CN114155732A

CN114155732A - Vehicle surrounding obstacle monitoring method, electronic device, and storage medium

Info

Publication number: CN114155732A
Application number: CN202111627269.9A
Authority: CN
Inventors: 高罗辉; 陈建辉
Original assignee: Dongfeng Nissan Passenger Vehicle Co
Current assignee: Dongfeng Nissan Passenger Vehicle Co
Priority date: 2021-12-28
Filing date: 2021-12-28
Publication date: 2022-03-08
Anticipated expiration: 2041-12-28
Also published as: CN114155732B

Abstract

The invention discloses a vehicle surrounding obstacle monitoring method, electronic equipment and a storage medium. The method comprises the following steps: acquiring communication information of an obstacle communication terminal of an obstacle in a monitored range through a vehicle communication terminal in communication connection with a vehicle machine; based on the communication information, taking a connecting line of the vehicle position point marked by the vehicle communication terminal and the obstacle position point marked by the obstacle communication terminal as a vehicle distance direction; acquiring vehicle motion information and barrier motion information, and calculating relative motion information of the vehicle and the barrier; determining reference motion information of the relative motion information about the inter-vehicle distance direction; and monitoring the obstacle based on the reference motion information. The invention monitors the obstacle through the vehicle communication terminal and the obstacle communication terminal, adopts a network interaction means based on V2X for information interaction, can realize the simultaneous acquisition of the motion parameters of the surrounding obstacles in a large range and high precision, and has low cost and high reliability.

Description

Vehicle surrounding obstacle monitoring method, electronic device, and storage medium

Technical Field

The present invention relates to the field of automotive technologies, and in particular, to a method for monitoring obstacles around a vehicle, an electronic device, and a storage medium.

Background

The existing automatic driving vehicle carries out the identification and detection of obstacles in a small range through auxiliary monitoring equipment such as radars, cameras and the like. However, the cost performance is not high due to the limitation of the installation position and the equipment precision; meanwhile, the safety and the automation degree need to be improved, the regulation and control are not intelligent and accurate enough, some schemes can only be used for warning and reminding, and a user needs to coordinate to complete the regulation of the vehicle arrival state; some schemes pass roughly through a method of specifying a threshold after which emergency braking occurs.

The problems existing in the prior art are mainly as follows:

1. the cost performance difference is as follows: the precision of auxiliary distance measuring equipment such as radars or sensors is limited, and a plurality of positions are required to be installed to avoid dead zones, so that the cost is increased, and the cost performance is not high;

2. the safety needs to be improved: only an auxiliary means is used as prompt information to warn a user, and the adjustment of the vehicle running state still needs to be finished by the user (except emergency braking);

3. difficult to use for automated regulation: the automatic adjustment degree of the vehicle state depends on the reliability of a radar or a sensor, but the automatic adjustment degree is not high at present due to the limitations of price and layout;

4. the accuracy is affected: when facing multi-azimuth multi-obstacle objects, blind areas are easy to occur to cause unsuccessful monitoring (in order to avoid the blind areas, the existing method of mounting at a plurality of positions is adopted, so that the cost is greatly increased), meanwhile, even the blind areas are avoided, but under the environment that the radar or the sensor is influenced by the precision (such as electromagnetic interference, lens shielding, rainy days and other severe environments), the monitoring precision is also greatly influenced, and misjudgment is easy to occur;

5. the monitoring distance is limited (and an increase in the monitoring distance causes a sharp rise in cost).

Disclosure of Invention

In view of the above, it is necessary to provide a vehicle surrounding obstacle monitoring method, an electronic device, and a storage medium, which solve the technical problems of the existing autonomous vehicle due to the use of radar or sensors.

The invention provides a method for monitoring obstacles around a vehicle, which comprises the following steps:

acquiring communication information of an obstacle communication terminal of an obstacle in a monitored range through a vehicle communication terminal in communication connection with a vehicle machine;

based on the communication information, taking a connecting line of the vehicle position point marked by the vehicle communication terminal and the obstacle position point marked by the obstacle communication terminal as a vehicle distance direction;

acquiring vehicle motion information and barrier motion information, and calculating relative motion information of the vehicle and the barrier;

determining reference motion information of the relative motion information about the inter-vehicle distance direction;

monitoring the obstacle based on the reference motion information.

Further, the vehicle motion information includes vehicle speed V1 and vehicle acceleration a1, the obstacle motion information includes obstacle speed V2 and obstacle acceleration a2, and the relative motion information includes relative speed V12 calculated from vehicle speed V1 and obstacle speed V2, and relative acceleration a12 calculated from vehicle acceleration a1 and obstacle acceleration a 2;

the determining of the reference motion information of the relative motion information about the inter-vehicle distance direction specifically includes:

calculating a first relative velocity component V12x of the relative velocity V12 in the vehicle-to-vehicle direction and a second relative velocity component V12y perpendicular to the vehicle-to-vehicle direction;

a first relative acceleration component a12x of the relative acceleration a12 in the vehicle-spacing direction and a second relative acceleration component a12y perpendicular to the vehicle-spacing direction are calculated.

Further, the monitoring the obstacle based on the reference motion information specifically includes:

and calculating and displaying the relative motion trail of the vehicle and the obstacle based on the reference motion information.

Still further, the calculating and displaying the relative movement trajectory of the host vehicle and the obstacle based on the reference movement information specifically includes:

calculating the relative movement track of the vehicle and the obstacle according to the first relative speed component, the second relative speed component, the first relative acceleration component and the second relative acceleration component;

and displaying the relative motion track.

Still further, the calculating a relative movement trajectory of the host vehicle and the obstacle according to the first relative velocity component, the second relative velocity component, the first relative acceleration component, and the second relative acceleration component specifically includes:

the first displacement component function along the vehicle distance direction for calculating the relative motion trail of the vehicle and the obstacle is Sx ═ V12x ^ t +1/2 ^ a12x ^ t 2, and the second displacement component function along the vertical vehicle distance direction for calculating the relative motion trail of the vehicle and the obstacle is Sy ═ V12y ^ t +1/2 ^ a12y ^ t 2, wherein t is time.

calculating the distance between the vehicle and the obstacle;

if the distance between the vehicle and the obstacle is smaller than or equal to a preset distance threshold, calculating and displaying the relative motion trail between the vehicle and the obstacle, or if the distance between the vehicle and the obstacle is larger than the preset distance threshold and the distance between the vehicle and the obstacle is smaller than or equal to the relative speed, calculating and displaying the relative motion trail between the vehicle and the obstacle.

Still further, the calculating the distance between the vehicle and the obstacle specifically includes:

calculating a communication distance S12' between the vehicle communication terminal and the obstacle communication terminal according to the communication information of the obstacle communication terminal;

and calculating the distance S12 between the vehicle and the obstacle to be S12' -K, wherein K is a preset correction value.

Still further, the monitoring the obstacle based on the reference motion information specifically includes:

if the monitoring safety condition is not met, monitoring the reference movement information of the vehicle and the barrier;

under the monitoring condition, if the regulation and control safety condition is not met, judging whether the vehicle and the barrier collide with each other or not based on the reference motion information;

and if the collision between the vehicle and the obstacle is judged, the vehicle is adjusted.

And further:

if the monitoring safety condition is not met, the reference motion information of the vehicle and the obstacle is monitored, and the method specifically comprises the following steps:

calculating the distance between the vehicle and the obstacle;

if the distance between the vehicle and the obstacle is smaller than or equal to a preset distance threshold, monitoring the reference movement information of the vehicle and the obstacle, or if the distance between the vehicle and the obstacle is larger than the preset distance threshold and the distance between the vehicle and the obstacle is smaller than or equal to the relative speed, monitoring the reference movement information of the vehicle and the obstacle;

the judging whether the vehicle collides with the obstacle specifically comprises:

under the monitoring condition, if the distance between the vehicle and the obstacle is smaller than or equal to a preset distance parameter judgment value, judging whether the vehicle and the obstacle collide, or if the distance between the vehicle and the obstacle is larger than or equal to the preset distance parameter judgment value and the distance between the vehicle and the obstacle is smaller than or equal to the relative speed, judging whether the vehicle and the obstacle collide, wherein the distance parameter judgment value is smaller than or equal to the distance threshold value.

And further, the distance parameter judgment value is determined according to the number of the obstacles in the monitored range, and the distance parameter judgment value corresponding to the larger number of the obstacles is larger than or equal to the distance parameter judgment value corresponding to the smaller number of the obstacles.

Still further, the determining whether the vehicle collides with the obstacle specifically includes:

calculating a first displacement component function Sx ═ V12x ^ t +1/2 ^ a12x ^ t ^2 along the vehicle distance direction of the relative motion trail of the host vehicle and the obstacle, and calculating a second displacement component function Sy ═ V12y ^ t +1/2 ^ a12y ^ t ^2 along the vertical vehicle distance direction of the relative motion trail of the host vehicle and the obstacle, wherein t is time;

if Sx is equal to S12, Sy is larger than or equal to the safety threshold, judging that the vehicle and the obstacle do not collide, otherwise, judging that the vehicle and the obstacle collide.

Still further, if it is determined that the host vehicle collides with the obstacle, adjusting the vehicle specifically includes:

if the collision between the vehicle and the obstacle is judged, whether the first relative acceleration component a12x is equal to 0 is judged;

if the first relative acceleration component a12x is not equal to 0, controlling the vehicle speed and/or direction such that the second relative acceleration component a12y ≧ L12 x ^2+ a12x ^ V12x ^ V12y-a12x ^ V12y ^ sqrt (V12x ^2+2a12 ^ S12 x S12) ]/[ a12x ^ S12+ V12x ^2-V12x ^ sqrt (V12x ^2+ 2^ a12x ^ S12) ], where L is a safety threshold;

if the first relative acceleration component a12x is equal to 0, the vehicle speed and/or direction is controlled such that the second relative acceleration component a12y ≧ 2L V12x ^ 2-2V 12x ^ V12y ^ S12)/S12^2, where L is a safety threshold.

Still further, the obstacle in the monitored range is a plurality of, if it is judged that this car and obstacle will collide, then adjust the vehicle, specifically include:

calculating a first displacement component function along the vehicle distance direction of the relative motion track of the host vehicle and each obstacle and a second displacement component function along the vertical vehicle distance direction of the relative motion track of the host vehicle and each obstacle, wherein the first displacement component function along the vehicle distance direction of the relative motion track of the host vehicle and the u-th obstacle is Sux ═ V1ux ═ t +1/2 a1ux ^ t ^2, the second displacement component function along the vertical vehicle distance direction of the relative motion track of the host vehicle and the u-th obstacle is Suy ═ V1uy ═ t +1/2 ^ a1uy ^ t ^2, wherein t is time, V1ux is a first relative speed component along the vehicle distance direction of the host vehicle speed V1 and the u-th obstacle speed Vu calculated, the first relative speed component along the vehicle distance direction of the host vehicle speed V1u is calculated, V1uy is a relative speed component perpendicular to the vehicle speed V1 direction, and the acceleration of the first acceleration along the acceleration from the first vehicle distance direction 4642 a to the acceleration from the u-th obstacle is calculated Degree component, a1y is a second relative acceleration component of the u-th relative acceleration a1u perpendicular to the vehicle distance direction;

if Sux is S1u, Suy is more than or equal to a safety threshold, the vehicle is judged not to collide with the u-th obstacle, otherwise, the vehicle is judged to collide with the u-th obstacle, and S1u is the distance between the vehicle and the u-th obstacle to be calculated;

taking all the obstacles which can collide as obstacles to be calculated, and judging whether a first relative acceleration component of each obstacle to be calculated is equal to 0 or not for each obstacle to be calculated;

controlling the vehicle such that for each obstacle to be calculated:

if the first relative acceleration component a1wx of the vehicle relative to the w-th obstacle to be calculated is not equal to 0, controlling the speed and/or direction of the vehicle so that the second relative acceleration component a1wy of the vehicle relative to the w-th obstacle to be calculated is not less than [ L [ a1wx ^2+ a1wx [ V1wx ] V1wy-a1wx ] V1wy sqrt (V1wx ^2+2 [ a1wx ] S1w) ]/[ a1wx [ S1w + V1wx ^2-V1wx ] sqrt (V1wx ^2+2 [ a1wx ] S1w) ];

if the first relative acceleration component a1wx of the vehicle relative to the w-th obstacle is equal to 0, controlling the speed and/or direction of the vehicle, so that the second relative acceleration component a1wy of the vehicle relative to the w-th obstacle to be calculated is more than or equal to (2L V1wx ^ 2-2V 1wx ^ V1wy ^ S12)/S1w ^2, wherein L is a safety threshold;

wherein L is a safety threshold, V1wx is a first relative velocity component of a w-th relative velocity V1w along a vehicle distance direction, which is calculated by a vehicle speed V1 and a w-th obstacle velocity Vw, V1wy is a second relative velocity component of the w-th relative velocity V1w perpendicular to the vehicle distance direction, a1wx is a first relative acceleration component of a w-th relative acceleration a1w along the vehicle distance direction, which is calculated by a vehicle acceleration a1 and a w-th obstacle acceleration aw, a1y is a second relative acceleration component of the w-th relative acceleration a1w perpendicular to the vehicle distance direction, and S1w is a distance between the vehicle and the w-th obstacle to be calculated.

The present invention provides an electronic device, including:

at least one processor; and the number of the first and second groups,

a memory communicatively coupled to at least one of the processors; wherein the content of the first and second substances,

the memory stores instructions executable by at least one of the processors to enable the at least one processor to perform the method of monitoring obstacles around a vehicle as previously described.

The present invention provides a storage medium storing computer instructions for performing all the steps of the vehicle surrounding obstacle monitoring method as described above, when the computer executes the computer instructions.

According to the invention, the reference motion information of relative motion information about the vehicle distance direction is determined through the vehicle communication terminal and the obstacle communication terminal, and the obstacle is monitored based on the reference motion information, so that the driving parameters (acceleration and acceleration angle) of the vehicle can be optimized in real time, the motion state of the vehicle is automatically adjusted, and the risk of collision with surrounding obstacles is avoided; the information interaction adopts a network interaction means based on V2X, can realize the simultaneous acquisition of the motion parameters of a plurality of obstacles around in a large range and with high precision, and has low cost and high reliability; the method can be used for automatically controlling the motion state of the vehicle in real time in the automatic driving process.

Drawings

FIG. 1 is a flowchart illustrating a method for monitoring obstacles around a vehicle according to the present invention;

FIG. 2 is a flowchart illustrating a method for monitoring obstacles around a vehicle according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of an original motion trajectory and an adjusted motion trajectory;

FIG. 4 is a schematic diagram of multiple traces;

FIG. 5 is a flowchart illustrating a method for monitoring obstacles around a vehicle according to a preferred embodiment of the present invention;

fig. 6 is a schematic diagram of a hardware structure of an electronic device according to the present invention.

Detailed Description

The following further describes embodiments of the present invention with reference to the accompanying drawings. In which like parts are designated by like reference numerals. It should be noted that the terms "front," "back," "left," "right," "upper" and "lower" used in the following description refer to directions in the drawings, and the terms "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.

Example one

Fig. 1 is a flowchart illustrating a method for monitoring obstacles around a vehicle according to the present invention, which includes:

step S101, obtaining communication information of an obstacle communication terminal of an obstacle in a monitored range through a vehicle communication terminal in communication connection with a vehicle machine;

step S102, based on the communication information, using the connecting line of the vehicle position point marked by the vehicle communication terminal and the obstacle position point marked by the obstacle communication terminal as the vehicle distance direction;

step S103, obtaining the vehicle motion information and the obstacle motion information, and calculating the relative motion information of the vehicle and the obstacle;

step S104, determining reference motion information of the relative motion information about the vehicle distance direction;

and step S105, monitoring the obstacle based on the reference motion information.

Specifically, the present invention can be applied to a network server or an Electronic Control Unit (ECU) of a vehicle. The vehicle that monitors the surrounding obstacle is the host vehicle. The communication terminal may be a mobile terminal, such as a smartphone or the like. In step S101, the host Vehicle communication terminal communicates with the obstacle communication terminal by Vehicle wireless communication technology (Vehicle to X, V2X), and then acquires communication information. Then, in step S102, the inter-vehicle distance direction is determined based on the communication information. The vehicle distance direction is selected as a connecting line of the vehicle communication terminal and the obstacle communication terminal. Specifically, the host communication terminal may select, as the inter-vehicle distance direction, the direction in which the signal intensity of the received communication signal is the greatest, based on the signal intensity of the communication information.

Then, step S103 obtains the vehicle motion information and the obstacle motion information, wherein the vehicle motion information is obtained from the sensor of the vehicle, and the obstacle motion information is sent to the vehicle communication terminal through the obstacle communication terminal after being detected by the sensor of the obstacle, and then the relative motion information of the vehicle and the obstacle is calculated by the controller of the vehicle. Or the vehicle motion information and the obstacle motion information are both sent to a network server, and the network server calculates the relative motion information of the vehicle and the obstacle. For example, if the obstacle is an obstacle vehicle, the obstacle vehicle acquires the movement information of the vehicle and then transmits the information through an obstacle communication terminal in communication connection with the obstacle vehicle. For another example, if the obstacle is a person, the motion information is detected by a mobile phone held by the person, and then the information is transmitted by the mobile phone.

After the relative movement information is obtained, the relative movement information is decomposed into reference movement information about the inter-vehicle distance direction, and finally step S105 is performed to monitor the obstacle based on the reference movement information.

According to the invention, the reference motion information of the relative motion information about the vehicle distance direction is determined through the vehicle communication terminal and the obstacle communication terminal, and the obstacle is monitored based on the reference motion information, and as the information interaction adopts a network interaction means based on V2X, the motion parameters of a plurality of surrounding obstacles can be acquired simultaneously in a large range and with high precision, the cost is low, the reliability is high, and the method can be used for automatically controlling the motion state of the vehicle in real time in the automatic driving process.

Example two

Fig. 2 is a flowchart illustrating a method for monitoring obstacles around a vehicle according to an embodiment of the present invention, including:

step S201, obtaining communication information of an obstacle communication terminal of an obstacle in a monitored range through a vehicle communication terminal in communication connection with a vehicle machine;

step S202, based on the communication information, using the connecting line of the vehicle position point marked by the vehicle communication terminal and the obstacle position point marked by the obstacle communication terminal as the vehicle distance direction;

step S203, obtaining vehicle motion information and obstacle motion information, and calculating relative motion information of a vehicle and an obstacle, wherein the vehicle motion information comprises vehicle speed V1 and vehicle acceleration a1, the obstacle motion information comprises obstacle speed V2 and obstacle acceleration a2, and the relative motion information comprises relative speed V12 calculated according to vehicle speed V1 and obstacle speed V2, and relative acceleration a12 calculated according to vehicle acceleration a1 and obstacle acceleration a 2;

step S204, calculating a first relative speed component V12x of the relative speed V12 along the vehicle distance direction and a second relative speed component V12y perpendicular to the vehicle distance direction, and calculating a first relative acceleration component a12x of the relative acceleration a12 along the vehicle distance direction and a second relative acceleration component a12y perpendicular to the vehicle distance direction;

step S205 calculates and displays a relative movement trajectory between the host vehicle and the obstacle based on the reference movement information.

In one embodiment, the calculating and displaying the relative movement trajectory of the host vehicle and the obstacle based on the reference movement information specifically includes:

and displaying the relative motion track.

In one embodiment, the calculating the relative movement trajectory of the host vehicle and the obstacle according to the first relative velocity component, the second relative velocity component, the first relative acceleration component, and the second relative acceleration component specifically includes:

calculating the distance between the vehicle and the obstacle;

In one embodiment, the calculating the distance between the host vehicle and the obstacle specifically includes:

Step S206, if the monitoring safety condition is not met, monitoring the reference movement information of the vehicle and the obstacle;

step S207, under the monitoring condition, if the regulation and control safety condition is not met, judging whether the vehicle and the barrier collide with each other or not based on the reference motion information;

in step S208, if it is determined that the host vehicle collides with the obstacle, the vehicle is adjusted.

In one embodiment:

calculating the distance between the vehicle and the obstacle;

In one embodiment, the distance parameter judgment value is determined according to the number of obstacles of the obstacles in the monitored range, and the distance parameter judgment value corresponding to the larger number of obstacles is greater than or equal to the distance parameter judgment value corresponding to the smaller number of obstacles.

In one embodiment, the determining whether the host vehicle collides with the obstacle specifically includes:

In one embodiment, if it is determined that the host vehicle and the obstacle may collide with each other, the adjusting the vehicle specifically includes:

In one embodiment, the number of obstacles in the monitored range is multiple, and if it is determined that the host vehicle and the obstacle collide with each other, adjusting the vehicle specifically includes:

controlling the vehicle such that for each obstacle to be calculated:

Specifically, in step S201, the communication information of the obstacle communication terminal of the obstacle in the monitored range is acquired by the host vehicle communication terminal in communication connection with the host vehicle. Wherein, if the obstacle is a vehicle: the Controller Area Network (CAN) Network directly obtains the motion information and uploads the motion information to the Network end through the mobile phone APP. If the obstacle is a person, the mobile phone APP acquires information through the GPS system and uploads the information to the network side. Identification: firstly, binding a mobile phone APP and a vehicle machine one to one, and simultaneously allocating an ID code to each vehicle at a network side, wherein the ID code corresponds to an account number of the mobile phone APP one to one; secondly, the mobile phone APP sends out information to the outside in real time, so that another mobile phone APP in a certain range around the mobile phone APP can capture the information uploaded to the network end in real time.

In step S202, a connecting line between the vehicle position point marked by the vehicle communication terminal and the obstacle position point marked by the obstacle communication terminal is used as a vehicle distance direction based on the communication information. Specifically, the vehicle distance direction is taken as the x-axis direction, and the vertical vehicle distance direction is taken as the y-axis direction.

In step S203, vehicle motion information and obstacle motion information are acquired, where the vehicle motion information includes vehicle speed V1 and vehicle acceleration a1, and the obstacle motion information includes obstacle speed V2 and obstacle acceleration a 2. Then, the difference between V1 and V2 is calculated as a relative speed V12, and the difference between a1 and a2 is calculated as a relative acceleration a 12. Preferably, the relative speed V12 is V1-V2, and the relative acceleration a12 is a1-a 2.

Then step S204 calculates the velocity components along the vehicle distance and in the direction perpendicular to the vehicle distance: v12x, V12y, and calculating the acceleration components along and perpendicular to the vehicle distance: a12x, a12 y.

Then, in step S205, based on the reference motion information, the relative motion trajectory between the host vehicle and the obstacle is calculated and displayed.

The relative motion track is represented by a track function, the track function comprises a first displacement component function Sx ═ V12x ^ t +1/2 ^ a12x ^ t ^2 of the relative motion track of the host vehicle and the obstacle in the vehicle distance direction, and a second displacement component function Sy ═ V12y ^ t +1/2 ^ a12y ^ t ^2 in the vertical vehicle distance direction of the relative motion track of the host vehicle and the obstacle, wherein t is time. Where 2 is the square calculation, i.e., t 2 is the square of time t. The trajectory function represents the displacement Sx in the inter-vehicle distance direction and the displacement Sy in the vertical inter-vehicle distance direction after time t using the vehicle motion information and the obstacle motion information obtained at present. And displaying the track function on a two-dimensional coordinate to obtain a relative motion track.

The relative movement trajectory may be calculated and displayed only when the condition is satisfied. The conditions for calculating and displaying the relative motion trajectory are as follows: if the distance between the vehicle and the obstacle is smaller than or equal to a preset distance threshold, calculating and displaying the relative motion trail between the vehicle and the obstacle, or if the distance between the vehicle and the obstacle is larger than the preset distance threshold and the distance between the vehicle and the obstacle is smaller than or equal to the relative speed, calculating and displaying the relative motion trail between the vehicle and the obstacle.

When the vehicle runs at a high speed, the safe vehicle distance is kept to be generally related to the vehicle speed, if the vehicle distance value is larger than the relative vehicle speed value, the vehicle is considered to be safe running, and the relative motion track is not required to be calculated and displayed.

And if the distance between the vehicles is within the distance threshold, calculating and displaying the relative motion track, and entering monitoring calculation.

And at the vehicle distance above the distance threshold, if the running speed is in an extreme condition, the relative speed is greater than the vehicle distance value, calculating and displaying the relative movement track, and entering monitoring calculation, wherein the comparison between the relative speed and the vehicle distance value is the comparison between the numerical value of the relative speed and the vehicle distance value in a standard unit. For example, the vehicle distance value S12 is expressed in meters, and the relative vehicle speed is kilometers per hour, and the relative vehicle speed value is compared with the vehicle distance value.

And after the monitoring calculation is carried out, whether the regulation and control conditions are met is further calculated, and whether the collision occurs is calculated when the regulation and control conditions are met. The regulation and control conditions are as follows: under the monitoring condition, if the distance between the vehicle and the obstacle is smaller than or equal to a preset distance parameter judgment value, judging whether the vehicle and the obstacle collide, or if the distance between the vehicle and the obstacle is larger than or equal to the preset distance parameter judgment value and the distance between the vehicle and the obstacle is smaller than or equal to the relative speed, judging whether the vehicle and the obstacle collide, wherein the distance parameter judgment value is smaller than or equal to the distance threshold value.

The distance parameter judgment value is a P value, and is determined according to the number of obstacles of the obstacle identified in the monitored range, for example, more than 10: p is 80 m; within 10: p is 60 m.

The vehicle distance value S12 is corrected in consideration of the volume size of the monitored object, and S12 is S12' -K, where K is a preset correction value, and preferably K is 4 meters.

Specifically, whether the monitoring and the automatic regulation are carried out in a self-adaptive mode or not is firstly selected according to the distance between vehicles and then is combined with the size relation between the distance between vehicles and the relative speed:

in the range of distance parameter judgement value-distance threshold value relative distance, when the distance is less than relative speed, it can be automatically calculated and regulated or not.

And secondly, within the judgment value of the spacing parameter, the automatic calculation and regulation are forced to enter.

When there are many objects (more than 10 objects) in the monitored range, the time for monitoring and controlling needs to be earlier, for example, the distance of 80m starts to be automatically calculated and controlled; if there are few objects (within 10 objects) in the monitored range, the time required for intervention monitoring and control can be later, for example, the time interval of 60m is started to automatically calculate and control.

As shown in fig. 3, when Sx is equal to S12, Sy is equal to or greater than the safety threshold, it is determined that no collision occurs, and the safety threshold is added for practical reasons, considering that the vehicle is bulky and the location point of the communication equipment is the vehicle center point. Preferably, the safety threshold is 2 meters. When Sx is equal to S12, Sy < safety threshold, it is determined that a collision may occur, and a corresponding regulation formula is selected according to whether a12x is equal to 0.

For the case of a safety threshold of 2 meters:

if a12x is not equal to 0, then automatically reducing the speed, and simultaneously adjusting a12x and a12y to finally satisfy the relation that a12y is more than or equal to f (a12x) [ 2a12x ^2+ a12x ^ V12x V12y-a12x ^ V12y ^ sqrt (V12x ^2+2a12x ^ S12)]/[a12x*S12+V12x^2-V12x*sqrt(V12x^2+2*a12x*S12)]. Wherein sqrt is an evolution function, i.e. sqrt (V12x ^2+ 2^ a12x ^ S12) is

If a12x equals 0, then the speed is automatically reduced: and regulating a12x and a12y simultaneously to finally enable the relation of a12y ≥ 4x V12x ^2-2 x V12x x V12y x S12)/S12^2 to be satisfied.

Specifically, the controller calculates optimal parameters according to the relation of (i) or (ii), and then sends the optimal parameters to the controller for vehicle adjustment. The adjusting method comprises the following steps: firstly, the ECU sends out a braking signal to decelerate; and secondly, the ECU sends braking and steering signals simultaneously to decelerate.

The first method is selected preferentially during adjustment: the ECU sends a brake signal to decelerate, and in this case, the direction of the vehicle acceleration a1 is kept constant and the magnitude thereof is reduced. If the first method is not enough to avoid the collision risk, selecting a second method: the ECU simultaneously sends braking and steering signals to decelerate. In this case, the magnitude of the vehicle acceleration a1 is reduced and the direction is adjusted.

The optimal acceleration and the optimal steering angle are automatically calculated by software, and the ECU sends the calculated acceleration and the calculated steering angle to the actuator, so that the motion parameters of the vehicle are changed, and the motion state is adjusted to avoid collision with the monitored object. And outputting the adjusted relative motion trail diagram, adjusting the motion parameters of the vehicle, and returning to the step S201 to perform recirculation for real-time monitoring calculation.

In the case of a plurality of objects, a plurality of object data may be simultaneously introduced, the optimal adjustment parameters may be calculated while comprehensively considering the influence of each object, and the vehicle state may be adjusted by giving the vehicle the optimal adjustment parameters via the controller.

All obstacles in the monitored range are to-be-calculated obstacles; when the judgment is made, the motion condition equations corresponding to each obstacle are simultaneously satisfied, and the selection of the equations is judged according to whether a1wx (w is the obstacle number) is equal to 0 or not;

such as: the existing 3 obstacles are simultaneously in the monitoring range, the numbers are respectively 2, 3 and 4, and the safety threshold value is 2 meters as an example.

If a12x ≠ 0& a13x ≠ 0& a14x ≠ 0, the vehicle is adjusted so that it is

a12y≥(4*V12x^2-2*V12x*V12y*S12)/S12^2

&a13y≥[2*a13x^2+a13x*V13x*V13y-a13x*V13y*sqrt(V13x^2+2a13x*S13)]/[a13x*S13+V13x^2-V13x*sqrt(V13x^2+2*a13x*S13)]

&a14y≥[2*a14x^2+a14x*V14x*V14y-a14x*V14y*sqrt(V14x^2+2a14x*S14)]/[a14x*S14+V14x^2-V14x*sqrt(V14x^2+2*a14x*S14)]

The vehicle speed and/or direction is adjusted so that the three inequalities are satisfied simultaneously.

In the embodiment, the V2X technology is used to realize interaction and information transmission between the vehicle and an obstacle (any object capable of communication, such as a vehicle and a person). The current motion state and the relative motion trail between the vehicle and the object in the monitored range are displayed to the user through motion trail display and warning reminding on the instrument. And (3) automatically solving an optimal motion parameter, and actively adjusting the motion parameter (the acceleration and the steering wheel angle) of the vehicle under the condition of need (such as the distance is less than 80m, the collision risk exists, and the vehicle owner still does not take an active avoidance measure). The motion parameters are optimized by considering multiple factors, and when a plurality of obstacles are around, the influence of each obstacle can be considered simultaneously, the optimal acceleration and the optimal adjustment angle are solved, and the collision with each obstacle in the monitoring range is avoided. The monitoring range is wide, the cost is low, and any object which can carry out network communication for information interaction can be integrated into the monitoring network to become a part to be monitored.

By the monitoring and calculating system, the running parameters (acceleration and acceleration angle) of the vehicle can be optimized in real time, so that the motion state of the vehicle is automatically adjusted, and the risk of collision with surrounding obstacles is avoided; the information interaction adopts a network interaction means based on V2X, can realize the simultaneous acquisition of the motion parameters of a plurality of obstacles around in a large range and with high precision, and has low cost and high reliability; the method can be used for automatically controlling the motion state of the vehicle in real time in the automatic driving process.

Fig. 5 is a flowchart illustrating a method for monitoring obstacles around a vehicle according to a preferred embodiment of the present invention, which includes:

step S501, the mobile phone APP and the vehicle machine are bound one to one, meanwhile, an ID code is distributed to each vehicle at the network side and corresponds to the mobile phone APP account number one to one, and the mobile phone APP sends out information to the outside in real time so that another mobile phone APP in a certain range around the mobile phone APP can capture the information uploaded to the network side in real time.

And step S502, identifying all objects within the range of 500m, reading the information of the objects, then performing subsequent calculation, automatically identifying the ID codes through a vehicle-machine network during vehicle identification, and selecting a distance parameter judgment value P (more than 10: P is 80m, and less than 10: P is 60m) according to the number of the identified vehicles.

Step S503, reading the vehicle information: vehicle speed V1; acceleration a 1;

reading the monitored object information: speed V2; acceleration a 2;

calculating the distance between the vehicle and the monitored object and taking a correction value: s12 (the correction value is Δ S12-4m, and the correction value is used as the following inter-vehicle distance value in consideration of the volume of the object, and is substituted in the following calculation);

and (4) respectively calculating included angles alpha and beta between the a1 and the a2 and the vehicle distance direction in the step 3.

In step S504, the following relative velocity and acceleration are calculated: v12; a 12;

calculating the velocity components along the vehicle distance and the direction vertical to the vehicle distance: v12x, V12 y;

calculating acceleration components along the vehicle distance and the direction vertical to the vehicle distance: a12x, a12 y.

Step S505, determining whether the monitoring condition is satisfied, if the monitoring safety condition is satisfied, executing step S502, otherwise executing step S506.

The monitoring safety conditions are as follows: s12>150m and S12> V12 (where the unit of S12 is m; the unit of V12 is km/h)

Description of the drawings: whether the vehicle enters into the calculation processing or not is selected in a self-adaptive manner according to the vehicle distance and the size relation between the vehicle distance and the relative speed;

firstly, high-speed running keeps that the safe distance is generally related to the speed of the vehicle, if the distance value S12 is more than 150m and the distance value is more than the relative speed value, the vehicle is considered to be safe running, and the step S502 is skipped;

secondly, the distance is over 150m, and the monitoring calculation is also carried out when the running speed is in an extreme condition (the relative speed is more than 150km/h), and the step S506 is skipped;

thirdly, the vehicle distances within 150m enter monitoring calculation, and the step S506 is skipped.

Step S506, calculating the relative movement trajectory between the host vehicle and the monitored object:

①Sx＝V12x*t+1/2*a12x*t^2；

②Sy＝V12y*t+1/2*a12y*t^2；

wherein V12 and a12 are both real-time sampling detection, and the track after the sampling time is calculated.

And step S507, judging whether regulation and control safety conditions are met, if so, executing the step S502, otherwise, prompting to decelerate on the instrument, and executing the step S508.

The regulation and control safety conditions are as follows: s12> space parameter judgment value P, and S12> V12 (wherein S12 unit is m; V12 unit is converted into km/h);

description of the drawings: firstly, according to the distance between vehicles, and then combining the relationship between the distance between vehicles and the relative speed to self-adaptively select whether to monitor and automatically regulate or not:

firstly, in the range of the P-150m relative distance, when the distance is smaller than the relative speed value, executing a step S508, and entering automatic calculation and regulation;

step S508 is executed within the P distance, and automatic calculation and regulation are forced to be performed.

P is calculated in the foregoing step S502, if there are many (more than 10) objects within the range of 500m, the time required for intervention monitoring and control is earlier, and if P is 80m, automatic calculation and control are started; if there are few objects (within 10) in the 500m range, the time required for intervention monitoring and control can be later, for example, the distance P is 60m, and automatic calculation and control can be started.

In step S508, it is determined whether a12x is equal to 0, and if a12x is equal to 0, step S5092 is performed, otherwise step S5091 is performed.

And step S5091, calculating and judging whether Sy is more than or equal to 2m when Sx is S12, wherein 2m is a safety threshold, if Sx is S12, Sy is more than or equal to 2m, displaying on the meter that the current motion state is kept, and executing step S502, otherwise executing step S5101.

Step S5101, displaying a relative movement trajectory diagram on the instrument, and prompting that the vehicle should decelerate after t seconds when the risk of collision exists (t is obtained by Sx being S12);

automatic speed reduction: and simultaneously adjusting a12x and a12y to finally satisfy the relation that a12y is more than or equal to f (a12x) ([ 2a12x ^2+ a12x ^ V12x ^ V12y-a12x ^ V12y ^ sqrt (V12x ^2+2a12x S12) ]/[ a12x ^ S12+ V12x ^2-V12x ^ sqrt (V12x ^2+2a12x ^ S12) ], and executing step S511.

And step S5092, calculating and judging whether Sy is more than or equal to 2m when Sx is S12, wherein 2m is a safety threshold, if Sx is S12, Sy is more than or equal to 2m, displaying on the meter that the current motion state is kept, and executing step S502, otherwise executing step S5102.

Step S5102, displaying the relative movement trajectory diagram on the instrument, and prompting that the vehicle should decelerate after t seconds when the risk of collision exists (t is obtained by Sx being S12);

automatic speed reduction: and adjusting a12x and a12y to finally satisfy the relation of ≥ a12y (4 x V12x ^2-2 x V12x x V12y x S12)/S12^2, and executing step S511.

Step S511, the controller calculates the optimal parameter according to the relation of the first or the second, and then sends the optimal parameter to the controller to carry out the vehicle adjusting method:

firstly, the ECU sends out a braking signal to decelerate;

and secondly, the ECU sends braking and steering signals simultaneously to decelerate.

Step S512, preferentially select the first method: the ECU sends out a braking signal to decelerate; in this case, the direction of the vehicle acceleration a1 is kept unchanged, and the magnitude is reduced;

if the first method is not enough to avoid the collision risk, selecting a second method: the ECU simultaneously sends braking and steering signals to decelerate; in this case, the magnitude of the vehicle acceleration a1 is reduced and the direction is adjusted.

Step S513, the optimal acceleration and steering angle are automatically calculated by software, and the ECU sends the calculated acceleration and steering angle to the actuator, so that the motion parameters of the vehicle are changed, and the motion state is adjusted to avoid collision with the monitored object;

and outputting the adjusted relative motion trail diagram, adjusting the motion parameters of the vehicle, and returning to the step S502 for recycling to perform real-time monitoring calculation.

Fig. 3 is a schematic diagram of the original motion trajectory 31 and the adjusted motion trajectory 32.

The data of a plurality of monitored objects can be introduced simultaneously, the optimal adjustment parameters are calculated under the condition of comprehensively considering the influence of each monitored object, and then the vehicle is endowed with the optimal adjustment parameters through the controller to adjust the vehicle state.

Fig. 4 is a schematic diagram of the

original motion trajectories

411, 421, 431, 441, 451, 461, 471, 481 and the corresponding adjusted

motion trajectories

412, 422, 432, 442, 452, 462, 472, 482.

In the embodiment, the monitoring and calculating system can optimize the driving parameters (acceleration and acceleration angle) of the vehicle in real time, so that the motion state of the vehicle is automatically adjusted, and the risk of collision with surrounding obstacles is avoided; the information interaction adopts a network interaction means based on V2X, can realize the simultaneous acquisition of the motion parameters of a plurality of obstacles around in a large range and with high precision, and has low cost and high reliability; can be used for automatically controlling the motion state of the vehicle in real time in the automatic driving process

EXAMPLE III

Fig. 6 is a schematic diagram of a hardware structure of an electronic device according to the present invention, which includes:

at least one processor 601; and the number of the first and second groups,

a memory 602 communicatively coupled to at least one of the processors 601; wherein the content of the first and second substances,

the memory 602 stores instructions executable by at least one of the processors to enable the at least one of the processors to perform the method of monitoring obstacles around a vehicle as described above.

In fig. 6, one processor 601 is taken as an example.

The electronic device may further include: an input device 603 and a display device 604.

The processor 601, the memory 602, the input device 603, and the display device 604 may be connected by a bus or other means, and are illustrated as being connected by a bus.

The memory 602, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the vehicle surrounding obstacle monitoring method in the embodiment of the present application, for example, the method flow shown in fig. 1. The processor 601 executes various functional applications and data processing by executing nonvolatile software programs, instructions, and modules stored in the memory 602, that is, implements the vehicle surrounding obstacle monitoring method in the above-described embodiment.

The memory 602 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the obstacle monitoring method around the vehicle, and the like. Further, the memory 602 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 602 may optionally include memory remotely located from the processor 601, and these remote memories may be connected over a network to a device that performs the method of obstacle monitoring around the vehicle. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The input device 603 may receive input of user clicks and generate signal inputs related to user settings and function control of the obstacle monitoring method around the vehicle. The display device 604 may include a display screen or the like.

When the one or more modules are stored in the memory 602, the vehicle surrounding obstacle monitoring method in any of the above-described method embodiments is performed when executed by the one or more processors 601.

An embodiment of the present invention provides a storage medium storing computer instructions for performing all the steps of the vehicle surrounding obstacle monitoring method as described above, when the computer executes the computer instructions.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A method of monitoring an obstacle around a vehicle, comprising:

monitoring the obstacle based on the reference motion information.

2. The vehicle peripheral obstacle monitoring method according to claim 1, wherein the host vehicle motion information includes a host vehicle speed V1 and a host vehicle acceleration a1, the obstacle motion information includes an obstacle speed V2 and an obstacle acceleration a2, and the relative motion information includes a relative speed V12 calculated from the host vehicle speed V1 and the obstacle speed V2, and a relative acceleration a12 calculated from the host vehicle acceleration a1 and the obstacle acceleration a 2;

3. The method for monitoring the obstacle around the vehicle according to claim 2, wherein the monitoring the obstacle based on the reference motion information specifically includes:

4. The method for monitoring obstacles around a vehicle according to claim 3, wherein the calculating and displaying the relative movement trajectory of the host vehicle and the obstacle based on the reference movement information specifically includes:

and displaying the relative motion track.

5. The method for monitoring obstacles around a vehicle according to claim 4, wherein the calculating a relative movement trajectory of the host vehicle and the obstacle according to the first relative velocity component, the second relative velocity component, the first relative acceleration component, and the second relative acceleration component specifically includes:

6. The method for monitoring obstacles around a vehicle according to claim 3, wherein the calculating and displaying the relative movement trajectory of the host vehicle and the obstacle based on the reference movement information specifically includes:

calculating the distance between the vehicle and the obstacle;

7. The method for monitoring obstacles around a vehicle according to claim 6, wherein the calculating a distance between the vehicle and the obstacle specifically includes:

8. The method for monitoring the obstacle around the vehicle according to claim 2, wherein the monitoring the obstacle based on the reference motion information specifically includes:

9. The vehicle surroundings obstacle monitoring method according to claim 8, characterized in that:

calculating the distance between the vehicle and the obstacle;

10. The method for monitoring obstacles around a vehicle according to claim 9, wherein the calculating a distance between the host vehicle and the obstacle specifically includes:

11. The method according to claim 9, wherein the distance parameter determination value is determined based on the number of obstacles in the monitored range, and the distance parameter determination value corresponding to a larger number of obstacles is greater than or equal to the distance parameter determination value corresponding to a smaller number of obstacles.

12. The method for monitoring obstacles around a vehicle according to claim 8, wherein the determining whether the vehicle and the obstacle collide with each other specifically includes:

13. The method for monitoring obstacles around a vehicle according to claim 8, wherein if it is determined that the host vehicle and the obstacle collide with each other, adjusting the vehicle specifically includes:

14. The method for monitoring obstacles around a vehicle according to claim 8, wherein a plurality of obstacles are present in the monitored range, and the adjusting the vehicle if it is determined that the host vehicle and the obstacles collide with each other specifically comprises:

controlling the vehicle such that for each obstacle to be calculated:

15. An electronic device, comprising:

at least one processor; and the number of the first and second groups,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of monitoring obstacles around a vehicle as claimed in any one of claims 1 to 14.

16. A storage medium storing computer instructions for performing all the steps of the vehicle surrounding obstacle monitoring method according to any one of claims 1 to 14 when the computer instructions are executed by a computer.