CN112214026A - Driving obstacle detection method and device, vehicle and readable medium - Google Patents
Driving obstacle detection method and device, vehicle and readable medium Download PDFInfo
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- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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Abstract
The embodiment of the invention provides a driving obstacle detection method, a driving obstacle detection device, a vehicle and a readable medium, wherein the method comprises the following steps: acquiring an environment image of a vehicle driving direction and characteristic parameters of the vehicle; obtaining reachable space information according to the environment image; determining obstacle information in the vehicle traveling direction based on the reachable space information; judging whether the vehicle needs to avoid the obstacle or not by adopting the obstacle information and the characteristic parameters based on the current running path of the vehicle; the characteristic parameters comprise vehicle body parameters and driving parameters; and if so, generating an obstacle avoidance driving path. The vehicle can detect short obstacles in the surrounding environment in the automatic running process and realize automatic avoidance, collision and scratch between the vehicle and the obstacles are avoided, and the risk of vehicle damage is reduced.
Description
Technical Field
The invention relates to the field of driving obstacle detection, in particular to a driving obstacle detection method, a driving obstacle detection device, a vehicle and a readable medium.
Background
At present, when a user uses an automatic driving function of an automobile, the automobile needs to detect obstacles in the surrounding environment of the automobile by means of a loaded ultrasonic radar, and whether the obstacles exist in the surrounding environment is judged by receiving an echo of the ultrasonic radar, so that a driving path is planned, and the automobile automatically drives according to the driving path.
However, the ultrasonic radar cannot detect a part of short obstacles, such as a fallen bicycle, branches, and the like, when the short obstacles exist, the ultrasonic radar cannot detect the short obstacles, so that the area where the short obstacles exist is determined as a travelable area, and the planning of a traveling path is wrong.
Disclosure of Invention
In view of the above, embodiments of the present invention are proposed to provide a driving obstacle detection method and a corresponding driving obstacle detection apparatus that overcome or at least partially solve the above problems.
In order to solve the above problems, an embodiment of the present invention discloses a method for detecting a driving obstacle, where the method includes:
acquiring an environment image of a vehicle driving direction and characteristic parameters of the vehicle;
obtaining reachable space information according to the environment image;
determining obstacle information in the vehicle traveling direction based on the reachable space information;
judging whether the vehicle needs to avoid the obstacle or not by adopting the obstacle information and the characteristic parameters based on the current running path of the vehicle; the characteristic parameters comprise vehicle body parameters and driving parameters;
and if so, generating an obstacle avoidance driving path.
Optionally, the step of obtaining reachable spatial information according to the environment image includes:
receiving coordinate data which are sent by a panoramic monitoring image system controller and generated based on the environment image;
generating a plurality of the reachable spatial coordinate points by using the coordinate data;
and generating reachable spatial information based on the reachable spatial coordinate point.
Optionally, the step of determining obstacle information in the vehicle driving direction based on the reachable space information includes:
clustering the plurality of reachable spatial coordinate points by adopting a density-based clustering algorithm to generate a plurality of reachable spatial coordinate point sets;
determining obstacle information corresponding to an obstacle in the vehicle traveling direction based on the set of reachable spatial coordinate points.
Optionally, the step of determining whether the vehicle needs to avoid an obstacle by using the obstacle information and the characteristic parameter based on the current driving path of the vehicle includes:
judging whether the obstacle and the vehicle in the driving process have an intersection area or not by adopting the obstacle information and the characteristic parameters based on the current driving path of the vehicle;
and if so, determining that the vehicle needs to avoid the obstacle.
Optionally, the step of determining whether the obstacle and the vehicle in the driving process have an intersection region by using the obstacle information and the characteristic parameter based on the current driving path of the vehicle includes:
determining a detection area corresponding to the vehicle based on a current driving path of the vehicle, the vehicle body parameter and the driving parameter;
judging whether the obstacle coordinates fall into a detection coordinate range corresponding to the detection area;
if so, determining that the intersection area exists between the obstacle and the vehicle in the driving process, and determining the obstacle coordinate falling into the detection coordinate range as a target obstacle coordinate;
if not, determining that no intersection area exists between the obstacle and the vehicle in the driving process.
Optionally, the step of generating an obstacle avoidance driving path includes:
and generating an obstacle avoidance driving path based on the current driving path, the target obstacle coordinates and the detection area.
Optionally, the step of determining a detection area corresponding to the vehicle based on the current travel path of the vehicle, the vehicle body parameter, and the travel parameter includes:
determining a width of a detection zone based on the width of the vehicle;
determining a length of the detection area based on a traveling speed of the vehicle;
the detection area is generated in the traveling direction of the vehicle with the current travel path as a center.
The embodiment of the invention also discloses a driving obstacle detection device, which comprises:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring an environment image of a vehicle driving direction and characteristic parameters of the vehicle;
the reachable space information acquisition module is used for acquiring reachable space information according to the environment image;
an obstacle determination module for determining obstacle information in a driving direction of the vehicle based on the reachable space information;
the obstacle avoidance judging module is used for judging whether the vehicle needs to avoid the obstacle or not by adopting the obstacle information and the characteristic parameters based on the current running path of the vehicle; the characteristic parameters comprise vehicle body parameters and driving parameters;
and the obstacle avoidance driving path generating module is used for generating an obstacle avoidance driving path if the vehicle needs to avoid the obstacle.
The embodiment of the invention also discloses a vehicle, which comprises:
one or more processors; and
one or more machine readable media having instructions stored thereon that, when executed by the one or more processors, cause the vehicle to perform one or more methods as described above.
Embodiments of the invention also disclose one or more machine-readable media having instructions stored thereon, which when executed by one or more processors, cause the processors to perform one or more of the methods described above.
The embodiment of the invention has the following advantages:
in the embodiment of the invention, an environment image of a vehicle driving direction and characteristic parameters of the vehicle are acquired, reachable space information is acquired according to the environment image, barrier information in the vehicle driving direction is determined based on the reachable space information, whether the vehicle needs to avoid the barrier is judged by adopting the barrier information and the characteristic parameters based on the current driving path of the vehicle, the characteristic parameters comprise vehicle body parameters and driving parameters, and if the vehicle needs to avoid the barrier, an obstacle avoiding driving path is generated. The vehicle can detect short obstacles in the surrounding environment in the automatic running process and realize automatic avoidance, collision and scratch between the vehicle and the obstacles are avoided, and the risk of vehicle damage is reduced.
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FIG. 1 is a flow chart illustrating steps of an embodiment of a method for detecting a driving obstacle according to the present invention;
FIG. 2 is a flow chart of steps of another embodiment of a method of detecting a vehicular obstruction of the present invention;
FIG. 3 is a schematic view of a detection zone of the present invention;
FIG. 4 is a schematic view of another detection zone of the present invention;
fig. 5 is a block diagram of a driving obstacle detection device according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
One of the core ideas of the embodiment of the invention is that reachable space information is obtained by obtaining an environment image of a vehicle driving direction, obstacle information in the vehicle driving direction is determined based on the reachable space information, whether the vehicle needs to avoid an obstacle is judged by adopting the obstacle information and characteristic parameters of the vehicle based on a current driving path of the vehicle, the characteristic parameters comprise vehicle body parameters and driving parameters, and if the vehicle needs to avoid the obstacle, an obstacle avoiding driving path is generated. The vehicle can detect short obstacles in the surrounding environment in the automatic running process and realize automatic avoidance, collision and scratch between the vehicle and the obstacles are avoided, and the risk of vehicle damage is reduced.
Referring to fig. 1, a flowchart illustrating steps of an embodiment of a driving obstacle detection method according to the present invention is shown, which may specifically include the following steps:
specifically, a vehicle is equipped with an Around View Monitor (AVM) that can acquire real-time images of the surroundings of the vehicle through a plurality of cameras disposed in different directions of the vehicle. When the vehicle is running, in order to determine whether an obstacle exists on the running path, an environment image in the running direction of the vehicle may be acquired, for example, an environment image in front of the vehicle is acquired when the vehicle is running normally, and an environment image in back of the vehicle is acquired when the vehicle is backing. The characteristic parameters of the vehicle are fixed parameters of the vehicle and driving parameters acquired in the driving process, including the length and width of each part of the vehicle, the driving direction of the vehicle, the current driving speed and the like.
102, acquiring reachable space information according to the environment image;
the reachable space refers to an area where no obstacle that the vehicle cannot cross exists in the environment image, and reachable space detection is performed on the shot environment image to acquire reachable space information.
the reachable space information can identify all areas which can be reached by the vehicle in the environment image, and the unidentified area belongs to the area with the obstacle corresponding to the identified position, so that the obstacle in the driving direction of the vehicle can be determined based on the reachable space information to obtain the obstacle information.
104, judging whether the vehicle needs to avoid the obstacle or not by adopting the obstacle information and the characteristic parameters based on the current running path of the vehicle; the characteristic parameters comprise vehicle body parameters and driving parameters;
generally, a traveling path of a vehicle is linear, and the vehicle has a width, and vehicles of different types have different vehicle widths, and even the same vehicle has different vehicle speeds, the time available for determination is different. Therefore, whether the vehicle needs to avoid obstacles can be judged according to the vehicle body parameters of the vehicle, such as length, width and the like, and the driving parameters, such as the speed of the vehicle, and the obstacle information, such as the size and the position of the obstacle and the like.
And 105, if so, generating an obstacle avoidance driving path.
When the vehicle is judged to collide with the obstacle, the vehicle can generate an obstacle avoidance driving path and drive according to the obstacle avoidance driving path to avoid the obstacle.
In the embodiment of the invention, the accessible space information is obtained according to the environment image by obtaining the environment image of the vehicle driving direction and the characteristic parameters of the vehicle, the obstacle information in the vehicle driving direction is determined based on the accessible space information, whether the vehicle needs to avoid the obstacle is judged by adopting the obstacle information and the characteristic parameters based on the current driving path of the vehicle, the characteristic parameters comprise vehicle body parameters and driving parameters, and if the vehicle needs to avoid the obstacle, the obstacle avoiding driving path is generated. The vehicle can detect short obstacles in the surrounding environment in the automatic running process and realize automatic avoidance, collision and scratch between the vehicle and the obstacles are avoided, and the risk of vehicle damage is reduced.
Referring to fig. 2, a flowchart of steps of another embodiment of a driving obstacle detection method according to the present invention is shown, which may specifically include the following steps:
since step 201 is similar to step 101 in the previous embodiment, the detailed description may refer to step 101 in the previous embodiment, and the detailed description of this embodiment is omitted here.
in an optional embodiment of the present invention, the step of obtaining the reachable spatial information according to the environment image further includes the following sub-steps:
receiving coordinate data which are sent by a panoramic monitoring image system controller and generated based on the environment image;
generating a plurality of the reachable spatial coordinate points by using the coordinate data;
and generating reachable spatial information based on the reachable spatial coordinate point.
Specifically, after the AVM acquires the environment image, the AVM processes the environment image to acquire reachable spatial information of the vehicle in the environment image, where the reachable spatial information is composed of a plurality of reachable spatial coordinate points, and the reachable spatial coordinate points may be regarded as coordinates of a position where the vehicle can finally reach after traveling along a straight line from the current position. Because the capacity of a data transmission channel of a Controller Area Network (CAN) of a vehicle is low, a certain number of reachable space coordinate points CAN be selected from reachable space information, coordinate data corresponding to the reachable space coordinate points are transmitted, and the reachable space coordinate points for forming reachable space information are generated by the vehicle after receiving the data coordinates. For example, to reduce the pressure of data transmission, 12 reachable spatial coordinate points may be selected.
in an optional embodiment of the present invention, the step of determining obstacle information in the vehicle traveling direction based on the reachable space information further comprises the substeps of:
clustering the plurality of reachable spatial coordinate points by adopting a density-based clustering algorithm to generate a plurality of reachable spatial coordinate point sets;
determining obstacle information corresponding to an obstacle in the vehicle traveling direction based on the set of reachable spatial coordinate points.
Specifically, the Density-Based Clustering algorithm may be a DBSCAN (Density-Based Spatial Clustering of Applications with Noise, Density-Based Noise application Spatial Clustering) algorithm, and after Clustering a plurality of reachable Spatial coordinate points by the algorithm, a set composed of reachable Spatial coordinate points may be obtained, with the confidence being the number of the clustered point sets. When an obstacle exists in the environment image, the vehicle can be blocked when reaching the obstacle position along a straight line, namely, the reachable space coordinate point can stay at the position of the obstacle, and therefore the obstacle in the vehicle driving direction can be determined according to the reachable space coordinate point set with high confidence coefficient.
the obstacle and the vehicle have an intersection area, that is, the vehicle can collide with the obstacle or scrape the obstacle. Therefore, whether the obstacle and the vehicle running along the current running path have an intersection area can be judged by adopting obstacle information corresponding to the obstacle, such as the position and the size of the obstacle, the length and the width of the vehicle and the like.
In an optional embodiment of the present invention, the obstacle information includes obstacle coordinates corresponding to a contour of the obstacle, and the step of determining whether the obstacle and the vehicle in the driving process have an intersection region using the obstacle information and the characteristic parameter based on the current driving path of the vehicle further includes the sub-steps of:
determining a detection area corresponding to the vehicle based on a current driving path of the vehicle, the vehicle body parameter and the driving parameter;
judging whether the obstacle coordinates fall into a detection coordinate range corresponding to the detection area;
if so, determining that the intersection area exists between the obstacle and the vehicle in the driving process, and determining the obstacle coordinate falling into the detection coordinate range as a target obstacle coordinate;
if not, determining that no intersection area exists between the obstacle and the vehicle in the driving process.
Specifically, the detection area of the vehicle may be determined based on the current travel path, using body parameters of the vehicle, such as the length and width of the vehicle, and also travel parameters of the vehicle, such as the travel speed and direction, the detection area being located on one side of the travel direction of the vehicle, such as when the vehicle travels normally forward, the detection area being located in front of the vehicle, and when the vehicle is in reverse, the detection area being located behind the vehicle. The detection area is provided with a corresponding detection coordinate range, namely a coordinate range formed by coordinates of the boundary of the detection area, the obstacle information corresponding to the obstacle comprises obstacle coordinates corresponding to the outline of the obstacle, and when the obstacle coordinates fall into the detection coordinate range, the obstacle is in contact with the vehicle, so that the intersection area of the obstacle and the vehicle is judged; otherwise, there is no intersection area between the two.
In an optional embodiment of the present invention, the step of determining the detection region corresponding to the vehicle based on the current travel path of the vehicle, the vehicle body parameter, and the travel parameter further includes the substeps of:
determining a width of a detection zone based on the width of the vehicle;
determining a length of the detection area based on a traveling speed of the vehicle;
the detection area is generated in the traveling direction of the vehicle with the current travel path as a center.
Specifically, the detection area may be a rectangular area, and the width may be a vehicle width including a length of the rearview mirrors on the left and right sides of the vehicle, and in order to prevent the vehicle from just passing through an obstacle in a close contact manner, the width may be expanded by a certain ratio on the left and right sides of the detection area, for example, the width is expanded by 10% on the left and right sides, for example, the vehicle width is 2.4 m, the width is 1.32 m after the vehicle is expanded by 10% in half, and the total width is 2.64 m, that is, the width of the detection area is 2.64 m. The faster the vehicle travels, the shorter the reserved detection time, so the longer the detection distance should be set, for example, the length of the detection area may be set to L, which is C + V × N, where C is a constant value, usually 1 to 2 meters, V is the current vehicle traveling speed, and N is an adjustable weight value, which can be set by the user according to the needs of the user. Since the vehicle automatically travels around the current travel path, the detection area is generated using the width and the length as described above, also around the current travel path.
when the intersection area between the obstacle and the vehicle is judged, the obstacle is determined to need to be avoided if the obstacle is in contact with the vehicle.
And step 206, generating an obstacle avoidance driving path.
In an optional embodiment of the present invention, the step of generating the obstacle avoidance driving path further includes the following sub-steps:
and generating an obstacle avoidance driving path based on the current driving path, the target obstacle coordinates and the detection area.
After determining that obstacle avoidance is needed, an obstacle avoidance driving path can be generated on the basis of the current driving path, the obstacle avoidance driving path is a driving path of the detection area for avoiding the coordinates of the target obstacle, and the vehicle changes the driving path from the current driving path to the obstacle avoidance driving path and automatically drives along the obstacle avoidance driving path.
In the embodiment of the invention, by acquiring the environment image of the vehicle driving direction and the characteristic parameters of the vehicle, the coordinate data generated based on the environment image and sent by the panoramic monitoring image system controller is received, a plurality of reachable space coordinate points are generated by adopting the coordinate data, the reachable space coordinate points are used for forming reachable space information, a clustering algorithm based on density is adopted to cluster the reachable space coordinate points to generate a plurality of reachable space coordinate point sets, obstacle information corresponding to an obstacle in the vehicle driving direction is determined based on the reachable space coordinate point sets, whether the obstacle and the vehicle in the driving process have an intersection area is judged by adopting the obstacle information and the characteristic parameters based on the current driving path of the vehicle, if so, the vehicle is determined to be in need of obstacle avoidance, an obstacle avoidance driving path is generated, and the data transmission quantity is reduced, the data transmission pressure is reduced, low obstacles in the surrounding environment can be detected out in the automatic running process of the vehicle, automatic avoidance is realized, collision and scratch between the vehicle and the obstacles are avoided, and the risk of vehicle damage is reduced.
In order to facilitate the further understanding of the present invention for the skilled person, the present invention is described below by way of specific scenarios by way of example.
Situation one
As shown in fig. 3, when the user starts the automatic driving function of the vehicle 301, the vehicle automatically travels forward while capturing an environmental image in front of the vehicle using a plurality of cameras mounted at different positions of the vehicle, and the current traveling speed of the vehicle is acquired by a speed sensor.
The AVM identifies reachable space in the front environment according to the shot environment image and selects 12 reachable space coordinate points. After 12 reachable space coordinate points output by the AVM controller are received, clustering the reachable space coordinate points by adopting a DBSCAN algorithm to obtain a set consisting of the reachable space coordinate points, determining the coordinates of the outline of the obstacle 302 in front of the vehicle according to the reachable space coordinate point set with high confidence coefficient, generating a detection area 303 in front of the vehicle according to the width of the vehicle and the driving speed of the vehicle, and determining that the obstacle 302 intersects with the detection area 303 because the reachable space coordinate points 304 and 305 fall into the coordinate range of the detection area 303, determining that the vehicle needs to avoid the obstacle, and generating an obstacle-avoiding driving path.
Situation two
As shown in fig. 4, when a user drives a vehicle 401 to a parking lot to prepare for parking, the user activates an automatic parking function, and the vehicle 401 takes an image of an environment behind the vehicle using a plurality of cameras mounted at different positions of the vehicle while backing up, and acquires a current driving speed of the vehicle through a speed sensor.
The AVM identifies reachable space in the rear environment according to the shot environment image and selects 12 reachable space coordinate points. After 12 reachable space coordinate points output by the AVM controller are received, clustering the reachable space coordinate points by adopting a DBSCAN algorithm to obtain a set consisting of the reachable space coordinate points, determining the coordinates of the outlines of the obstacles 402, 403 and 404 behind the vehicle 401 according to the reachable space coordinate point set with high confidence coefficient, generating a detection area 405 behind the vehicle according to the width of the vehicle and the driving speed of the vehicle, and determining that the obstacles 402 and 404 are intersected with the detection area 405 because the reachable space coordinate points 406 and 407 fall into the coordinate range of the detection area 405, determining that the vehicle needs to avoid obstacles, and generating an obstacle avoiding driving path.
In the embodiment of the invention, an environment image of a vehicle driving direction and characteristic parameters of the vehicle are acquired, reachable space information is acquired according to the environment image, barrier information in the vehicle driving direction is determined based on the reachable space information, whether the vehicle needs to avoid the barrier is judged by adopting the barrier information and the characteristic parameters based on the current driving path of the vehicle, the characteristic parameters comprise vehicle body parameters and driving parameters, and if the vehicle needs to avoid the barrier, an obstacle avoiding driving path is generated. The vehicle can detect short obstacles in the surrounding environment in the automatic running process and realize automatic avoidance, collision and scratch between the vehicle and the obstacles are avoided, and the risk of vehicle damage is reduced.
It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Referring to fig. 5, a block diagram of a driving obstacle detection device according to an embodiment of the present invention is shown, and the driving obstacle detection device specifically includes the following modules:
the acquisition module 501 is used for acquiring an environment image of a vehicle driving direction and characteristic parameters of the vehicle;
a reachable space information obtaining module 502, configured to obtain reachable space information according to the environment image;
an obstacle determination module 503 for determining obstacle information in the vehicle driving direction based on the reachable space information;
the obstacle avoidance judging module 504 is configured to judge whether the vehicle needs to avoid an obstacle by using the obstacle information and the characteristic parameter based on the current driving path of the vehicle; the characteristic parameters comprise vehicle body parameters and driving parameters;
a generating module 505, configured to generate an obstacle avoidance driving path if the vehicle needs to avoid an obstacle.
In an embodiment of the present invention, the reachable space information obtaining module 502 includes:
the coordinate data receiving submodule is used for receiving coordinate data which is sent by the panoramic monitoring image system controller and generated based on the environment image;
a reachable spatial coordinate point generation submodule configured to generate a plurality of reachable spatial coordinate points by using the coordinate data;
and the reachable space information generating submodule is used for generating reachable space information based on the reachable space coordinate point.
In an embodiment of the present invention, the obstacle determining module 503 further includes:
the reachable space coordinate point set generation submodule is used for clustering the reachable space coordinate points by adopting a density-based clustering algorithm to generate a plurality of reachable space coordinate point sets;
an obstacle information determination submodule configured to determine obstacle information corresponding to an obstacle in a vehicle traveling direction based on the reachable spatial coordinate point set.
In an embodiment of the present invention, the obstacle avoidance determining module 504 includes:
the intersection area judgment submodule is used for judging whether the obstacle and the vehicle in the driving process have an intersection area or not by adopting the obstacle information and the characteristic parameters based on the current driving path of the vehicle;
and the obstacle avoidance determining submodule is used for determining that the vehicle needs to avoid the obstacle if the obstacle and the vehicle in the driving process have an intersection area.
In an embodiment of the present invention, the obstacle information includes obstacle coordinates corresponding to a contour of the obstacle, and the intersection area determination sub-module further includes:
the detection area determining unit is used for determining a detection area corresponding to the vehicle by adopting the vehicle body parameters and the running parameters based on the current running path of the vehicle;
a coordinate determination unit configured to determine whether the obstacle coordinate falls within a detection coordinate range corresponding to the detection area;
a first determination unit, configured to determine that an intersection area exists between the obstacle and the vehicle in the driving process if the obstacle coordinate falls within a detection coordinate range corresponding to the detection area, and determine the obstacle coordinate falling within the detection coordinate range as a target obstacle coordinate;
and the second determining unit is used for determining that no intersection area exists between the obstacle and the vehicle in the driving process if the obstacle coordinate does not fall into the detection coordinate range corresponding to the detection area.
In an embodiment of the present invention, the generating module 505 further includes:
and the obstacle avoidance driving path generation submodule is used for generating an obstacle avoidance driving path based on the current driving path, the target obstacle coordinates and the detection area.
In an embodiment of the present invention, the detection area determining unit further includes:
a width determination subunit configured to determine a width of a detection area based on a width of the vehicle;
a length determination subunit operable to determine a length of the detection area based on a travel speed of the vehicle;
a detection area generation subunit configured to generate the detection area in a traveling direction of the vehicle with the current travel path as a center.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
The embodiment of the invention also discloses a vehicle, which comprises:
one or more processors; and
one or more machine readable media having instructions stored thereon that, when executed by the one or more processors, cause the vehicle to perform one or more methods as described above.
Embodiments of the invention also disclose one or more machine-readable media having instructions stored thereon, which when executed by one or more processors, cause the processors to perform one or more of the methods described above.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal 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 terminal. 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 terminal that comprises the element.
The driving obstacle detection method, the driving obstacle detection device, the vehicle and the readable medium provided by the invention are described in detail, specific examples are applied in the description to explain the principle and the implementation mode of the invention, and the description of the examples is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A method for detecting a driving obstacle is characterized by comprising the following steps:
acquiring an environment image of a vehicle driving direction and characteristic parameters of the vehicle;
obtaining reachable space information according to the environment image;
determining obstacle information in the vehicle traveling direction based on the reachable space information;
judging whether the vehicle needs to avoid the obstacle or not by adopting the obstacle information and the characteristic parameters based on the current running path of the vehicle; the characteristic parameters comprise vehicle body parameters and driving parameters;
and if so, generating an obstacle avoidance driving path.
2. The method of claim 1, wherein the step of obtaining reachable spatial information from the environment image comprises:
receiving coordinate data which are sent by a panoramic monitoring image system controller and generated based on the environment image;
generating a plurality of the reachable spatial coordinate points by using the coordinate data;
and generating reachable spatial information based on the reachable spatial coordinate point.
3. The method of claim 2, wherein the step of determining obstacle information in the vehicle travel direction based on the reachable space information comprises:
clustering the plurality of reachable spatial coordinate points by adopting a density-based clustering algorithm to generate a plurality of reachable spatial coordinate point sets;
determining obstacle information corresponding to an obstacle in the vehicle traveling direction based on the set of reachable spatial coordinate points.
4. The method according to claim 3, wherein the step of determining whether the vehicle needs to avoid an obstacle by using the obstacle information and the characteristic parameter based on the current driving path of the vehicle comprises:
judging whether the obstacle and the vehicle in the driving process have an intersection area or not by adopting the obstacle information and the characteristic parameters based on the current driving path of the vehicle;
and if so, determining that the vehicle needs to avoid the obstacle.
5. The method according to claim 4, wherein the obstacle information includes obstacle coordinates corresponding to a contour of the obstacle, and the step of determining whether the obstacle and the vehicle in driving have an intersection area using the obstacle information and the characteristic parameter based on a current driving path of the vehicle includes:
determining a detection area corresponding to the vehicle by adopting the vehicle body parameters and the driving parameters based on the current driving path of the vehicle;
judging whether the obstacle coordinates fall into a detection coordinate range corresponding to the detection area;
if so, determining that the intersection area exists between the obstacle and the vehicle in the driving process, and determining the obstacle coordinate falling into the detection coordinate range as a target obstacle coordinate;
if not, determining that no intersection area exists between the obstacle and the vehicle in the driving process.
6. The method of claim 5, wherein the step of generating an obstacle avoidance travel path comprises:
and generating an obstacle avoidance driving path based on the current driving path, the target obstacle coordinates and the detection area.
7. The method according to claim 5, wherein the step of determining a detection area corresponding to the vehicle based on the current travel path of the vehicle, the body parameter, and the travel parameter includes:
determining a width of a detection zone based on the width of the vehicle;
determining a length of the detection area based on a traveling speed of the vehicle;
the detection area is generated in the traveling direction of the vehicle with the current travel path as a center.
8. A driving obstacle detection device, characterized by comprising:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring an environment image of a vehicle driving direction and characteristic parameters of the vehicle;
the reachable space information acquisition module is used for acquiring reachable space information according to the environment image;
an obstacle determination module for determining obstacle information in a driving direction of the vehicle based on the reachable space information;
the obstacle avoidance judging module is used for judging whether the vehicle needs to avoid the obstacle or not by adopting the obstacle information and the characteristic parameters based on the current running path of the vehicle; the characteristic parameters comprise vehicle body parameters and driving parameters;
and the obstacle avoidance driving path generating module is used for generating an obstacle avoidance driving path if the vehicle needs to avoid the obstacle.
9. A vehicle, characterized by comprising:
one or more processors; and
one or more machine readable media having instructions stored thereon that, when executed by the one or more processors, cause the vehicle to perform the method of one or more of claims 1-7.
10. One or more machine readable media having instructions stored thereon that, when executed by one or more processors, cause the processors to perform the method of one or more of claims 1-7.
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Address after: Room 46, room 406, No. 1, Yichuang street, Zhongxin knowledge city, Huangpu District, Guangzhou, Guangdong 510725 Applicant after: Guangzhou Xiaopeng Automatic Driving Technology Co.,Ltd. Address before: Room 46, room 406, No.1, Yichuang street, Zhongxin knowledge city, Huangpu District, Guangzhou City, Guangdong Province Applicant before: Guangzhou Xiaopeng Automatic Driving Technology Co.,Ltd. |