CN112882014A - Boss pit identification method and system - Google Patents

Boss pit identification method and system Download PDF

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CN112882014A
CN112882014A CN202110076431.6A CN202110076431A CN112882014A CN 112882014 A CN112882014 A CN 112882014A CN 202110076431 A CN202110076431 A CN 202110076431A CN 112882014 A CN112882014 A CN 112882014A
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measurement
points
target
point
pit
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CN112882014B (en
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刘春华
李明虎
李停停
卢鹏飞
胡华军
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Dongfeng Motor Group Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/04—Interpretation of pictures
    • G01C11/30—Interpretation of pictures by triangulation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles

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  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
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  • Measurement Of Optical Distance (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention provides a boss pit identification method, which comprises the following steps: the method comprises the steps of obtaining the measurement distances between a plurality of measurement points and a target vehicle in a target measurement area, and obtaining the measurement azimuth angle and the measurement pitch angle of each measurement point; acquiring the measurement heights of a plurality of measurement points in the target measurement area according to the measurement distance, the measurement azimuth angle and the measurement pitch angle of each measurement point; and acquiring the boss pit condition of the target measurement area according to the measurement heights of the plurality of measurement points. The boss pit identification method provided by the invention comprises the steps of obtaining the measurement distance, the measurement azimuth angle and the measurement pitch angle, obtaining the measurement height according to the measurement distance, the measurement azimuth angle and the measurement pitch angle, obtaining the boss pit condition according to the measurement height, judging the front pits or bulges in advance, and providing effective guarantee for driving safety.

Description

Boss pit identification method and system
Technical Field
The invention relates to the field, in particular to a boss pit identification method and a boss pit identification system.
Background
The uneven road surface can bring hidden troubles to driving safety, and traffic accidents are caused to increase continuously.
In the prior art, the detection distance is set, the depression of the ground in front of a vehicle is detected in the advancing process of the vehicle, and the depth of the depression and the width perpendicular to the driving direction of the vehicle are measured and calculated; when the depth of the recess is larger than the minimum distance of the vehicle or the width of the recess along the direction vertical to the driving direction of the vehicle is larger than the direct distance of the transverse tires of the vehicle, the vehicle-mounted multimedia display device displays and sends out corresponding prompt information.
However, the distance of the detected pit is set directly by combining the size of the vehicle and the driving speed or the distance is calculated by the inclination angle of the distance measuring device, and since the pit may have different sizes, the distance between the detected vehicle and the pit may be different, the inclination angle is also different, and the measurement result is not accurate enough. Meanwhile, the problem of large calculation error caused by adopting two-dimensional data exists.
Disclosure of Invention
The present invention is directed to overcome the above-mentioned drawbacks of the prior art, and provides a method and system for identifying land pits.
In a first aspect, the present invention provides a land pit identification method, comprising the steps of:
the method comprises the steps of obtaining the measurement distances between a plurality of measurement points and a target vehicle in a target measurement area, and obtaining the measurement azimuth angle and the measurement pitch angle of each measurement point;
acquiring the measurement heights of a plurality of measurement points in the target measurement area according to the measurement distance, the measurement azimuth angle and the measurement pitch angle of each measurement point;
and acquiring the boss pit condition of the target measurement area according to the measurement heights of the plurality of measurement points.
According to the first aspect, in a first possible implementation manner of the first aspect, the step of "acquiring the concave-convex condition of the target measurement area according to the measurement heights of the plurality of measurement points" includes the following steps:
acquiring the convex point and concave point condition of each measuring point according to the measuring heights of the measuring points;
and acquiring the boss pit condition of the target measurement area according to the bump pit condition of the plurality of measurement points in the target measurement area.
According to the first aspect, in a second possible implementation manner of the first aspect, the step of "obtaining a convex point and a concave point condition of each measurement point according to the measurement heights of the plurality of measurement points" specifically includes the following steps:
analyzing the convex point and concave point condition of each measuring point according to the measuring heights of the measuring points;
when the measured height of the measuring point is detected to be larger than a first preset height threshold value, judging that the measuring point is a convex point;
and when the measured height of the measuring point is detected to be smaller than a second preset height threshold value, judging that the measuring point is a concave point.
According to the first aspect, in a third possible implementation manner of the first aspect, the step of "obtaining a land pit condition of the target measurement area according to a land pit condition of a plurality of measurement points in the target measurement area" specifically includes the following steps:
analyzing the actual number of the convex points and the actual number of the concave points in the target measurement area according to the convex point and concave point conditions of the plurality of measurement points in the target measurement area;
when detecting that the number of the actual salient points in the target measurement area is larger than the number S of the calibration salient points1Then, judging that the target measurement area is a boss;
when detecting that the actual number of pits in the target measurement area is larger than the calibrated number S of pits2Time, judgeAnd determining the target measuring area as a pit.
According to the first aspect, in a fourth possible implementation manner of the first aspect, the step of "obtaining measurement distances between a plurality of measurement points in a target measurement area and a target vehicle, and obtaining a measurement azimuth angle and a measurement pitch angle of each measurement point; a step of obtaining measured heights of the plurality of measurement points in the target measurement area according to the measurement distance, the measurement azimuth angle and the measurement pitch angle of each measurement point, which specifically includes the following steps:
based on a first measured position (x) of the vehicle in a rectangular spatial coordinate system0，y0，z0) Acquiring the measurement distance L between a plurality of measurement points in the target measurement area and the first measurement position based on the second measurement position (x) of the vehicle1，y1，z1) Obtaining a measurement azimuth angle a of each measurement point1mAnd measuring pitch angle b1m；
Assuming that the ground height is 0, selecting one point on the ground as the origin of coordinates, and assuming that the coordinates of any one of the measuring points are (x)2m，y2m，z2m) M is 1, 2, 3, …, n; incorporating said first measurement position (x)0，y0，z0) The second measuring position (x)1，y1，z1) The following relationship can be obtained:
L2＝(x2m-x0)2+(y2m-y0)2+(z2m-z0)2formula (1);
Figure BDA0002907801950000031
Figure BDA0002907801950000032
according to the formula (1), the formula (2) and the formula (3), Z of any one measuring point can be calculated2mValue, namely, the target measurement area can be obtainedThe measurement height of a plurality of the measurement points is Z2m。
According to the first aspect, in a fifth possible implementation manner of the first aspect, after the step of "determining that the target measurement area is a boss when it is detected that the actual number of bumps in the target measurement area is greater than the calibrated number of bumps", the method specifically includes the following steps:
calculating the boss height of the target measurement area according to the following formula (4):
Gconvex part＝g1z21+g2z22+…+gmz2mFormula (4);
wherein, g1+g2+…+gmK is the sum of the weighting factors, g1…gmAs a weighting coefficient, z21…z2mThe Z-axis coordinate values of all the salient points in the boss.
According to the first aspect, in a sixth possible implementation manner of the first aspect, after the step of "determining that the target measurement area is a pit when it is detected that the actual number of pits in the target measurement area is greater than the calibrated number of pits" further includes the following steps:
calculating the pit depth of the target vehicle area according to the following formula (5):
Gconcave＝g1z21+g2z22+…+gnz2mnFormula (5);
wherein, g1+g2+…+gnK is the sum of the weighting factors, g1…gnAs a weighting coefficient, z21…z2mnThe Z-axis coordinate values of all pits within the pit.
According to the first aspect, in a seventh possible implementation manner of the first aspect, after the step of analyzing the actual bump number and the actual pit number in the target measurement area according to the bump and pit situation of the plurality of measurement points in the target measurement area, the method further includes the following steps:
calculating and acquiring the calibration number S of the salient points or the concave points according to the following formula (6):
Figure BDA0002907801950000041
wherein L is1The value of the projected length of the tire on the ground, B1For the width value, x, of the tyre projected on the groundminFor the tyre projection length value corresponding to the minimum grid point distance in X direction, yminCorresponding to the minimum grid point distance in the Y direction for the tire projection width value;
calculating the number S of the calibration salient points according to the following formula (7)1：
|S1-S | ≦ 0.5 formula (7);
wherein S is1Is a positive integer;
according to the following formula (8), the number S of the calibration concave points is calculated2：
|S2-S | ≦ 0.5 formula (8);
wherein S2Is a positive integer.
In a second aspect, the present invention provides a land pit identification system comprising:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring the measurement distances between a plurality of measurement points and a target vehicle in a target measurement area, and acquiring the measurement azimuth angle and the measurement pitch angle of each measurement point;
a second obtaining module, communicatively connected to the first obtaining module, configured to obtain measurement heights of the plurality of measurement points in the target measurement area according to the measurement distance, the measurement azimuth angle, and the measurement pitch angle of each measurement point; and the number of the first and second groups,
and the third acquisition module is in communication connection with the second acquisition module and is used for acquiring the boss pit condition of the target measurement area according to the measurement heights of the plurality of measurement points.
According to the second aspect, in a first possible implementation manner of the second aspect, the method further includes:
the first acquisition unit is in communication connection with the second acquisition module and is used for acquiring the convex point and concave point condition of each measurement point according to the measurement heights of the measurement points;
and the second acquisition unit is in communication connection with the first acquisition unit and acquires boss pit conditions of the target measurement area according to the boss pit conditions of the plurality of measurement points in the target measurement area.
Compared with the prior art, the invention has the following advantages:
the boss pit identification method provided by the invention comprises the steps of obtaining the measurement distance, the measurement azimuth angle and the measurement pitch angle, obtaining the measurement height according to the measurement distance, the measurement azimuth angle and the measurement pitch angle, obtaining the boss pit condition according to the measurement height, judging the front pits or bulges in advance, and providing effective guarantee for driving safety.
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FIG. 1 is a schematic flow chart of a method of an embodiment of the present invention;
FIG. 2 is a schematic flow chart of another method of an embodiment of the present invention;
FIG. 3 is a distance measurement schematic of a binocular camera;
fig. 4 is a functional block diagram of an embodiment of the present invention.
Fig. 5 is a schematic view of a measurement scenario according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to the present embodiments of the invention, examples of which are illustrated in the accompanying drawings. While the invention will be described in conjunction with the specific embodiments, it will be understood that they are not intended to limit the invention to the embodiments described. On the contrary, it is intended to cover alternatives, modifications, and equivalents as may be included within the spirit and scope of the invention as defined by the appended claims. It should be noted that the method steps described herein may be implemented by any functional block or functional arrangement, and that any functional block or functional arrangement may be implemented as a physical entity or a logical entity, or a combination of both.
In order that those skilled in the art will better understand the present invention, the following detailed description of the invention is provided in conjunction with the accompanying drawings and the detailed description of the invention.
Note that: the example to be described next is only a specific example, and does not limit the embodiments of the present invention necessarily to the following specific steps, values, conditions, data, orders, and the like. Those skilled in the art can, upon reading this specification, utilize the concepts of the present invention to construct more embodiments than those specifically described herein.
Referring to fig. 1, the present invention provides a method for identifying a land pit, comprising the steps of:
s100, obtaining the measurement distances between a plurality of measurement points and a target vehicle in a target measurement area, and obtaining the measurement azimuth angle and the measurement pitch angle of each measurement point;
s200, acquiring the measurement heights of a plurality of measurement points in the target measurement area according to the measurement distance, the measurement azimuth angle and the measurement pitch angle of each measurement point;
s300, acquiring the boss pit condition of the target measurement area according to the measurement heights of the plurality of measurement points.
In some embodiments, the step of "obtaining the concave-convex condition of the target measurement area according to the measurement heights of the plurality of measurement points" includes the following steps:
s310, acquiring the convex point and concave point condition of each measuring point according to the measuring heights of the measuring points;
s320, acquiring the boss pit condition of the target measurement area according to the bump pit condition of the plurality of measurement points in the target measurement area.
In some embodiments, the step of obtaining the convex-concave point condition of each measurement point according to the measurement heights of the plurality of measurement points includes the following steps:
analyzing the convex point and concave point condition of each measuring point according to the measuring heights of the measuring points;
when the measured height of the measuring point is detected to be larger than a first preset height threshold value h, the measuring point is judged to be a convex point;
and when the measured height of the measuring point is detected to be smaller than a second preset height threshold value-h, judging the measuring point to be a concave point.
In an embodiment, said first preset height threshold h is set according to soil heaps, stones and road barriers dropped from the road surface, etc., and said second preset height threshold-h is set according to pits respecting loss, pits produced after damage of the road surface, craters, etc.
In some embodiments, the step of obtaining the land pit condition of the target measurement area according to the land pit condition of the plurality of measurement points in the target measurement area specifically includes the following steps:
analyzing the actual number of the convex points and the actual number of the concave points in the target measurement area according to the convex point and concave point conditions of the plurality of measurement points in the target measurement area;
when detecting that the number of the actual salient points in the target measurement area is larger than the number S of the calibration salient points1Then, judging that the target measurement area is a boss;
when detecting that the actual number of pits in the target measurement area is larger than the calibrated number S of pits2Then, it is determined that the target measurement area is a pit.
In some embodiments, z through the measurement point2mComparing the results with h and-h, checking the type of the measuring point, whether the measuring point is a convex point or a concave point, and comparing z with h2m>h points are classified as a set of Boss points, z is2m<-H, classifying the point set as a pit set, when the number of the pit set points in the target measurement area is greater than the number of the calibration bumps S1When the number of the pit set points in the target measurement area is larger than the number S of the calibration pits, judging that the condition of the boss pits in the target measurement area is a boss2Then, the land pit condition of the target measurement area is determined as a pit.
In some embodiments, the step of "acquiring the measured distances between a plurality of measuring points in a target measuring area and a target vehicle, and acquiring the measured azimuth angle and the measured pitch angle of each measuring point; a step of obtaining measured heights of the plurality of measurement points in the target measurement area according to the measurement distance, the measurement azimuth angle and the measurement pitch angle of each measurement point, which specifically includes the following steps:
in the rectangular space coordinate system, the measurement distances L between the plurality of measurement points in the target measurement region and the first measurement position are acquired based on the first measurement position (x0, y0, z0) of the vehicle, and the second measurement position (x) of the vehicle1，y1，z1) Obtaining a measurement azimuth angle a of each measurement point1mAnd measuring pitch angle b1m；
Assuming that the ground height is 0, selecting one point on the ground as the origin of coordinates, and assuming that the coordinates of any one of the measuring points are (x)2m，y2m，z2m) M is 1, 2, 3, …, n; incorporating said first measurement position (x)0，y0，z0) The second measuring position (x)1，y1，z1) The following relationship can be obtained:
L2＝(x2m-x0)2+(y2m-y0)2+(z2m-z0)2formula (1);
Figure BDA0002907801950000081
Figure BDA0002907801950000082
according to the formula (1), the formula (2) and the formula (3), Z of any one measuring point can be calculated2mObtaining the measurement height Z of a plurality of measurement points in the target measurement area2m。
The invention obtains the measurement azimuth angle a of each measurement point1mAnd measuring pitch angle b1mAnd a first measurement position coordinate value (x)0，y0，z0) Second measurement position coordinate value (x)1，y1，z1) And accurately calculating to obtain coordinate values (x) at the measuring points2m，y2m，z2m)，m＝1、2、3… and n, the situation that the measurement structure is not accurate enough due to different detection distances and different inclination angles between the vehicle and the target detection area does not occur.
In some embodiments, after the step of "determining that the target measurement area is a boss when it is detected that the actual number of bumps in the target measurement area is greater than the calibrated number of bumps", the method specifically includes the following steps:
calculating the boss height of the target measurement area according to the following formula (4):
Gconvex part＝g1z21+g2z22+…+gmz2mFormula (4);
wherein, g1+g2+…+gmK is the sum of the weighting factors, g1…gmAs a weighting coefficient, z21…z2mThe Z-axis coordinate values of all the salient points in the boss.
As described above, according to the application, k is a preset value, the boss height is obtained through calculation by the formula (4), and an accurate roadblock height basis is provided for driving safety, so that a driver can conveniently make an effective and accurate avoidance strategy according to the height of the roadblock boss, and driving safety is accurately and effectively guaranteed.
In some embodiments, after the step of "determining that the target measurement area is a pit when the actual number of pits in the target measurement area is greater than the calibrated number of pits" is detected, the method further includes the following steps:
calculating the pit depth of the target vehicle area according to the following formula (5):
Gconcave＝g1z21+g2z22+…+gnz2mnFormula (5);
wherein, g1+g2+…+gnK is the sum of the weighting factors, g1…gnAs a weighting coefficient, Z21…Z2mnThe Z-axis coordinate values of all pits within the pit.
As mentioned above, k is a preset value, the depth of the pit is calculated according to the formula (5), and an accurate pit depth basis is provided for driving safety, so that a driver can conveniently make an effective and accurate avoidance strategy according to the pit depth, and driving safety is accurately and effectively guaranteed.
In an embodiment, after the step of analyzing the actual bump number and the actual pit number in the target measurement area according to the bump-pit condition of the plurality of measurement points in the target measurement area, the method further includes the following steps:
calculating and acquiring the calibration number S of the salient points or the concave points according to the following formula (6):
Figure BDA0002907801950000091
wherein, L1 is the projection length of the tire on the ground, B1 is the projection width of the tire on the ground, xminFor the tyre projection length value corresponding to the minimum grid point distance in X direction, yminCorresponding to the minimum grid point distance in the Y direction for the tire projection width value;
calculating the number S of the calibration salient points according to the following formula (7)1：
|S1-S | ≦ 0.5 formula (7);
wherein S is1Is a positive integer;
according to the following formula (8), the number S of the calibration concave points is calculated2：
|S2-S | ≦ 0.5 formula (8);
wherein S2Is a positive integer.
Based on the same inventive concept, the invention provides a boss pit identification system, which comprises a first acquisition module 100, a second acquisition module 200 and a third acquisition module 300, wherein the first acquisition module is used for acquiring the measurement distances between a plurality of measurement points and a target vehicle in a target measurement area, and acquiring the measurement azimuth angle and the measurement pitch angle of each measurement point; the second acquisition module is in communication connection with the first acquisition module and is used for acquiring the measurement heights of the plurality of measurement points in the target measurement area according to the measurement distance, the measurement azimuth angle and the measurement pitch angle of each measurement point; and the third acquisition module is in communication connection with the second acquisition module and is used for acquiring the boss pit condition of the target measurement area according to the measurement heights of the plurality of measurement points.
In an embodiment, the first obtaining module includes a binocular camera 500 and a millimeter radar 600, the binocular camera is used to obtain the measurement distances between a plurality of measurement points in a target measurement area on the ground 400 and a target vehicle, and the millimeter radar is used to obtain the measurement azimuth angle and the measurement pitch angle of each measurement point.
In one embodiment, the height of the ground is set to 0, any point on the ground is set as the origin of coordinates, and the coordinate position of the binocular camera mounted on the vehicle is set to (x) relative to the origin of coordinates0，y0，z0)。
By obtaining the distance D between two cameras of a binocular camera, the focal length f of the camera, and the parallax D of the two cameras, please refer to fig. 3, a is a target measurement point, B1 is the optical axis of the first camera of the binocular camera, O1 is the center point position of the first camera, B2 is the optical axis of the second camera of the binocular camera, O2 is the center point position of the second camera, X2 is the center point position of the second camera, andLobserving the X-axis coordinate position, X, of the target measurement point for the first camerarObserving the X-axis coordinate position of the target measuring point for the second camera, d ═ Xr-XLUsing triangulation distance-finding, D, f and d conform to equation (8):
Figure BDA0002907801950000111
and (3) performing parameter conversion on the formula (8), and calculating to obtain the distance L between the target measurement point and the binocular camera:
Figure BDA0002907801950000112
as described above, the distance value L between the target measurement point and the first measurement position, i.e., the binocular camera, can be rapidly and accurately obtained by using the binocular camera.
As described above, the measurement azimuth a between the target measurement point and the second measurement position can be rapidly and accurately obtained by using the millimeter radar1mAnd measuring pitch angle b1m。
In some embodiments, the system further comprises a first obtaining unit and a second obtaining unit, wherein the first obtaining unit is in communication connection with the second obtaining module and is used for obtaining the convex-concave point condition of each measuring point according to the measuring heights of the plurality of measuring points; and the second acquisition unit is in communication connection with the first acquisition unit and acquires the boss pit condition of the target measurement area according to the bump pit condition of the plurality of measurement points in the target measurement area.
Based on the same inventive concept, the embodiments of the present application further provide a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements all or part of the method steps of the above method.
The present invention can implement all or part of the processes of the above methods, and can also be implemented by using a computer program to instruct related hardware, where the computer program can be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the above method embodiments can be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, in accordance with legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunications signals.
Based on the same inventive concept, an embodiment of the present application further provides an electronic device, which includes a memory and a processor, where the memory stores a computer program running on the processor, and the processor executes the computer program to implement all or part of the method steps in the method.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, the processor being the control center of the computer device and the various interfaces and lines connecting the various parts of the overall computer device.
The memory may be used to store computer programs and/or modules, and the processor may implement various functions of the computer device by executing or executing the computer programs and/or modules stored in the memory, as well as by invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (e.g., a sound playing function, an image playing function, etc.); the storage data area may store data (e.g., audio data, video data, etc.) created according to the use of the cellular phone. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, server, or computer program product. Accordingly, 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, 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, optical storage, and the like) having computer-usable program code embodied therein.
The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), servers 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 apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, 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 apparatus 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 apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (10)

1. A boss pit identification method is characterized by comprising the following steps:
the method comprises the steps of obtaining the measurement distances between a plurality of measurement points and a target vehicle in a target measurement area, and obtaining the measurement azimuth angle and the measurement pitch angle of each measurement point;
acquiring the measurement heights of a plurality of measurement points in the target measurement area according to the measurement distance, the measurement azimuth angle and the measurement pitch angle of each measurement point;
and acquiring the boss pit condition of the target measurement area according to the measurement heights of the plurality of measurement points.
2. The boss pit identifying method according to claim 1, wherein said step of "obtaining the unevenness of the target measurement area from the measurement heights of the plurality of measurement points" includes the steps of:
acquiring the convex point and concave point condition of each measuring point according to the measuring heights of the measuring points;
and acquiring the boss pit condition of the target measurement area according to the bump pit condition of the plurality of measurement points in the target measurement area.
3. The boss pit identification method according to claim 2, wherein said step of obtaining a bump pit condition for each of said measurement points based on said measurement heights of said plurality of measurement points comprises the steps of:
analyzing the convex point and concave point condition of each measuring point according to the measuring heights of the measuring points;
when the measured height of the measuring point is detected to be larger than a first preset height threshold value, judging that the measuring point is a convex point;
and when the measured height of the measuring point is detected to be smaller than a second preset height threshold value, judging that the measuring point is a concave point.
4. The boss pit identification method according to claim 3, wherein said step of obtaining the boss pit condition of said target measurement area based on the bump pit condition of a plurality of said measurement points in said target measurement area comprises the steps of:
analyzing the actual number of the convex points and the actual number of the concave points in the target measurement area according to the convex point and concave point conditions of the plurality of measurement points in the target measurement area;
when detecting that the number of the actual salient points in the target measurement area is larger than the number S of the calibration salient points1Then, judging that the target measurement area is a boss;
when detecting that the actual number of pits in the target measurement area is larger than the calibrated number S of pits2Then, it is determined that the target measurement area is a pit.
5. The boss pit identifying method according to claim 4, wherein said "acquiring measured distances from a plurality of measurement points in a target measurement area to a target vehicle, and acquiring a measured azimuth angle and a measured pitch angle of each of said measurement points; a step of obtaining measured heights of the plurality of measurement points in the target measurement area according to the measurement distance, the measurement azimuth angle and the measurement pitch angle of each measurement point, which specifically includes the following steps:
based on a first measured position (x) of the vehicle in a rectangular spatial coordinate system0，y0，z0) Acquiring the measurement distance L between a plurality of measurement points in the target measurement area and the first measurement position based on the second measurement position (x) of the vehicle1，y1，z1) Obtaining a measurement azimuth angle a of each measurement point1mmAnd measuring pitch angle b1m；
Assuming that the ground height is 0, selecting one point on the ground as the origin of coordinates, and assuming that the coordinates of any one of the measuring points are (x)2m，y2m，z2m)，m＝1、2. 3, …, n; incorporating said first measurement position (x)0，y0，z0) The second measuring position (x)1，y1，z1) The following relationship can be obtained:
L2＝(x2m-x0)2+(y2m-y0)2+(z2m-z0)2formula (1);
Figure FDA0002907801940000031
Figure FDA0002907801940000032
according to the formula (1), the formula (2) and the formula (3), Z of any one measuring point can be calculated2mObtaining the measurement height Z of a plurality of measurement points in the target measurement area2m。
6. The boss pit identification method according to claim 5, wherein after the step of "determining that the target measurement area is a boss when the actual number of bumps in the target measurement area is detected to be greater than the calibrated number of bumps", the method specifically comprises the following steps:
calculating the boss height of the target measurement area according to the following formula (4):
Gconvex part＝g1z21+g2z22+...+gmz2mFormula (4);
wherein, g1+g2+…+gmK is the sum of the weighting factors, g1…gmAs a weighting coefficient, z21…z2mThe Z-axis coordinate values of all the salient points in the boss.
7. The boss pit identification method according to claim 5, wherein after said step of "determining said target measurement area as a pit when detecting that the actual number of pits in said target measurement area is greater than the nominal number of pits", further comprising the steps of:
calculating the pit depth of the target vehicle area according to the following formula (5):
Gconcave＝g1z21+g2z22+…+gnz2mnFormula (5);
wherein, g1+g2+…+gnK is the sum of the weighting factors, g1…gnAs a weighting coefficient, Z21...Z2mnThe Z-axis coordinate values of all pits within the pit.
8. The land pit identifying method according to claim 4, wherein said step of analyzing an actual bump number and an actual pit number in said target measurement area based on a bump pit condition of a plurality of said measurement points in said target measurement area further comprises the steps of:
calculating and acquiring the calibration number S of the salient points or the concave points according to the following formula (6):
Figure FDA0002907801940000041
wherein L is1The value of the projected length of the tire on the ground, B1For the width value, x, of the tyre projected on the groundminFor the tyre projection length value corresponding to the minimum grid point distance in X direction, yminCorresponding to the minimum grid point distance in the Y direction for the tire projection width value;
calculating the number S of the calibration salient points according to the following formula (7)1：
|S1-S | ≦ 0.5 formula (7);
wherein S is1Is a positive integer;
according to the following formula (8), the number S of the calibration concave points is calculated2：
|S2-S | ≦ 0.5 formula (8);
wherein S2Is a positive integer.
9. A boss dimple identification system, comprising:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring the measurement distances between a plurality of measurement points and a target vehicle in a target measurement area, and acquiring the measurement azimuth angle and the measurement pitch angle of each measurement point;
a second obtaining module, communicatively connected to the first obtaining module, configured to obtain measurement heights of the plurality of measurement points in the target measurement area according to the measurement distance, the measurement azimuth angle, and the measurement pitch angle of each measurement point; and the number of the first and second groups,
and the third acquisition module is in communication connection with the second acquisition module and is used for acquiring the boss pit condition of the target measurement area according to the measurement heights of the plurality of measurement points.
10. The land pit identification system of claim 9, further comprising:
the first acquisition unit is in communication connection with the second acquisition module and is used for acquiring the convex point and concave point condition of each measurement point according to the measurement heights of the measurement points;
and the second acquisition unit is in communication connection with the first acquisition unit and acquires boss pit conditions of the target measurement area according to the boss pit conditions of the plurality of measurement points in the target measurement area.
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