CN115469277A - Vehicle radar detection information display method and device - Google Patents
Vehicle radar detection information display method and device Download PDFInfo
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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
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
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Abstract
The application provides a vehicle radar detection information display method and device, and relates to the technical field of automobiles. The method comprises the following steps: acquiring respective detection data of N detection radars on a vehicle, and determining M target detection radars for detecting the obstacle from the N detection radars according to the respective detection data; wherein N is an integer greater than or equal to 2, and M is an integer less than or equal to N; acquiring obstacle coordinate points detected by the M target detection radars according to the respective position information, detection data and detection directions of the M target detection radars; and performing curve fitting on the M obstacle coordinate points to obtain an obstacle envelope curve of the vehicle, and displaying the obstacle envelope curve. The shape of obstacles around the vehicle can be constructed by the scheme, so that a user can know the position information of the obstacles around the vehicle more visually, the driving experience of the user can be improved, and the driving safety of the vehicle can be improved.
Description
Technical Field
The application relates to the technical field of automobiles, in particular to a method and a device for displaying radar detection information of a vehicle.
Background
With the development of automobile intelligence, radar detection technology has been widely applied to automobile auxiliary driving technology, and environment information around a vehicle is acquired through radar probes mounted around the vehicle body.
In the correlation technique, obtain the barrier distance around the vehicle through surveying the radar, because the restriction of radar quantity, obtain a series of discontinuous barrier distances, every radar detection distance is demonstrateed to the radar lobe of different colours of rethread, like this, because the automobile body surrounding environment perception display mode is discontinuous, makes the real environment around the unable direct perception vehicle of user.
Disclosure of Invention
In order to solve the problems, the application provides a vehicle radar detection information display method and device.
According to a first aspect of the application, a vehicle radar detection information display method is provided, and comprises the following steps:
acquiring respective detection data of N detection radars on the vehicle, and determining M target detection radars which detect the obstacle from the N detection radars according to the respective detection data; wherein N is an integer greater than or equal to 2, and M is an integer less than or equal to N;
acquiring obstacle coordinate points detected by the M target detection radars according to the respective position information, detection data and detection directions of the M target detection radars;
and performing curve fitting on the M obstacle coordinate points to obtain an obstacle envelope curve of the vehicle, and displaying the obstacle envelope curve.
In some embodiments of the present application, the obtaining the coordinates of the obstacle detected by each of the M object detection radars according to the position information, the detection data, and the detection direction of each of the M object detection radars includes:
according to the respective position information of the M target detection radars, grouping the target detection radars with continuous positions in the M target detection radars to obtain at least one target detection radar group;
and aiming at each target detection radar group, obtaining the coordinate points of the obstacles detected by the target detection radars according to the respective position information, detection data and detection directions of the target detection radars in the target detection radar group.
Wherein, the performing curve fitting on the M obstacle coordinate points to obtain an obstacle envelope curve of the vehicle, and displaying the obstacle envelope curve includes:
and respectively carrying out curve fitting on the coordinate points of the obstacles detected by the target detection radars in each target detection radar group to obtain at least one obstacle envelope curve, and displaying the at least one obstacle envelope curve.
In some embodiments of the present application, the grouping, according to the respective location information of the M target detection radars, target detection radars with consecutive locations in the M target detection radars includes:
determining respective position identifiers of the M target detection radars according to respective position information of the M target detection radars;
and grouping target detection radars with continuous positions in the M target detection radars according to the position relation between the M position identifiers and each preset position identifier.
In some embodiments of the present application, said displaying the obstacle envelope comprises:
determining the position of a vehicle model to be displayed in a multimedia display interface based on the coordinate distribution of the vehicle in a vehicle coordinate system;
determining coordinates of each point in the obstacle envelope curve in the vehicle coordinate system;
based on a preset coordinate transformation equation, carrying out coordinate transformation on the coordinates of each point in the obstacle envelope curve in the vehicle coordinate system, and acquiring the coordinates to be displayed of each point in the obstacle envelope curve in the multimedia display interface;
and displaying the vehicle model in the multimedia display interface based on the position to be displayed, and displaying the obstacle envelope curve in the multimedia display interface based on the coordinate to be displayed.
In some embodiments of the present application, said displaying the obstacle envelope comprises:
determining color information of each point in the envelope curve of the obstacle according to a preset corresponding relation between the distance of the obstacle and the color;
and displaying the barrier envelope line based on the color information of each point in the barrier envelope line.
Wherein, the determining the color information of each point in the envelope curve of the obstacle according to the corresponding relationship between the preset obstacle distance and the color comprises:
acquiring a preset color image; the color image is used for representing color distribution of different positions in a vehicle coordinate system;
and according to the coordinates of each point in the obstacle envelope curve in the vehicle coordinate system, performing color sampling in the color image to determine the color information of each point in the obstacle envelope curve.
According to a second aspect of the present application, there is provided a vehicle radar detection information display apparatus including:
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 detection data of N detection radars on the vehicle and determining M target detection radars which detect the obstacle from the N detection radars according to the detection data; wherein N is an integer greater than or equal to 2, and M is an integer less than or equal to N;
the second acquisition module is used for acquiring the coordinate points of the obstacles detected by the M target detection radars according to the respective position information, the detection data and the detection directions of the M target detection radars;
and the display module is used for performing curve fitting on the M obstacle coordinate points to obtain an obstacle envelope curve of the vehicle and displaying the obstacle envelope curve.
In some embodiments of the application, the second obtaining module is specifically configured to:
according to the respective position information of the M target detection radars, grouping the target detection radars with continuous positions in the M target detection radars to obtain at least one target detection radar group;
and aiming at each target detection radar group, obtaining the coordinate points of the obstacles detected by the target detection radars according to the respective position information, detection data and detection directions of the target detection radars in the target detection radar group.
In some embodiments of the present application, the display module is specifically configured to:
and respectively carrying out curve fitting on the coordinate points of the obstacles detected by the target detection radars in each target detection radar group to obtain at least one obstacle envelope curve, and displaying the at least one obstacle envelope curve.
As an embodiment, the second obtaining module is further configured to:
determining respective position identifiers of the M target detection radars according to respective position information of the M target detection radars;
and grouping target detection radars with continuous positions in the M target detection radars according to the position relation between the M position identifiers and each preset position identifier.
In some embodiments of the present application, the display module is specifically configured to:
displaying a vehicle model of the vehicle and the obstacle envelope in a multimedia display interface of the vehicle.
As an embodiment, the display module is specifically configured to:
determining a position to be shown of the vehicle model in the multimedia display interface based on the coordinate distribution of the vehicle in a vehicle coordinate system;
determining coordinates of each point in the obstacle envelope curve in the vehicle coordinate system;
based on a preset coordinate conversion equation, carrying out coordinate conversion on the coordinates of each point in the barrier envelope line in the vehicle coordinate system, and acquiring the coordinates to be displayed of each point in the barrier envelope line in the multimedia display interface;
and displaying the vehicle model in the multimedia display interface based on the position to be displayed, and displaying the obstacle envelope curve in the multimedia display interface based on the coordinate to be displayed.
In other embodiments of the present application, the display module is further configured to:
determining color information of each point in the envelope curve of the obstacle according to a preset corresponding relation between the distance of the obstacle and the color;
and displaying the barrier envelope line based on the color information of each point in the barrier envelope line.
As an embodiment, the display module is specifically configured to:
acquiring a preset color image; the color image is used for representing color distribution of different positions in a vehicle coordinate system;
and according to the coordinates of each point in the barrier envelope curve in the vehicle coordinate system, performing color sampling in the color image to determine the color information of each point in the barrier envelope curve.
According to a third aspect of the present application, there is provided a vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, when executing the program, implementing the method of the first aspect.
According to a fourth aspect of the present application, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the method of the first aspect described above.
According to the technical scheme of this application, through according to the respective detection data of N detection radars on the vehicle, confirm M target detection radars in N detection radars, according to the respective positional information of M target detection radars, detection data and detection direction, obtain the barrier coordinate point that M target detection radars detected separately, and carry out curve fitting according to M barrier coordinate point, obtain the barrier envelope line of vehicle, and show the barrier envelope line, show the barrier distance through the radar lobe in comparing the correlation technique, the shape of barrier around the vehicle can be found out to the vehicle radar detection information display method of this scheme, make the user can more audio-visual understanding the positional information of barrier around the vehicle, not only can promote user's driving experience, also can improve vehicle driving's security.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
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The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of a method for displaying radar detection information of a vehicle according to an embodiment of the present disclosure;
FIG. 2 is a flow chart of another vehicle radar detection information display method provided by the embodiment of the present application;
FIG. 3 is a flowchart of another vehicle radar detection information displaying method according to an embodiment of the present disclosure;
FIG. 4 is an exemplary diagram of an envelope representation of an obstruction in an embodiment of the present application;
fig. 5 is a block diagram illustrating a radar detection information display device of a vehicle according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
It should be noted that, with the development of automobile intelligence, radar detection technology has been widely applied to automobile driving assistance technology, and vehicle surrounding environment information is acquired through radar probes installed around an automobile body. In the related art, the obstacle distances around the vehicle are obtained through the detection radars, a series of discontinuous obstacle distances are obtained due to the limitation of the number of the radars, and then the radar detection distances are displayed through the radar lobes with different colors.
In order to solve the problems, the application provides a vehicle radar detection information display method and device.
Fig. 1 is a flowchart of a method for displaying radar detection information of a vehicle according to an embodiment of the present disclosure. It should be noted that the vehicle radar detection information display method in the embodiment of the present application may be used in the vehicle radar detection information display device in the embodiment of the present application, and the device may be configured in a vehicle. As shown in fig. 1, the method may include the steps of:
In some embodiments of the present application, N detection radars are arranged around a vehicle body of a vehicle for detecting environmental information around the vehicle, wherein each detection radar is arranged at a different position of the vehicle body. The detection data of each of the N detection radars may be the detected distance to the obstacle, or may also be the strength, time, etc. of the received return signal, which are used to calculate the related information of the distance to the obstacle, and may be determined according to the actual application scenario, which is not limited in this application. It is understood that, in order to detect the surrounding situation of the vehicle in real time, the method of the embodiment of the present application is performed in real time.
The target detection radar is a detection radar which detects an obstacle currently in the N detection radars, and may also be a detection radar which satisfies a preset condition for the distance between the detected obstacle. As an example, if the detection data of each of the N detection radars is the detected obstacle distance, a distance threshold may be preset, and the detection radar having the detected obstacle distance smaller than the distance threshold may be used as the target detection radar.
And step 102, acquiring the coordinate points of the obstacles detected by the M target detection radars according to the respective position information, detection data and detection directions of the M target detection radars.
It should be noted that each target detection radar has corresponding position information and detection direction, where the position information may be coordinate information of the target detection radar currently in a world coordinate system, or may be position information relative to the vehicle. The detection direction of the object detection radar refers to an angular range that can be detected by the object detection radar. The coordinate points of the obstacle detected by the M target detection radars may be coordinate points in a world coordinate system, or may be coordinate points in other coordinate systems, which is not limited in the present application.
In some embodiments of the present application, an implementation manner of obtaining the coordinate points of the obstacle detected by the M target detection radars according to the respective position information, the detection data, and the detection direction of the M target detection radars may include: determining the distance of the obstacle detected by each of the M target detection radars according to the detection data of each of the M target detection radars; determining the directions of the obstacles detected by the M target detection radars according to the detection directions of the M target detection radars; determining coordinate information of the M target detection radars under a world coordinate system according to the respective position information of the M target detection radars; and obtaining the coordinate points of the obstacles detected by the M target detection radars according to the distance and the direction of the obstacles detected by the M target detection radars and the coordinate information of the M target detection radars.
In the embodiment of the present application, among others, the middle value of the angular range in the detection direction of the object detection radar may be taken as the direction of the obstacle detected by the object detection radar. In addition, if the position information of the target detection radar is the coordinate information of the target detection radar currently in the world coordinate system, the coordinate information of the target detection radar in the world coordinate system may be determined directly based on the position information of the target detection radar, and if the position information of the target detection radar is the position information with respect to the vehicle, the coordinate information of the target detection radar in the world coordinate system may be determined based on the coordinate information of the vehicle in the world coordinate system.
In other embodiments of the present application, an implementation manner of obtaining the coordinate points of the obstacle detected by each of the M target detection radars may include: determining the distance of the obstacle detected by each of the M target detection radars according to the detection data of each of the M target detection radars; determining the directions of the obstacles detected by the M target detection radars according to the respective detection directions of the M target detection radars; establishing a vehicle coordinate system by taking a certain point in the vehicle as an origin, and determining coordinate information of the M target detection radars under the vehicle coordinate system according to the respective position information of the M target detection radars; and acquiring the coordinate points of the obstacles detected by the M target detection radars according to the obstacle distance and the obstacle direction detected by the M target detection radars and the coordinate information of the M target detection radars in the vehicle coordinate system.
In the embodiment of the application, if the position information of the target detection radar is the coordinate information of the target detection radar in the current world coordinate system, the coordinate information of the M target detection radars in the world coordinate system may be converted into the coordinate information of the M target detection radars in the vehicle coordinate system according to the coordinate conversion between the world coordinate system and the vehicle coordinate system. If the position information of each target detection radar is position information with respect to the vehicle, the coordinate information of each target detection radar in the vehicle coordinate system may be determined based on the position information of each target detection radar with respect to the vehicle and the vehicle coordinate system.
And 103, performing curve fitting on the M obstacle coordinate points to obtain an obstacle envelope curve of the vehicle, and displaying the obstacle envelope curve.
It should be noted that the mathematical definition of curve fitting refers to approximately describing or comparing the functional relationship between coordinates represented by a set of discrete points on a plane by using a continuous curve, and is a method for approximating discrete data by using an analytical expression. That is, a continuous curve is used to represent a functional relationship between M obstacle coordinate points, the obtained continuous curve is approximated to the M obstacle coordinate point data, and the obtained continuous curve is used to represent obstacle position information around the vehicle, that is, an obstacle envelope of the vehicle. It can be understood that when the envelope curve of the obstacle of the vehicle and the vehicle are displayed together in the same coordinate system, the distance between the envelope curve of the obstacle of the vehicle and the vehicle is the distance between the obstacle around the vehicle and the vehicle, so that a user can perceive a continuous surrounding environment and can accurately avoid the obstacle.
In some embodiments of the present application, the M obstacle coordinate points may be fitted to a curve by a spline curve fitting manner in the related art, for example, the M obstacle coordinate points may be fitted to a curve by a spline curve fitting manner such as B-spline curve fitting or cubic spline curve fitting, or may be fitted to a curve by a curve fitting manner such as a least square method.
In some embodiments of the present application, the obstacle envelope may be presented in the following manner: and displaying the vehicle model and the obstacle envelope curve of the vehicle in a multimedia display interface of the vehicle. The multimedia display interface may be a display interface of a multimedia display terminal of a vehicle, or the multimedia display interface may also be a display interface of a display device in a HUD terminal configured for the vehicle, or the multimedia display interface may also be another interface with a display function carried by the vehicle, which is not limited in this application.
Further, the vehicle model size is proportional to the corresponding vehicle size, and the body contour of the vehicle model coincides with the body contour of the corresponding vehicle. The vehicle model is combined with the obstacle envelope to represent distance information between the vehicle and the obstacle based on the position information of the vehicle.
As an example of one possible implementation, an implementation of presenting a vehicle model and an obstacle envelope of a vehicle in a multimedia display interface of the vehicle may include: displaying the vehicle model at a preset position in a multimedia display interface; displaying the established vehicle coordinate system in a multimedia display interface according to the proportional relation between the size of the vehicle and the size of the vehicle model; if the barrier envelope curve is a curve fitted in a world coordinate system, converting the coordinates of each point in the barrier envelope curve into a vehicle coordinate system, and displaying the coordinates in a multimedia display interface according to the coordinates in the vehicle coordinate system; if the obstacle envelope curve is a curve fitted under the vehicle coordinate system, the obstacle envelope curve is displayed under the vehicle coordinate system in the multimedia display interface according to the equation of the obstacle envelope curve.
As an example of another possible implementation, an implementation of presenting a vehicle model and an obstacle envelope of a vehicle in a multimedia display interface of the vehicle may include: determining a position to be displayed of the vehicle model in the multimedia display interface based on the coordinate distribution of the vehicle in the vehicle coordinate system; determining the coordinates of each point in the obstacle envelope curve in a vehicle coordinate system; based on a preset coordinate conversion equation, carrying out coordinate conversion on coordinates of each point in the barrier envelope line in a vehicle coordinate system, and acquiring coordinates to be displayed of each point in the barrier envelope line in a multimedia display interface; and displaying the vehicle model in the multimedia display interface based on the position to be displayed, and displaying the envelope curve of the barrier in the multimedia display interface based on the coordinate to be displayed. The preset coordinate conversion equation refers to a coordinate conversion equation between a vehicle coordinate system and the multimedia display interface.
According to the vehicle radar detection information display method, according to the respective detection data of the N detection radars on the vehicle, the M target detection radars are determined from the N detection radars, the obstacle coordinate points detected by the M target detection radars are obtained according to the respective position information, the detection data and the detection direction of the M target detection radars, curve fitting is carried out according to the M obstacle coordinate points, the obstacle envelope curve of the vehicle is obtained, the obstacle envelope curve is displayed, and compared with the method for displaying the obstacle distance through the radar lobes in the related technology, the vehicle radar detection information display method can be used for building the shape of obstacles around the vehicle, so that a user can know the position information of the obstacles around the vehicle more visually, the driving experience of the user can be improved, and the driving safety of the vehicle can be improved.
To further improve the accuracy of the fitted obstacle envelope, another embodiment is provided.
Fig. 2 is a flowchart of another vehicle radar detection information display method according to an embodiment of the present disclosure. As shown in fig. 2, the method comprises the steps of:
In some embodiments of the present application, the grouping of target detection radars with consecutive positions in the M target detection radars means that, based on respective position information of the M target detection radars, target detection radars with adjacent positions are respectively grouped, that is, the target detection radars in each group of target detection radars have similar positions.
The target detection radars having consecutive positions may be determined for each position at which the target detection radars are disposed on the vehicle body, or may be determined for each position at which the distance between the target detection radars exceeds a threshold value.
In some embodiments of the present application, an implementation manner of grouping target detection radars with consecutive positions in the M target detection radars according to the respective position information of the M target detection radars may include: determining respective position identifiers of the M target detection radars according to respective position information of the M target detection radars; and grouping the target detection radars with continuous positions in the M target detection radars according to the position relation between the M position identifiers and each preset position identifier. The position identifier is an identifier for representing a unique vehicle body position, for example, the position identifier of a target detection radar located at the left lamp (front) of the vehicle is position a, the position identifier of a target detection radar located at the right lamp (front) of the vehicle is position b, and the position identifier of a target detection radar located in the middle of the vehicle head is position c. If the respective position information of the M target detection radars is coordinate information in the world coordinate system, the position of each target detection radar relative to the vehicle may be determined based on the respective coordinate information and the vehicle coordinate distribution to determine the respective corresponding position identifier. If the respective position information of the M target detection radars is the position information relative to the vehicle, the respective corresponding position identifiers can be determined directly according to the relative position information. In addition, the preset positional relationship between the position markers may be position markers sequentially arranged in a position-sequential order.
For example, if the M target detection radars are the target detection radar 1, the target detection radar 2, the target detection radar 3, the target detection radar 4, and the target detection radar 5, respectively; the position of the target detection radar 1 is identified as position a, the position of the target detection radar 2 is identified as position b, the position of the target detection radar 3 is identified as position c, the position of the target detection radar 4 is identified as position e, and the position of the target detection radar 5 is identified as position f; the position identifiers arrange the results in the order of adjacent positions: the position a, the position b, the position c, the position d, the position e, the position f, and the position g … are the target detection radar 1, the target detection radar 2, and the target detection radar 3, and the target detection radar 4 and the target detection radar 5.
In other embodiments of the present application, an implementation manner of grouping target detection radars with consecutive positions in the M target detection radars according to respective position information of the M target detection radars may include: acquiring respective coordinate information of the M target detection radars, and calculating the distance between the target detection radars; and dividing the target detection radars of which the distance between every two does not exceed a preset threshold into one group so as to divide the M target detection radars into at least one target detection radar group.
And 203, aiming at each target detection radar group, obtaining the coordinate points of the obstacles detected by the target detection radars according to the respective position information, detection data and detection directions of the target detection radars in the target detection radar group.
That is to say, the coordinate points of the obstacle detected by the target detection radars in each target detection radar group are obtained, and the implementation manner here is the same as the implementation manner of step 102 in fig. 1, and is not described again here.
And 204, respectively performing curve fitting on the coordinate points of the obstacles detected by the target detection radars in each target detection radar group to obtain at least one obstacle envelope curve, and displaying the at least one obstacle envelope curve.
It can be understood that, the distance between the barrier coordinate point is great, then the easy distortion of curve after the fitting, the barrier envelope line accuracy that leads to the fitting is lower promptly, and carry out curve fitting with the barrier coordinate point that the distance is close can make the curve more be close actual conditions after the fitting, with the accuracy of promotion barrier envelope line, so carry out curve fitting with the barrier coordinate point that the target detection radar detected separately in every target detection radar group respectively in the embodiment of this application, carry out curve fitting with the barrier coordinate point that the target detection radar that the position is close respectively promptly, in order to obtain at least one barrier envelope line.
For example, if three target detection radar groups are grouped, the target detection radar group 1 includes a target detection radar a, a target detection radar B and a target detection radar C, the target detection radar group 2 includes a target detection radar D and a target detection radar E, and the target detection radar group 3 includes a target detection radar F, a target detection radar G, a target detection radar H and a target detection radar I; performing curve fitting on an obstacle coordinate point a detected by a target detection radar A, an obstacle coordinate point B detected by a target detection radar B and an obstacle coordinate point C detected by a target detection radar C to obtain an obstacle envelope 1; performing curve fitting on an obstacle coordinate point D detected by the target detection radar D and an obstacle coordinate point E detected by the target detection radar E to obtain an obstacle envelope line 2; performing curve fitting on an obstacle coordinate point F detected by a target detection radar F, an obstacle coordinate point G detected by a target detection radar G, an obstacle coordinate point H detected by a target detection radar H and an obstacle coordinate point I detected by a target detection radar I to obtain an obstacle envelope curve 3; the obstacle envelope 1, the obstacle envelope 2, and the obstacle envelope 3 are shown separately.
It should be noted that the curve fitting manner and the display manner of the envelope curve of each obstacle in the embodiment of the present application are the same as the implementation manner of step 103 in fig. 1, and are not described herein again.
According to the vehicle radar detection information display method, the target detection radars with continuous positions in the M target detection radars are grouped to obtain at least one target detection radar group, and then the obstacle coordinate points detected by the target detection radars in each target detection radar group are subjected to curve fitting to obtain at least one obstacle envelope curve, namely the obstacle coordinate points detected by the target detection radars with continuous positions are subjected to curve fitting, so that the problem of curve distortion after fitting caused by curve fitting can be avoided, the condition of obstacles around the vehicle can be displayed more truly through the obstacle envelope curves, and the accuracy of the obstacle envelope curves is improved.
In order to further improve the display effect, the application provides another embodiment.
Fig. 3 is a flowchart of another vehicle radar detection information display method according to an embodiment of the present disclosure. As shown in fig. 3, the method comprises the steps of:
301, acquiring respective detection data of N detection radars on a vehicle, and determining M target detection radars which detect an obstacle from the N detection radars according to the respective detection data; wherein N is an integer greater than or equal to 2, and M is an integer less than or equal to N.
And step 303, performing curve fitting on the M obstacle coordinate points to obtain an obstacle envelope curve of the vehicle.
And step 304, determining color information of each point in the envelope curve of the obstacle according to the preset corresponding relation between the distance of the obstacle and the color.
It can be understood that when the distance between the obstacle and the vehicle is short, the user can be warned through the color, so that the user can sense the information of the obstacle and timely avoid the obstacle.
In the embodiment of the application, in order to improve the visual effect of the obstacle envelope, the corresponding relationship between the obstacle distance and the color may be preset, and the color information of each point in the obstacle envelope is determined by calculating the distance between each point in the obstacle envelope and the vehicle.
As an example of one possible implementation, corresponding color information may be set for different obstacle distance zones, and the shortest distance between each point in the obstacle envelope and the vehicle may be calculated based on an equation of the obstacle envelope; and determining the color information of each point in the envelope curve of the obstacle according to the corresponding relation between the obstacle distance interval and the color information.
As another possible implementation example, a preset color image may also be acquired; the color image is used for representing color distribution of different positions in a vehicle coordinate system, for example, the corresponding color is red when the vehicle is close to the color image, and the corresponding color is yellow when the vehicle is far away from the color image; and according to the coordinates of each point in the obstacle envelope curve in the vehicle coordinate system, performing color sampling in the color image to determine the color information of each point in the obstacle envelope curve. That is to say, the distances between each point in the obstacle envelope and the vehicle do not need to be calculated, color sampling can be directly performed according to coordinates, wherein colors at different positions in the color image can be continuous, and thus, color information of each point in the obstacle envelope after sampling is also continuous, so that more intuitive visual perception can be achieved on the basis of the distances between the colors and the obstacle.
And 305, displaying the barrier envelope line based on the color information of each point in the barrier envelope line.
That is, when the vehicle model and the obstacle envelope are displayed on the multimedia display interface of the vehicle, the obstacle envelope, that is, the colored obstacle envelope is displayed according to the color of each point of the obstacle envelope.
Fig. 4 is an exemplary illustration of an envelope representation of an obstacle. As shown in fig. 4, the obstacle envelope 401 may be directly combined with a vehicle to indicate the distance between an obstacle and the vehicle, or may also be used to warn the distance by color, so that a user may perform obstacle avoidance processing in time, and the safe passing of the vehicle is ensured.
According to the vehicle radar detection information display method, when the obstacle envelope curve is displayed, the color information of each point in the obstacle envelope curve is determined according to the preset corresponding relation between the obstacle distance and the color, and the obstacle envelope curve is displayed based on the color information of each point in the obstacle envelope curve, so that the obstacle distance can be further represented through the color, a distance warning effect is achieved, and the driving experience of a user can be improved.
In order to realize the above-mentioned embodiment, the present application provides a vehicle radar detection information display device.
Fig. 5 is a block diagram of a vehicle radar detection information display device according to an embodiment of the present application. As shown in fig. 5, the apparatus includes:
a first obtaining module 501, configured to obtain respective detection data of N detection radars on a vehicle, and determine M target detection radars, which detect an obstacle, from the N detection radars according to the respective detection data; wherein N is an integer greater than or equal to 2, and M is an integer less than or equal to N;
a second obtaining module 502, configured to obtain, according to the respective position information, the detection data, and the detection direction of the M target detection radars, coordinate points of an obstacle detected by the M target detection radars;
and a displaying module 503, configured to perform curve fitting on the M obstacle coordinate points to obtain an obstacle envelope of the vehicle, and display the obstacle envelope.
In some embodiments of the present application, the second obtaining module 502 is specifically configured to:
according to the respective position information of the M target detection radars, grouping the target detection radars with continuous positions in the M target detection radars to obtain at least one target detection radar group;
and aiming at each target detection radar group, acquiring the coordinate points of the obstacles detected by the target detection radars according to the respective position information, detection data and detection directions of the target detection radars in the target detection radar group.
In some embodiments of the present application, the display module 503 is specifically configured to:
and respectively carrying out curve fitting on the obstacle coordinate points detected by the target detection radars in each target detection radar group to obtain at least one obstacle envelope curve, and displaying the at least one obstacle envelope curve.
As an implementation, the second obtaining module 502 is further configured to:
determining respective position identifiers of the M target detection radars according to respective position information of the M target detection radars;
and grouping the target detection radars with continuous positions in the M target detection radars according to the position relation between the M position identifications and each preset position identification.
In some embodiments of the present application, the display module 503 is specifically configured to:
and displaying the vehicle model and the obstacle envelope curve of the vehicle in a multimedia display interface of the vehicle.
As an embodiment, the display module 503 is specifically configured to:
determining a position to be displayed of the vehicle model in the multimedia display interface based on the coordinate distribution of the vehicle in the vehicle coordinate system;
determining the coordinates of each point in the obstacle envelope curve in a vehicle coordinate system;
based on a preset coordinate conversion equation, carrying out coordinate conversion on coordinates of each point in the barrier envelope line in a vehicle coordinate system, and acquiring coordinates to be displayed of each point in the barrier envelope line in a multimedia display interface;
and displaying the vehicle model in the multimedia display interface based on the position to be displayed, and displaying the envelope curve of the barrier in the multimedia display interface based on the coordinate to be displayed.
In other embodiments of the present application, display module 503 is further configured to:
determining color information of each point in an envelope line of the obstacle according to a preset corresponding relation between the distance of the obstacle and the color;
and displaying the obstacle envelope line based on the color information of each point in the obstacle envelope line.
As an embodiment, the display module 503 is specifically configured to:
acquiring a preset color image; the color image is used for representing color distribution of different positions in a vehicle coordinate system;
and according to the coordinates of each point in the obstacle envelope curve in the vehicle coordinate system, performing color sampling in the color image to determine the color information of each point in the obstacle envelope curve.
According to the vehicle radar detection information display device of the embodiment of the application, through according to the respective detection data of N detection radars on the vehicle, confirm M target detection radars in N detection radars, according to the respective positional information of M target detection radars, detection data and detection direction, obtain the barrier coordinate point that M target detection radars detected separately, and carry out curve fitting according to M barrier coordinate points, obtain the barrier envelope curve of vehicle, and show the barrier envelope curve, compare and show the barrier distance through the radar lobe in the correlation technique, the vehicle radar detection information display method of this scheme can construct the shape of barrier around the vehicle, make the user can more audio-visual understanding the positional information of barrier around the vehicle, not only can promote user's driving experience, also can improve vehicle driving's security.
In order to achieve the above embodiments, the present application provides a vehicle equipped with the vehicle radar detection information presentation device of the above embodiments.
In order to achieve the above embodiments, the present application provides a vehicle.
Fig. 6 is a schematic structural diagram of a vehicle according to an embodiment of the present application. As shown in fig. 6, the vehicle includes a vehicle body, and a memory 601 and a processor 602 mounted on the vehicle body. In addition, the vehicle includes necessary components such as a power supply component 603, a communication component 604, and a display screen 605.
The memory 601 is used for storing computer programs and can be configured to store other various data to support operations on the vehicle. Examples of such data include instructions for any application or method operating on the vehicle.
The memory 601, which may be implemented by any type of volatile or non-volatile memory device or combination thereof, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.
A communication component 604 for data transmission with other devices.
The processor 602 may execute the computer instructions stored in the memory 601 to implement the vehicle radar detection information display method in the above embodiments.
Correspondingly, the embodiment of the application also provides a computer readable storage medium. The computer-readable storage medium stores a computer program, and the computer program, when executed by one or more processors, causes the one or more processors to perform the vehicle radar detection information presentation method in the above-described embodiments.
The communications component 604 of fig. 6 described above is configured to facilitate communications between the device in which the communications component is located and other devices in a wired or wireless manner. The device in which the communication component 604 is located may access a wireless network based on a communication standard, such as WiFi, a mobile communication network such as 2G, 3G, 4G/LTE, 5G, or a combination thereof. In an exemplary embodiment, the communication component 604 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 604 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra Wideband (UWB) technology, bluetooth (BT) technology, and other technologies.
The power supply component 603 of fig. 6 provides power to the various components of the device in which the power supply component is located. The power components 603 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the device in which the power components are located.
The display 605 of fig. 6 includes a screen, which may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, 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, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. 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.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory. The memory may include forms of volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both permanent and non-permanent, removable and non-removable media, may implement the information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Disks (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present disclosure, which enable those skilled in the art to understand or practice the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A vehicle radar detection information display method is characterized by comprising the following steps:
acquiring detection data of N detection radars on the vehicle, and determining M target detection radars which detect the obstacle from the N detection radars according to the detection data; wherein N is an integer greater than or equal to 2, and M is an integer less than or equal to N;
acquiring obstacle coordinate points detected by the M target detection radars according to the respective position information, detection data and detection directions of the M target detection radars;
and performing curve fitting on the M obstacle coordinate points to obtain an obstacle envelope curve of the vehicle, and displaying the obstacle envelope curve.
2. The method according to claim 1, wherein the obtaining of the coordinates of the obstacle detected by each of the M target detection radars based on the position information, the detection data, and the detection direction of each of the M target detection radars comprises:
according to the respective position information of the M target detection radars, grouping the target detection radars with continuous positions in the M target detection radars to obtain at least one target detection radar group;
and aiming at each target detection radar group, obtaining the coordinate points of the obstacles detected by the target detection radars according to the respective position information, detection data and detection directions of the target detection radars in the target detection radar group.
3. The method of claim 2, wherein said curve fitting said M obstacle coordinate points to obtain an obstacle envelope for said vehicle and displaying said obstacle envelope comprises:
and respectively performing curve fitting on the coordinate points of the obstacles detected by the target detection radars in each target detection radar group to obtain at least one obstacle envelope curve, and displaying the at least one obstacle envelope curve.
4. The method according to claim 2 or 3, wherein the grouping of the M target detection radars with consecutive positions according to the respective position information of the M target detection radars comprises:
determining respective position identifiers of the M target detection radars according to respective position information of the M target detection radars;
and grouping target detection radars with continuous positions in the M target detection radars according to the position relation between the M position identifications and preset position identifications.
5. The method of claim 1, wherein said displaying the obstacle envelope comprises:
determining a position to be displayed of a vehicle model in a multimedia display interface based on the coordinate distribution of the vehicle in a vehicle coordinate system;
determining coordinates of each point in the obstacle envelope curve in the vehicle coordinate system;
based on a preset coordinate conversion equation, carrying out coordinate conversion on the coordinates of each point in the barrier envelope line in the vehicle coordinate system, and acquiring the coordinates to be displayed of each point in the barrier envelope line in the multimedia display interface;
and displaying the vehicle model in the multimedia display interface based on the position to be displayed, and displaying the obstacle envelope curve in the multimedia display interface based on the coordinate to be displayed.
6. The method of claim 1, wherein said characterizing said barrier envelope comprises:
determining color information of each point in the envelope curve of the obstacle according to a preset corresponding relation between the distance of the obstacle and the color;
and displaying the barrier envelope lines based on the color information of each point in the barrier envelope lines.
7. The method according to claim 6, wherein the determining the color information of each point in the obstacle envelope according to the preset corresponding relationship between the obstacle distance and the color comprises:
acquiring a preset color image; the color image is used for representing color distribution of different positions in a vehicle coordinate system;
and according to the coordinates of each point in the obstacle envelope curve in the vehicle coordinate system, performing color sampling in the color image to determine the color information of each point in the obstacle envelope curve.
8. A vehicle radar detection information display device, characterized by 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 detection data of N detection radars on the vehicle and determining M target detection radars which detect the obstacle from the N detection radars according to the detection data; wherein N is an integer greater than or equal to 2, and M is an integer less than or equal to N;
a second obtaining module, configured to obtain, according to the respective position information, detection data, and detection directions of the M target detection radars, coordinate points of an obstacle detected by the M target detection radars;
and the display module is used for performing curve fitting on the M obstacle coordinate points to obtain an obstacle envelope curve of the vehicle and displaying the obstacle envelope curve.
9. A vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the program, implements the method according to any one of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 7.
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