CN113085854A - System and method for identifying obstacle above vehicle through radar camera - Google Patents

System and method for identifying obstacle above vehicle through radar camera Download PDF

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Publication number
CN113085854A
CN113085854A CN202110506654.1A CN202110506654A CN113085854A CN 113085854 A CN113085854 A CN 113085854A CN 202110506654 A CN202110506654 A CN 202110506654A CN 113085854 A CN113085854 A CN 113085854A
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vehicle
obstacle
identifying
distance
warning
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苏鹏
夏钰璋
刘帅
柯有恩
高广博
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Dongfeng Motor Corp
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Dongfeng Motor Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/50—Barriers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/53—Road markings, e.g. lane marker or crosswalk
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/801—Lateral distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses a system and a method for identifying obstacles above a vehicle through a radar camera, which comprises the steps of identifying the obstacles above a running vehicle road or a height-limiting warning board; calculating whether the running vehicle has collision risk; warning of collision risk or deceleration braking. The method can objectively and actively identify the barrier clearance in the vertical direction under various road conditions, fully extend the application of the perception fusion equipment, supplement the passing safety in the vertical direction in the vehicle driving process, provide better driving safety experience for a driver, and further improve the improvement of various traffic safety conditions.

Description

System and method for identifying obstacle above vehicle through radar camera
Technical Field
The invention belongs to the technical field of automobile active safety, and particularly relates to a system and a method for identifying obstacles above a vehicle through a radar camera.
Background
With the continuous popularization of the application range of automobiles in daily production and life of people, driving scenes are increasingly complex, and the requirements of safe driving cannot be met only by considering the ground and the environment around the automobiles. When the vehicle runs on a road section with a physical height limit, even if the vehicle has information such as a field height limit warning, a driver cannot ensure that the related information can be completely identified and correct feedback is ensured. In recent years, in a height-limited driving scene, traffic accidents such as vehicle collision with a height-limited rod occur frequently, and vehicle damage and even casualties are caused. The invention provides early warning information from the angle of actively identifying the vertical gap risk, and directly brakes and stops the vehicle at a necessary stage, thereby reducing the collision loss and the risk to the minimum.
CN103935364B discloses an active anti-collision early warning system for automobiles based on millimeter wave radar, but the sensing fusion device of the existing driving assistance system focuses on the detection of the horizontal direction (x, y), has less detection of the height information in the vertical direction (z), and does not make height risk identification for road sections in a partially limited high scene. CN110085042A discloses a vehicle driving early warning system and method based on information fusion, but the identification of height-limited warning boards is not listed in the identification list, and the height warning etc. is insufficient to identify risks in the vertical direction of the vehicle.
Disclosure of Invention
The invention aims to dynamically and in advance judge the clearance risk in the vertical direction in the driving process of a vehicle and mainly focuses on dynamically calculating the distance between an obstacle vertically above the vehicle in front of the vehicle and the preset highest position of the vehicle in real time. And a warning signal is given to a driver in a set range, and when collision caused by the fact that the collision cannot be avoided is judged through calculation, the brake is directly braked with the maximum braking force.
The technical scheme of the method for identifying the obstacle above the vehicle through the radar camera to achieve one of the purposes of the invention is as follows: recognizing barriers or height-limiting warning boards above a road of a running vehicle; calculating whether the running vehicle has collision risk; warning of collision risk or deceleration braking.
The vehicle passes through the limit for height value on the limit for height warning sign on the road of camera discernment place ahead to with the vehicle preset warn the high range and carry out the comparison and confirm whether the vehicle can pass through safely. When the height limit value is not in the warning height range, only the background recognition process does not make any instrument or other warning signals; when the height limit value is within the warning height range and no collision risk exists, only the warning image and warning sound of the instrument are made, and other information forwarding and execution operations are not made; when the limit height value is lower than the lower limit of the warning height range, namely collision risk exists, the instrument warns the collision risk and warning sound, meanwhile, the vehicle related management system and the control system limit the torque request of the engine according to a brake priority strategy, meanwhile, the real-time collision time TTC of the vehicle and the obstacle is calculated, and deceleration braking with different deceleration is carried out according to the TTC and the current vehicle speed.
The lower limit of the height warning range is the vehicle height plus a set value C1Is denoted by q1The upper limit is the vehicle height plus a set value C2Is denoted by q2In which C is1<C2. The height warning range is used for comparing with the height limit value when the vertical distance between the vehicle and the obstacle is less than q2Then, braking with different deceleration is performed according to the measured horizontal distance S between the vehicle and the obstacle and the current vehicle speed V.
The brake priority strategy is to perform priority processing on signals of an accelerator pedal and a brake pedal, wherein the priority of a brake signal is higher than that of the accelerator signal, so that the possibility of out-of-control, influence on the braking effect and the like caused by disordered control of the whole vehicle when the signals of the accelerator pedal and the brake pedal occur simultaneously is avoided. When the signals of the accelerator pedal and the brake pedal are simultaneously generated, the engine is switched to an idling state no matter the accelerator pedal is in any position.
The further technical scheme comprises the following steps: the method for identifying the obstacle or the height-limiting warning board above the running vehicle road comprises the steps of measuring the distance between the vehicle and the obstacle twice or more in the running process of the vehicle, and further calculating the vertical distance and the horizontal distance between the obstacle and the vehicle.
The radar dynamically detects the vertical obstacles on the road ahead in real time during the running process of the vehicle. Wherein the horizontal ranges recognizable by the radars are respectively set according to the different types of radars. The vertical identification range of the radar can be the sum of the height of the vehicle, the height of articles carried above the vehicle and the preset redundancy.
The radar detects the straight-line distance between the obstacle and the vehicle, and the vertical distance and the horizontal distance between the obstacle and the vehicle can be calculated through two detections and the driving distance of the vehicle in two detection periods, wherein the driving distance of the vehicle can be directly read from the vehicle body control module.
The further technical scheme comprises the following steps: the warning board for identifying the barriers or height limits above the running vehicle road comprises a vehicle-mounted camera for identifying the height limit value on the height limit board.
Through the image that the on-vehicle camera was shot, the limit for height value on the limit for height tablet can be discerned to the image recognition module.
The further technical scheme comprises the following steps: and the warning of the collision risk or the deceleration braking comprises the step of comparing the vertical distance and the horizontal distance between the barrier and the vehicle, and warning or vehicle acquisition braking measures are required when the distance is lower than a set value.
Acquiring a high limit value h through a radar or a camera when q is1<＝h<＝q2When the horizontal distance between the vehicle and the obstacle is smaller than the preset horizontal distance, warning actions are started, including but not limited to warning collision risks of an instrument panel and playing warning sounds; the preset horizontal distance of the vehicle can be set according to actual conditions. And when the vehicle is driven away from the lower part of the obstacle and the horizontal distance between the vehicle and the obstacle is greater than the preset horizontal distance, the warning action is finished.
The horizontal distance X between the obstacle and the vehicle and the height h of the obstacle can be calculated according to the straight-line distance between the obstacle and the vehicle recognized in the two function periods of the radar and the driving distance of the vehicle in the function period. And calculating the real-time collision time TTC of the vehicle and the obstacle according to the current real-time vehicle speed V and the calculated horizontal distance X between the obstacle and the vehicle.
When the real-time collision time TTC is smaller than a preset time lower limit value, the vehicle is automatically braked with the maximum deceleration; when the real-time collision time is within a preset time range, sending out a warning signal and carrying out deceleration braking on the vehicle; and when the real-time collision time is greater than the preset time upper limit value, no warning or other work is carried out.
The lower limit of the preset time may be a time value set according to driving habits, for example, 0.8 s. When the real-time collision time is less than the lower limit value, the vehicle is emergently braked at the maximum deceleration so as to avoid the occurrence of the collision accident as much as possible.
The upper limit value of the preset time range may be a time value set according to driving habits, for example, 2.5 s. When the real-time collision time is within the preset time range, the vehicle related management system and the control unit limit the torque request of the engine according to a brake priority strategy, and simultaneously carry out deceleration braking with different acceleration values according to the real-time collision time and the current vehicle speed. And simultaneously, the vehicle instrument warns collision risks and warning sound.
The further technical scheme comprises the following steps: the warning of the collision risk or the deceleration braking comprises the steps of adopting a millimeter wave radar to measure and calculate the horizontal distance between a vertical obstacle and a vehicle when the horizontal distance between the obstacle and the vehicle is larger than or equal to a set value; and when the horizontal distance between the obstacle and the vehicle is smaller than a set value, the ultrasonic radar is involved in measuring and calculating the horizontal distance between the vertical obstacle and the vehicle.
When the horizontal distance S between the obstacle and the vehicle is larger than a set value f, a millimeter wave radar is adopted to measure and calculate the horizontal distance S between the vertical obstacle and the vehicle in real time; when S < f, the ultrasonic radar is involved to measure the horizontal distance S between the vertical obstacle and the vehicle, so that the measurement accuracy is improved.
A system for recognizing an obstacle above a vehicle by a radar camera, which achieves a second object of the present invention, includes: an obstacle identification module: the height limiting plate is used for identifying obstacles or height limiting plates above the driving direction of the vehicle; a distance calculation module: for calculating the vertical and horizontal distances of the obstacle from the vehicle; a risk judgment module: the system is used for identifying whether the current obstacle is in collision risk with the vehicle; a brake module: for braking the vehicle; and a warning module: used for sending out warning signals to the driver.
The obstacle identification module comprises, but is not limited to, an obstacle or a height limiting plate which is used for identifying the front and the rear of the vehicle by using a radar and a camera. Identifying a front obstacle or a height limiting plate to judge whether the vehicle and the obstacle have the risk of collision or not; and the rear obstacle or height limiting plate is used for finishing the warning action after the vehicle exceeds a certain distance after driving away from the obstacle.
The further technical scheme comprises the following steps: the obstacle identification module further comprises an image identification module used for identifying the height limit value on the height limit board.
The further technical scheme comprises the following steps: the distance calculation module comprises a step of acquiring the linear distance S between the obstacle and the vehicle from the obstacle identification module1And S2Thereby calculating the vertical distance and the horizontal distance between the obstacle and the vehicle, S1And S2The straight-line distance between the obstacle and the vehicle in the two detection periods is obtained.
According to the distance S traveled by the vehicle in two detection cycles, and the distance S1And S2The vertical and horizontal distances between the obstacle and the vehicle can be calculated.
The further technical scheme comprises the following steps: the risk judgment module obtains the vertical distance and the horizontal distance between the barrier and the vehicle from the distance calculation module, and judges whether the risk of collision exists and whether the vehicle needs to be braked at different decelerations.
When the vertical distance is lower than the lower limit of the height warning range, a warning module needs to be started to remind a driver, wherein the warning comprises but is not limited to instrument and image warning, and sound warning; the risk judgment module is invoked to calculate the deceleration that needs to be set for the vehicle.
The further technical scheme comprises the following steps: the risk judgment module also comprises a calculation planning module which is used for calculating the real-time collision time TTC of the vehicle and the barrier according to the current real-time vehicle speed and calculating the deceleration value required to be set by the vehicle according to the TTC value.
The method can objectively and actively identify the barrier clearance in the vertical direction under various road conditions, fully extend the application of the perception fusion equipment, supplement the passing safety in the vertical direction in the vehicle driving process, provide better driving safety experience for a driver, and further improve the improvement of various traffic safety conditions.
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FIG. 1 is a schematic flow diagram according to the present invention;
fig. 2 is a schematic diagram of calculating the horizontal and vertical distances between an obstacle and a vehicle according to the present invention.
Detailed Description
The following detailed description is provided for the purpose of explaining the claimed embodiments of the present invention so that those skilled in the art can understand the claims. The scope of the invention is not limited to the following specific implementation configurations. It is intended that the scope of the invention be determined by those skilled in the art from the following detailed description, which includes claims that are directed to this invention.
In the implementation, a front camera is arranged on the front windshield of the vehicle, a millimeter wave radar and an ultrasonic radar are arranged on the ceiling of the vehicle, and when the vehicle passes through a section of road with a vertical obstacle in the front, obstacle information is acquired through recognition of a sensing device arranged on the vehicle. The specific flow is shown in figure 1.
The algorithm for recognizing the height of the obstacle and the horizontal distance between the obstacle and the running vehicle by the radar is shown in FIG. 2, and the physical meanings and the calculation method of the parameters are as follows:
S1and when the radar identifies the information of the obstacle above the driving path, the straight-line distance between the vehicle and the obstacle, wherein the radar identification distance is determined according to different radar products and the distance set manually.
S2And identifying the acquired straight-line distance between the vehicle and the obstacle when the vehicle runs to a second function period of the radar, wherein the function period of the radar is set according to different radar products.
S3The vehicle is given a distance traveled in the driving direction during the two function cycle periods, wherein the distance traveled is read directly from the vehicle meter information source.
h is the vertical distance between the vehicle and the obstacle above the path.
X is the horizontal distance between the vehicle and the obstacle above the path.
At this time, S is known according to Pythagorean theorem1 2＝h2+(S3+X)2Is marked as formula I; s2 2＝h2+X2Is expressed as formula (II).
Subtracting the formula II from the formula I to obtain S1 2-S2 2＝(S3+X)2-X2And can be pushed out: x ═ S1 2-S2 2-S3 2)/2S3。
Meanwhile, according to the formula II, substituting the X obtained as above into the formula II, the following can be obtained:
Figure BDA0003058698800000081
the parameters in the examples were set as follows: height H of vehicle1Is 1.6 m; height H of additional carried articles above vehicle2Is 0.4 m; the upper limit Z of the radar identification range is H1+H2+3, that is, Z is 5m, wherein the parameter 3 is set according to actual needs; upper limit of warning range Qmax＝H1+H2+2, lower limit of warning range Qmin＝H1+H2+0.3, i.e. Qmax＝4m，Qmin2.3m, wherein parameters 2 and 0.3 are set according to actual needs; the radar identification range R is 200m, and the warning preset distance f is 50 m.
The vehicle camera recognizes that the front warning board prompts the front limit height to be 5m, or the radar recognizes that the front obstacle has the height to be 5 m. The system judges that the identified height limit value is larger than the upper limit of the warning range [2.3m, 4m ], and the height limit value has no risk to the vehicle running and does not need to make an instrument or other warning signals.
The vehicle camera recognizes that the front warning board prompts the front limit height to be 3m, or the radar recognizes that the front obstacle has the height to be 3 m. The height limit value is within the warning range [2.3m, 4m ]. When the horizontal distance between the vehicle and the obstacle is greater than or equal to the preset distance of 50m, the millimeter wave radar continuously calculates the horizontal distance without warning; when the horizontal distance is smaller than 50m, the ultrasonic radar is involved to measure and calculate the horizontal distance, and at the moment, the driver is reminded through image and sound alarm to pay attention to the driving safety; and when the vehicle is driven away from the lower part of the obstacle until the horizontal distance is more than or equal to 50m, finishing the warning operation.
The vehicle camera recognizes that the front warning board prompts that the front limit is 2.2m, or the radar recognizes that the front obstacle is 2.2m in height. The height limit value is lower than the lower limit of a warning range [2.3m, 4m ], and at the moment, a driver is reminded through image and sound alarm, and the specific method is as follows:
and obtaining the real-time collision time of the vehicle and the front obstacle according to the real-time speed V of the vehicle and the horizontal distance X between the obstacle and the vehicle, and recording the real-time collision time as TTC. Wherein V can be obtained by the vehicle in real time, X, TTC ═ X/V found according to the formula shown in fig. 2, and the collision risk judgment process is as follows:
1、TTC<t1the vehicle will be automatically braked urgently at maximum deceleration, which may be considered a crash-critical situation. Wherein t is1The time value set according to the driving habits is, for example, 0.8 s.
2、t1≦TTC≦t2The related equipment and instruments of the vehicle send out warning signals, and the engine management system, the automatic gearbox control unit, the automobile electronic stabilizing system and other systems limit the torque request of the engine according to a brake priority strategy, and carry out deceleration braking with different acceleration values according to the current TTC value; wherein t is2The time value set according to the driving habits is, for example, 2.5 s.
3、TTC>t2The vehicle sends out a warning signal.
The invention is suitable for all-level automatic driving vehicles, and can be power battery vehicles or fuel vehicles.

Claims (10)

1. A method for identifying an obstacle above a vehicle through a radar camera is characterized by comprising the following steps: recognizing barriers or height-limiting warning boards above a road of a running vehicle; calculating whether the running vehicle has collision risk; warning of collision risk or deceleration braking.
2. The method of identifying an obstacle above a vehicle by a radar camera of claim 1, wherein: the method for identifying the obstacle or the height-limiting warning board above the running vehicle road comprises the steps of measuring the distance between the vehicle and the obstacle twice or more in the running process of the vehicle, and further calculating the vertical distance and the horizontal distance between the obstacle and the vehicle.
3. The method of identifying an obstacle above a vehicle by a radar camera of claim 1, wherein: the warning board for identifying the barriers or height limits above the running vehicle road comprises a vehicle-mounted camera for identifying the height limit value on the height limit board.
4. The method of identifying an obstacle above a vehicle by a radar camera of claim 1, wherein: and the warning of the collision risk or the deceleration braking comprises the step of comparing the vertical distance and the horizontal distance between the barrier and the vehicle, and warning or vehicle acquisition braking measures are required when the distance is lower than a set value.
5. The method of identifying an obstacle above a vehicle by a radar camera of claim 1, wherein: the warning of the collision risk or the deceleration braking comprises the steps of adopting a millimeter wave radar to measure and calculate the horizontal distance between a vertical obstacle and a vehicle when the horizontal distance between the obstacle and the vehicle is larger than or equal to a set value; and when the horizontal distance between the obstacle and the vehicle is smaller than a set value, the ultrasonic radar is involved in measuring and calculating the horizontal distance between the vertical obstacle and the vehicle.
6. A system for identifying obstacles above a vehicle through a radar camera is characterized in that: the method comprises the following steps: an obstacle identification module: the height limiting plate is used for identifying obstacles or height limiting plates above the front and back of the driving direction of the vehicle; a distance calculation module: for calculating the vertical and horizontal distances of the obstacle from the vehicle; a risk judgment module: the system is used for identifying whether the current obstacle is in collision risk with the vehicle; a brake module: for braking the vehicle; and a warning module: used for sending out warning signals to the driver.
7. The system for identifying obstacles above a vehicle via a radar camera of claim 6, wherein: the obstacle identification module further comprises an image identification module used for identifying the height limit value on the height limit board.
8. The system for identifying obstacles above a vehicle via a radar camera of claim 6, wherein: the distance calculation module comprises a step of acquiring the linear distance S between the obstacle and the vehicle from the obstacle identification module1And S2Thereby calculating the vertical distance and the horizontal distance between the obstacle and the vehicle, S1And S2The straight-line distance between the obstacle and the vehicle in the two detection periods is obtained.
9. The system for identifying obstacles above a vehicle via a radar camera of claim 6, wherein: the risk judgment module obtains the vertical distance and the horizontal distance between the barrier and the vehicle from the distance calculation module, and judges whether the risk of collision exists and whether the vehicle needs to be braked at different decelerations.
10. The system for identifying obstacles above a vehicle via a radar camera of claim 6, wherein: the risk judgment module also comprises a calculation planning module which is used for calculating the real-time collision time TTC of the vehicle and the barrier according to the current real-time vehicle speed and calculating the deceleration value required to be set by the vehicle according to the TTC value.
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