar can quickly and accurately position the first obstacle to acquire first position information of the first obstacle, such as the distance between the first obstacle and the first simulation vehicle. In the process that the simulated vehicle continues to run forwards, if the first simulated radar detects the second obstacle, the first simulated radar can quickly acquire second position information of the second obstacle. Furthermore, according to the first position information and the second position information, the distance between the first obstacle and the second obstacle can be calculated, and whether the distance is suitable for simulating vehicle parking or not can be judged. Thus, a parking model of the simulated vehicle is obtained.
Specifically, the step 102 may include:
acquiring first position information of the first obstacle detected by the first simulated radar, wherein the first position information is position information of the first simulated radar at the final moment in the process of detecting the first obstacle; acquiring second position information of the first simulated radar when the first simulated radar detects the second obstacle, wherein the second position information is position information of the first simulated radar at the initial moment when the first simulated radar detects the second obstacle; and calculating whether the distance between the first obstacle and the second obstacle is suitable for parking according to the first position information and the second position information so as to obtain a parking model of the simulated vehicle.
As the first simulated radars are arranged on two sides of the front end of the simulated vehicle, when the first simulated radar detects a first obstacle in the running process of the simulated vehicle, for example, when the first obstacle is a first obstacle vehicle, the first simulated radar firstly detects the tail of the first obstacle vehicle; in the running process of the simulated vehicle, the first simulated radar can acquire the position information of the first obstacle vehicle in real time, namely the position information of a plurality of first obstacle vehicles; the position information of the first simulated radar at the final moment in the process of detecting the first obstacle vehicle is used as the first position information, namely the position information of the first simulated radar when the first simulated radar detects the head of the first obstacle vehicle. Referring to fig. 1b and 1c, before the simulated vehicle S0 departs from the first obstacle vehicle S1, the position information of the first simulated radar when it detects the front of the first obstacle vehicle S1 is the first position information (x)1，y1) (ii) a Wherein, a first artificial mine is usedThe position reached serves as the origin of coordinates.
When the first simulated radar detects the second obstacle in the running process of the simulated vehicle, the second position information is the position information of the first simulated radar at the initial moment when the first simulated radar detects the second obstacle. As shown in fig. 1c, when the second obstacle is the second obstacle vehicle S2, the second position information is the position information (x) of the rear of the vehicle of the second obstacle vehicle detected by the first radar simulator2，y2)。
The distance between the first obstacle and the second obstacle can be calculated through the first position information and the second position information, and whether the distance between the first obstacle and the second obstacle is suitable for parking or not is further judged. Wherein the calculating whether the distance between the first obstacle and the second obstacle is suitable for parking comprises: and calculating whether the distance between the first obstacle and the second obstacle is greater than a preset distance, wherein the preset distance is greater than the length of the body of the simulated vehicle.
It will be appreciated that the preset distance is greater than the body length of the simulated vehicle, for example the preset distance may be 1.2 times the body length, to facilitate parking of the vehicle.
According to the simulation method of the radar system, a first parameter input by a user is received, a simulation radar system on a simulation vehicle is arranged in a hardware-in-loop test system according to the first parameter, the radar system at least comprises first simulation radars arranged on two sides of the front end of the simulation vehicle, and the detection visual angle of the first simulation radar is smaller than a preset angle; and obtaining the distance between the first obstacle and the second obstacle according to the first simulated radar so as to obtain a parking algorithm of the simulated vehicle. Therefore, the hardware-in-loop test system can obtain the parking model of the simulated vehicle through the first simulated radar, so that the parking algorithm of the simulated vehicle is simpler and faster, the simulation test difficulty of the radar system is reduced, and the test period of the simulation test is also reduced.
Referring to fig. 2, an embodiment of the present disclosure further provides a parking model generation apparatus, as shown in fig. 2, the apparatus 200 includes:
the system comprises a receiving module 201, a simulation radar system and a simulation radar, wherein the receiving module is used for receiving a first parameter input by a user, the simulation radar system on a simulation vehicle is arranged in a hardware-in-loop test system according to the first parameter, the simulation radar system at least comprises first simulation radars arranged on two sides of the front end of the simulation vehicle, and the detection visual angle of the first simulation radar is smaller than a preset angle;
the obtaining module 202 is configured to obtain a distance between the first obstacle and the second obstacle according to the first simulated radar, so as to obtain a parking model of the simulated vehicle.
Optionally, the obtaining module 202 is further configured to:
acquiring first position information of the first obstacle detected by the first simulated radar, wherein the first position information is position information of the first simulated radar at the final moment in the process of detecting the first obstacle; acquiring second position information of the first simulated radar when the first simulated radar detects the second obstacle, wherein the second position information is position information of the first simulated radar at the initial moment when the first simulated radar detects the second obstacle; and calculating whether the distance between the first obstacle and the second obstacle is suitable for parking according to the first position information and the second position information so as to obtain a parking model of the simulated vehicle.
Optionally, the obtaining module 202 is further configured to:
and calculating whether the distance between the first obstacle and the second obstacle is greater than a preset distance, wherein the preset distance is greater than the length of the body of the simulated vehicle.
Optionally, the preset angle is 5 degrees.
The parking model generation apparatus 200 provided in the embodiment of the present disclosure may be configured to execute all the steps of the above-described embodiment of the parking model generation method based on the hardware-in-the-loop test system, and may achieve the same technical effect, and related concepts and specific implementation manners thereof may refer to the description of the simulation method of the radar model, and are not described herein again to avoid repetition.
According to the parking model generation device 200 provided by the embodiment of the present disclosure, by receiving a first parameter input by a user, a simulation radar system on a simulation vehicle is arranged in a hardware-in-loop test system according to the first parameter, the radar system at least includes first simulation radars arranged on two sides of the front end of the simulation vehicle, and a detection view angle of the first simulation radar is smaller than a preset angle; and obtaining the distance between the first obstacle and the second obstacle according to the first simulation radar so as to obtain a parking model of the simulation vehicle. Therefore, the hardware-in-loop test system can obtain the parking model of the simulated vehicle through the first simulated radar, so that the parking algorithm of the simulated vehicle is simpler and faster, the simulation test difficulty of the radar system is reduced, and the test period of the simulation test is also reduced.
Referring to fig. 3, an embodiment of the present disclosure further provides a vehicle, where a radar system is disposed on the vehicle, the radar system at least includes a first radar, the first radar is disposed on both sides of a front end of the vehicle, and a detection angle of the first radar is smaller than 5 degrees.
In addition, the detection distance of the first radar is larger than 3.5 m. That is to say, the detection distance of the first radar is relatively long, the detection angle is relatively narrow, and for the long-distance short-viewing-angle detection radar, the first radar can detect whether the left side and the right side of the vehicle are suitable for parking when the vehicle is parked. The first radars are arranged on two sides of the front end of the vehicle, namely two first radars are arranged on the vehicle, for example, one first radar is arranged at the corner of the vehicle head and the left side of the vehicle body, and the other first radar is arranged at the corner of the vehicle head and the right side of the vehicle body; the first radar can detect the obstacle only when the vehicle runs almost flush with the obstacle, and compared with a radar with a large detection visual angle, the first radar in the embodiment has higher detection precision. In this way, whether obstacles exist on two sides of the vehicle or not, the distance between the obstacles and the vehicle and the distance between the obstacles can be detected through the first radar, so that guidance can be given when the vehicle parks.
The vehicle further includes a second radar and a third radar, wherein a detection range of the second radar is greater than a detection range of the third radar. For example, the second radar may be a long range detection radar, and the third radar may be a short range detection radar; the second radars are respectively arranged at 2 headlights and 2 taillights of the vehicle, and the third radars are arranged around the periphery of the vehicle body of the vehicle.
In an alternative manner, the number of the second radars may be 4, for example, one second radar may be arranged at each of 2 headlights and 2 taillights of the vehicle body; a plurality of third radars are arranged around the periphery of the vehicle body. The detection distance of the second radar is larger than that of the third radar, so that the detection distance of the second radar arranged at the corner of the vehicle body is longer, and parking calculation of the vehicle is facilitated.
In the embodiment of the disclosure, the number of the third radars is 12, wherein 2 third radars are arranged at the front end of the head of the vehicle, 2 third radars are arranged at the tail end of the tail of the vehicle, 4 third radars are arranged on the left side of the body of the vehicle, and 4 third radars are arranged on the right side of the body of the vehicle.
In a specific implementation manner, as shown in fig. 3, the periphery of the vehicle body of the vehicle may be divided into 16 regions, wherein each of the regions 1, 4, 9, and 12 of the vehicle body of the vehicle is provided with a second radar to detect obstacle information on the front left side, the front right side, the rear right side, and the rear left side of the vehicle, so as to provide a data reference for backing when the vehicle turns or parks, and provide guidance for driving the vehicle. In addition, one third radar is respectively arranged in 2, 3, 5, 6, 7, 8, 10, 11, 13, 14, 15 and 16 areas of the vehicle body, and the 12 third radars are arranged, so that whether obstacles exist in 12 independent areas around the vehicle or not and information such as the distance and the angle between the obstacles and the vehicle can be calculated, and data reference is provided for driving of the vehicle. In addition, one first radar may be provided at each of the boundary between the 1 region and the 16 region and the boundary between the 4 region and the 5 region of the vehicle body. Compare in current vehicle, the radar on the vehicle that this disclosed embodiment provided sets up more in quantity, and the radar arrange the position and cover the periphery of vehicle, arrange more comprehensively, can carry out more comprehensive survey around the vehicle, just also can provide more comprehensive accurate data reference for vehicle driving, avoid the vehicle to bump, improved the security of vehicle.
In the embodiment of the disclosure, the detection distance of the first radar is 3.5-4.5 m, and the detection distance of the second radar is 3.5-4.5 m. That is, the first radar and the second radar have far detection ranges, for example, the detection ranges of the first radar and the second radar are both 4 m. Therefore, the radar arranged at the corner of the vehicle body has a longer detection distance, better data reference can be provided for the vehicle when the vehicle turns or parks, the vehicle is prevented from colliding, and the safety of the vehicle is improved.
The detection range of the third radar is smaller than the detection ranges of the first radar and the second radar, for example, the detection range of the third radar is 2 m. Understandably, the detection distance of the third radar is smaller, so that an obstacle close to the vehicle can be detected, and the number of the third radars is larger, so that more comprehensive data reference can be provided for the driving of the vehicle.
An embodiment of the present disclosure further provides a parking method, referring to fig. 4, where the parking method includes the following steps:
It should be noted that the parking method provided by the embodiment of the present disclosure is applied to the vehicle in the embodiment of fig. 3, and the specific structure of the vehicle is not described herein again.
The first position information is position information of a final moment in the process that the first radar detects the first obstacle. As can be appreciated, since the first radars are disposed on both sides of the front end of the vehicle, when the first radar detects a first obstacle during the running of the vehicle, for example, when the first obstacle is a first obstacle vehicle, the first radar first detects the tail of the first obstacle vehicle; in the running process of the vehicle, the first radar can acquire the position information of the first obstacle vehicle in real time, namely the position information of a plurality of first obstacle vehicles; the position information of the final moment in the process that the first radar detects the first obstacle vehicle is used as the first position information, namely the position information when the first radar detects the head of the first obstacle vehicle.
Wherein the second position information is position information of an initial time when the first radar detects the second obstacle. It is understood that the vehicle continues to travel forward after detecting the first obstacle, and if the first radar detects the second obstacle, the second position information is the position information of the initial time when the first radar detects the second obstacle. For example, when the second obstacle is a second obstacle vehicle, the second position information is position information of a rear end of the second obstacle vehicle detected by the first radar.
And step 403, calculating whether the distance between the first obstacle and the second obstacle is suitable for parking according to the first position information and the second position information.
The distance between the first obstacle and the second obstacle can be calculated through the first position information and the second position information, and whether the distance between the first obstacle and the second obstacle is suitable for parking or not is further judged. For example, it may be calculated whether a distance between the first obstacle and the second obstacle is greater than a preset distance, the preset distance being greater than a body length of the vehicle; for example, the predetermined distance may be 1.2 times the length of the vehicle body, thereby facilitating parking of the vehicle.
Under the condition that the distance between the first obstacle and the second obstacle is larger than the preset distance, the distance between the first obstacle and the second obstacle is suitable for parking, and therefore parking opinions and parking guidance are provided for the vehicle, and the parking method of the vehicle is more intelligent.
In the embodiment of the disclosure, whether the distance between the first obstacle and the second obstacle is suitable for parking is calculated through the detection of the first obstacle and the second obstacle by the first radar, so that data reference and guidance are provided for the parking of the vehicle; in addition, in the embodiment of the disclosure, data support can be provided for vehicle parking through the detection data of the first radar, so that a parking algorithm of the vehicle is simplified, and the parking calculation on the vehicle is more convenient and faster.
It should be noted that, after the obtaining of the first position information of the first obstacle detected by the first radar in the case that the first radar detects the first obstacle, the method further includes: acquiring the speed of the vehicle under the condition that the first radar does not detect a second obstacle; acquiring a second distance of the vehicle from the first obstacle according to the vehicle speed and the running time information; and judging whether the second distance is suitable for parking.
The second obstacle is not a specific example of a certain obstacle, and may be, for example, a vehicle, a building, a tree, or the like.
That is to say, in the process of continuing to drive forward after the vehicle detects the first obstacle, if the second obstacle is not detected, the vehicle speed of the vehicle is obtained, the second distance of the vehicle after the vehicle drives away from the first obstacle can be calculated according to the vehicle speed and the driving time, and then whether the second distance is greater than the preset distance is judged so as to judge whether the second distance is suitable for parking. For example, in the case where it is calculated that the second distance is greater than the preset distance, it is determined that the second distance is suitable for parking. At this time, the prompt information may be output, for example, a parking mark may be displayed on a central control display screen of the vehicle to prompt that the second distance currently driven by the user is suitable for parking, so as to provide a more intuitive suggestion for the user, and bring better vehicle using experience for the user.
Referring to fig. 5, an embodiment of the present disclosure further provides a parking apparatus, which is applied to the vehicle in the embodiment shown in fig. 3, and as shown in fig. 5, the parking apparatus 500 includes:
a first obtaining module 501, configured to obtain first position information of a first obstacle detected by a first radar when the first radar detects the first obstacle, where the first position information is position information of a final time in a process that the first radar detects the first obstacle;
a second obtaining module 502, configured to obtain, when the first radar detects a second obstacle, second position information of the first radar that detects the second obstacle, where the second position information is position information of an initial time when the first radar detects the second obstacle;
a calculating module 503, configured to calculate whether a distance between the first obstacle and the second obstacle is suitable for parking according to the first position information and the second position information.
Optionally, the parking apparatus 500 further includes a third obtaining module, where the third obtaining module is configured to:
acquiring the speed of the vehicle under the condition that the first radar does not detect a second obstacle; acquiring a second distance of the vehicle from the first obstacle according to the vehicle speed and the running time information; and judging whether the second distance is suitable for parking.
The parking device provided in the embodiment of the present disclosure may be configured to perform all the steps in the embodiment of the parking method described in fig. 4, and achieve the same technical effect, and the related concepts and specific implementation manners may refer to the description of the embodiment of the parking method, which is not described herein again.
The embodiments of the present disclosure further provide a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and the computer program is executed by a processor to implement each process of the above-mentioned embodiment of the hardware-in-the-loop test system-based parking model generation method, or the computer program is executed by the processor to implement each process of the above-mentioned embodiment of the parking method, and in order to avoid repetition, details are not repeated here. The computer-readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (16)
1. A parking model generation method based on a hardware-in-the-loop test system is characterized by comprising the following steps:
receiving a first parameter input by a user, and arranging a simulation radar system on a simulation vehicle in a hardware-in-loop test system according to the first parameter, wherein the simulation radar system at least comprises first simulation radars arranged on two sides of the front end of the simulation vehicle, and the detection visual angle of the first simulation radar is smaller than a preset angle;
and obtaining the distance between the first obstacle and the second obstacle according to the first simulation radar so as to obtain a parking model of the simulation vehicle.
2. The method of claim 1, wherein said obtaining a distance between a first obstacle and a second obstacle from said first simulated radar to obtain a parking model of a simulated vehicle comprises:
acquiring first position information of the first obstacle detected by the first simulated radar, wherein the first position information is position information of the first simulated radar at the final moment in the process of detecting the first obstacle;
acquiring second position information of the first simulated radar when the first simulated radar detects the second obstacle, wherein the second position information is position information of the first simulated radar at the initial moment when the first simulated radar detects the second obstacle;
and calculating whether the distance between the first obstacle and the second obstacle is suitable for parking according to the first position information and the second position information so as to obtain a parking model of the simulated vehicle.
3. The method of claim 2, wherein said calculating whether the distance between the first obstacle and the second obstacle is suitable for parking comprises:
and calculating whether the distance between the first obstacle and the second obstacle is greater than a preset distance, wherein the preset distance is greater than the length of the body of the simulated vehicle.
4. The method of claim 1, wherein the predetermined angle is 5 degrees.
5. A parking model generation apparatus based on a hardware-in-the-loop test system, the apparatus comprising:
the system comprises a receiving module, a simulation radar system and a simulation radar module, wherein the receiving module is used for receiving a first parameter input by a user, the simulation radar system on a simulation vehicle is arranged in a hardware-in-loop test system according to the first parameter, the simulation radar system at least comprises first simulation radars arranged on two sides of the front end of the simulation vehicle, and the detection visual angle of the first simulation radar is smaller than a preset angle;
and the acquisition module is used for acquiring the distance between the first obstacle and the second obstacle according to the first simulation radar so as to obtain a parking model of the simulation vehicle.
6. The apparatus of claim 5, wherein the obtaining module is further configured to:
acquiring first position information of the first obstacle detected by the first simulated radar, wherein the first position information is position information of the first simulated radar at the final moment in the process of detecting the first obstacle;
acquiring second position information of the first simulated radar when the first simulated radar detects the second obstacle, wherein the second position information is position information of the first simulated radar at the initial moment when the first simulated radar detects the second obstacle;
and calculating whether the distance between the first obstacle and the second obstacle is suitable for parking according to the first position information and the second position information so as to obtain a parking model of the simulated vehicle.
7. The apparatus of claim 6, wherein the obtaining module is further configured to:
and calculating whether the distance between the first obstacle and the second obstacle is greater than a preset distance, wherein the preset distance is greater than the length of the body of the simulated vehicle.
8. The apparatus of claim 5, wherein the predetermined angle is 5 degrees.
9. The utility model provides a vehicle, its characterized in that be provided with radar system on the vehicle, radar system includes first radar at least, the front end both sides of vehicle all are equipped with first radar, the detection angle of first radar is less than 5 degrees.
10. The vehicle of claim 9, further comprising a second radar and a third radar, wherein the second radar is respectively disposed at 2 headlights and 2 taillights of the vehicle, the third radar is disposed around the periphery of the vehicle body, and the detection distance of the second radar is greater than that of the third radar.
11. The vehicle of claim 10, wherein the first radar has a detection range of 3.5-4.5 m and the second radar has a detection range of 3.5-4.5 m.
12. The vehicle of claim 11, wherein the first radar has a detection range of 4m, the second radar has a detection range of 4m, and the third radar has a detection range of 2 m.
13. The vehicle of any one of claims 10-12, wherein the number of the third radars is 12, 2 of the third radars are disposed at a front end of a head of the vehicle, 2 of the third radars are disposed at a rear end of the vehicle, 4 of the third radars are disposed at a left side of a body of the vehicle, and 4 of the third radars are disposed at a right side of the body of the vehicle.
14. The vehicle according to any one of claims 10 to 12, wherein the number of the second radars is 4, and one second radar is provided at each of 2 headlights and 2 taillights of the vehicle.
15. A parking method applied to a vehicle according to any one of claims 9 to 14, characterized by comprising:
under the condition that a first obstacle is detected by a first radar, first position information of the first obstacle detected by the first radar is obtained, wherein the first position information is position information of a final moment in the process that the first obstacle is detected by the first radar;
under the condition that the first radar detects a second obstacle, acquiring second position information of the second obstacle detected by the first radar, wherein the second position information is position information of an initial moment when the second obstacle is detected by the first radar;
and calculating whether the distance between the first obstacle and the second obstacle is suitable for parking or not according to the first position information and the second position information.
16. The method of claim 15, wherein after obtaining the first position information of the first obstacle detected by the first radar in the case that the first radar detects the first obstacle, the method further comprises:
acquiring the speed of the vehicle under the condition that the first radar does not detect a second obstacle;
acquiring a second distance of the vehicle from the first obstacle according to the vehicle speed and the running time information;
and judging whether the second distance is suitable for parking.
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| CN201910491691.2A CN112130120A (en) | 2019-06-06 | 2019-06-06 | Parking model generation method and device based on hardware-in-the-loop test system and vehicle |
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