CN115755060A - Obstacle positioning method and device based on vehicle, vehicle and storage medium - Google Patents
Obstacle positioning method and device based on vehicle, vehicle and storage medium Download PDFInfo
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Abstract
The invention discloses a vehicle-based obstacle positioning method and device, a vehicle and a storage medium. The method comprises the following steps: acquiring distance data of a vehicle and an obstacle and driving data of the vehicle; determining position information of the obstacle according to the distance data when the first distance sensor and the second distance sensor are determined to simultaneously detect the obstacle according to the distance data; in the case where it is determined from the distance data that the obstacle is currently detected by only a single distance sensor, position information of a third position of the obstacle is determined from the distance data and the travel data on the basis of a first trilateral formed by a first position of the single distance sensor at a first time instant, a second position of the single distance sensor at a second time instant, and the third position. According to the technical scheme of the embodiment of the invention, the precision of positioning different obstacles by the vehicle is improved.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to a vehicle-based obstacle positioning method and system, a vehicle and a storage medium.
Background
With the continuous development of informatization technology, the intelligent driving technology of the vehicle is also rapidly developed. The intelligent driving is the combination of industrial revolution and informatization, and the rapid development of the intelligent driving changes the flowing modes of people, resources and products, so that the life of human beings is subversively changed.
Currently, some vehicles are equipped with advanced driving assistance systems to help ensure driving safety. The advanced driving assistance system includes: a forward collision warning function, an automatic emergency braking function, a blind spot warning function, and a vehicle backward automatic emergency braking function. The vehicle backward Automatic Emergency braking function (rake for short) is as follows: when the rear part of the vehicle or the pedestrian is detected to be in a dangerous distance, the RAEB can automatically brake to avoid collision accidents.
However, when the vehicle runs backwards, objects with different heights, sizes and attributes may appear behind the vehicle, and if the radar behind the vehicle cannot accurately give the positions of the objects, the RAEB may be misjudged and failed, so that a vehicle accident may be caused.
Disclosure of Invention
The invention provides a vehicle-based obstacle positioning method and device, a vehicle and a storage medium, and aims to solve the problem that the vehicle can more accurately identify the obstacle position.
In a first aspect, an embodiment of the present invention provides a vehicle-based obstacle positioning method, including:
acquiring distance data of a vehicle and an obstacle and driving data of the vehicle, wherein the vehicle is provided with at least two distance sensors and a plurality of wheel speed sensors, the distance data is acquired by the distance sensors, and the driving data is acquired by the plurality of wheel speed sensors;
determining position information of the obstacle according to the distance data under the condition that the first distance sensor and the second distance sensor are determined to simultaneously detect the obstacle according to the distance data;
in the case of determining from the distance data that an obstacle is currently detected by only a single distance sensor, position information of a third position is determined from the distance data and the driving data on the basis of a first trilateral which is composed of a first position of the single distance sensor at a first time, a second position of the single distance sensor at a second time, and a third position of the obstacle.
In a second aspect, an embodiment of the present invention provides a vehicle-based obstacle locating device, including:
the data acquisition module is integrated in the vehicle and used for acquiring distance data between the vehicle and an obstacle and driving data of the vehicle, wherein the vehicle is provided with at least two distance sensors and a plurality of wheel speed sensors, the distance data are acquired through the distance sensors, and the driving data are acquired through the plurality of wheel speed sensors;
the first position information determining module is used for determining the position information of the obstacle according to the distance data under the condition that the first distance sensor and the second distance sensor are determined to detect the obstacle simultaneously according to the distance data;
and a second position information determination module integrated in the vehicle for determining position information of a third position based on the distance data and the driving data, based on a first trilateral formed by a first position of the single distance sensor at the first time, a second position of the single distance sensor at the second time, and the third position of the obstacle, in case it is determined from the distance data that only the single distance sensor currently detects the obstacle.
In a third aspect, an embodiment of the present invention provides a vehicle, including:
a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the computer program to enable at least one processor to perform the vehicle based obstacle positioning method of the first aspect described above.
In a fourth aspect, the present invention provides a computer-readable storage medium, which stores computer instructions for causing a processor to implement the vehicle-based obstacle location method of the first aspect when executed.
According to the obstacle positioning scheme based on the vehicle, the distance data between the vehicle and the obstacle and the driving data of the vehicle are obtained, wherein the vehicle is provided with at least two distance sensors and a plurality of wheel speed sensors, the distance data are acquired through the distance sensors, the driving data are acquired through the plurality of wheel speed sensors, under the condition that the first distance sensor and the second distance sensor are determined to simultaneously detect the obstacle according to the distance data, the position information of the obstacle is determined according to the distance data, under the condition that only one distance sensor is determined to currently detect the obstacle according to the distance data, the position information of the third position is determined according to the distance data and the driving data on the basis of a first triangle formed by the first position of the single distance sensor at the first moment, the second position of the single distance sensor at the second moment and the third position of the obstacle. By adopting the technical scheme, the distance between the vehicle and the obstacle acquired by the plurality of distance sensors and the running data of the vehicle acquired by the plurality of wheel speed sensors are acquired, the number of the distance sensors for detecting the obstacle is determined according to the distance data, the position of the obstacle is determined in different modes according to the difference of the number, when the two distance sensors simultaneously detect the obstacle, the position of the obstacle is determined according to the distance data acquired by the two distance sensors, when only a single distance sensor can detect the obstacle, the specific position information of the obstacle is determined according to the trilateral position relation between the two positions of the single distance sensor at different moments and the obstacle, the conventional running data calculated through time and speed is converted into the wheel speed pulse acquired by the wheel speed sensors to obtain the running data, higher precision can be obtained, the problem of inaccurate positioning of the obstacle of the vehicle is solved, and the precision of positioning of different obstacles by the vehicle is improved.
It should be understood that the statements in this section are not intended to identify key or critical features of the embodiments of the present invention, nor are they intended to limit the scope of the invention. Other features of the present invention will become apparent from the following description.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a vehicle-based obstacle positioning method according to an embodiment of the present invention;
FIG. 2 is a flow chart of a vehicle-based obstacle locating method according to a second embodiment of the present invention;
fig. 3 is a schematic diagram of two distance sensors for detecting an obstacle according to the second embodiment of the present invention;
fig. 4 is a schematic diagram of a single distance sensor for detecting an obstacle according to the second embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a vehicle-based obstacle locating device according to a third embodiment of the present invention;
fig. 6 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention.
Detailed Description
In order to make those skilled in the art better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in other sequences than those illustrated or described herein. In the description of the present invention, "a plurality" means two or more unless otherwise specified. "and/or" describes the association relationship of the associated object, indicating that there may be three relationships, for example, a and/or B, which may indicate: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example one
Fig. 1 is a flowchart of a vehicle-based obstacle location method according to an embodiment of the present invention, where the embodiment is applicable to a case where a vehicle locates an obstacle, the method may be performed by a vehicle-based obstacle location device, the vehicle-based obstacle location device may be implemented in hardware and/or software, the vehicle-based obstacle location device may be configured in a vehicle, and the method may be performed by a vehicle, and may be implemented in hardware and/or software.
As shown in fig. 1, a vehicle-based obstacle positioning method according to a first embodiment of the present invention specifically includes the following steps:
s101, obtaining distance data between the vehicle and the obstacle and driving data of the vehicle.
The vehicle is provided with at least two distance sensors and a plurality of wheel speed sensors, distance data are acquired through the distance sensors, and running data are acquired through the plurality of wheel speed sensors.
In this embodiment, the vehicle may be equipped with a plurality of distance sensors and a plurality of wheel speed sensors, and the information collected by the sensors may be transmitted to the controller of the vehicle through the controller area network, so as to obtain information such as the distance between the vehicle and the obstacle, the relative position between the vehicle and the obstacle, the wheel rotation speed, and the vehicle driving distance. The detection range of the distance sensor can be 1.5 m to 3 m, and the acquisition period can be 20 ms or 150 ms. The specific type of the distance sensor is not limited, and may be, for example, an ultrasonic radar sensor, an infrared sensor, or the like. The position of the distance sensor relative to the center of the rear axle of the vehicle is fixed and unchangeable, and relevant information such as the installation position, the installation angle, the angle detection range, the distance detection range, the same frequency interference resistance and the like can be stored in the vehicle in advance.
For example, four ultrasonic radar sensors with self-transmitting and self-receiving functions can be mounted on the front and/or rear bumper of the vehicle, and four wheel speed pulse sensors can be mounted on the hubs of the front and rear wheels of the vehicle, so as to obtain information such as the distance between the vehicle and the obstacle, the relative position between the vehicle and the obstacle, the wheel speed, the vehicle driving distance and the like.
S102, under the condition that the first distance sensor and the second distance sensor detect the obstacles at the same time according to the distance data, determining the position information of the obstacles according to the distance data.
For example, if the currently acquired distance data includes distance data respectively acquired by two distance sensors (respectively recorded as a first distance sensor and a second distance sensor), the position information of the obstacle may be determined together according to the distance data acquired by the first distance sensor and the distance data acquired by the second distance sensor, so as to improve the obstacle positioning accuracy.
And S103, when only a single distance sensor detects the obstacle at present according to the distance data, determining position information of a third position according to the distance data and the driving data on the basis of a first trilateral formed by a first position of the single distance sensor at a first moment, a second position of the single distance sensor at a second moment and the third position of the obstacle.
In this embodiment, when only a single distance sensor detects an obstacle, a trilateral region may be constructed according to the position of the sensor at the first time, the position of the sensor at the second time, and the position of the obstacle, and then the specific position of the obstacle may be accurately analyzed according to the distance sensor and the wheel speed sensor. The first time may be a time when the distance sensor first detects the obstacle, and the second time may be a time when the distance sensor detects that the relative position of the vehicle and the obstacle changes after the first time. If the relative position of the obstacle and the vehicle continuously changes, the second time and the corresponding second position are continuously updated, so that the position of the obstacle can be determined in real time. Alternatively, the first time and the second time may also be the starting time and the ending time of a period formed by a preset number (e.g., 1 or 3) of sampling cycles of the distance sensor.
According to the obstacle positioning method based on the vehicle, the distance data between the vehicle and the obstacle and the driving data of the vehicle are obtained, wherein the vehicle is provided with at least two distance sensors and a plurality of wheel speed sensors, the distance data are acquired through the distance sensors, the driving data are acquired through the plurality of wheel speed sensors, and under the condition that only a single distance sensor detects the obstacle currently according to the distance data, the position information of a third position is determined according to the distance data and the driving data on the basis of a first trilateral formed by a first position of the single distance sensor at a first moment, a second position of the single distance sensor at a second moment and the third position of the obstacle. By adopting the technical scheme, the distance between the vehicle and the obstacle acquired by the plurality of distance sensors and the running data of the vehicle acquired by the plurality of wheel speed sensors are acquired, the number of the distance sensors for detecting the obstacle is determined according to the distance data, the position of the obstacle is determined in different modes according to the difference of the number, when the two distance sensors simultaneously detect the obstacle, the position of the obstacle is determined according to the distance data acquired by the two distance sensors, when only a single distance sensor can detect the obstacle, the specific position information of the obstacle is determined according to the trilateral position relation between the two positions of the single distance sensor and the obstacle at different moments, the conventional running data calculated by time and speed is converted into the wheel speed pulse acquired by the wheel speed sensors to obtain the running data, higher precision can be obtained, the problem of inaccurate positioning of the obstacle of the vehicle is solved, and the precision of positioning different obstacles by the vehicle is improved.
Example two
Fig. 2 is a flowchart of a vehicle-based obstacle positioning method provided in the second embodiment of the present invention, and the technical solution of the second embodiment of the present invention is further optimized based on the above optional technical solutions, and a specific manner of positioning an obstacle by a vehicle is given.
Optionally, determining position information of a third position according to the distance data and the driving data based on a first trilateral formed by a first position of the single distance sensor at the first time, a second position of the single distance sensor at the second time, and the third position of the obstacle, includes: determining a first side length of a first trilateral according to a first distance value acquired by a single distance sensor at a first moment, wherein two end points corresponding to the first side length of the first trilateral are a first position and a third position; determining a second side length of the first trilateral according to a second distance value acquired by the single distance sensor at a second moment, wherein two end points corresponding to the second side length of the first trilateral are a second position and a third position, and the second moment is located after the first moment; determining a third side length of the first trilateral according to a driving distance of the vehicle from the first moment to the second moment, wherein the driving distance is determined according to driving data, and two end points corresponding to the third side length of the first trilateral are a first position and a second position; and determining the position information of the third position according to the first side length of the first trilateral, the second side length of the first trilateral, the third side length of the first trilateral and the installation position of the single distance sensor. The arrangement has the advantages that the position of the obstacle relative to the vehicle can be accurately estimated, and external obstacle perception information with high accuracy is provided for the vehicle emergency braking system.
Optionally, in a case that it is determined that the first distance sensor and the second distance sensor detect the obstacle at the same time according to the distance data, determining the position information of the obstacle according to the distance data includes: in a case where it is determined from the distance data that the first and second distance sensors simultaneously detect the obstacle, position information of a sixth position is determined from the distance data based on a second trilateral constructed by a fourth position of the first distance sensor at the present time, a fifth position of the second distance sensor at the present time, and the sixth position of the obstacle.
As shown in fig. 2, a vehicle-based obstacle positioning method provided in the second embodiment of the present invention specifically includes the following steps:
s201, obtaining distance data between the vehicle and the obstacle and driving data of the vehicle.
Wherein, the vehicle is installed two at least distance sensor and a plurality of fast sensor of wheel, and distance data obtains through distance sensor collection, and the data of traveling obtains through a plurality of fast sensor of wheel collection.
It should be clear that step S201 is already explained in the first embodiment of the present invention, and will not be described herein.
S202, when it is determined that the first distance sensor and the second distance sensor simultaneously detect the obstacle according to the distance data, determining position information of a sixth position according to the distance data based on a second trilateral constructed by a fourth position of the first distance sensor at the current time, a fifth position of the second distance sensor at the current time, and the sixth position of the obstacle.
Specifically, the rear bumper of the vehicle may be provided with four distance sensors, when two of the distance sensors detect an obstacle, the position of one of the distance sensors may be a fourth position, the position of the other of the distance sensors may be a fifth position, the position of the obstacle may be a sixth position, the three positions may form a trilateral, and the position information of the obstacle may be calculated according to the distance data of the vehicle.
Further, determining the location information of the sixth location according to the distance data includes: determining a first side length of a second trilateral according to a third distance value acquired by a first distance sensor at the current moment, wherein two end points corresponding to the first side length of the second trilateral are a sixth position and a mounting position of the first distance sensor; determining a second side length of the second trilateral according to a fourth distance value acquired by the second distance sensor at the current moment, wherein two end points corresponding to the second side length of the second trilateral are a sixth position and a mounting position of the second distance sensor; determining a third side length of the second trilateral according to the installation position of the first distance sensor and the installation position of the second distance sensor; and determining the position information of the sixth position according to the first side length of the second trilateral, the second side length of the second trilateral, the three side lengths of the second trilateral, the installation position of the first distance sensor and the installation position of the second distance sensor.
For example, fig. 3 is a schematic diagram of two distance sensors detecting an obstacle, and as shown in fig. 3, a planar rectangular coordinate system is established, the position coordinate of the first distance sensor is set to E (x 1, y 1), the position coordinate of the second distance sensor is set to F (x 2, y 2), the position coordinate of the obstacle is G (x 3, y 3), the distance between the first distance sensor and the obstacle is L1, the distance between the second distance sensor and the obstacle is L2, three points a, B, and G form a triangle, and then the position coordinate of the G point can be expressed as:
x3= x1+ cos ^ HEG ^ L1= x1+ cos (arccos ((EF ^2 L1^2-L2^ 2)/(2 × EF ^ L1)) + arctan (HF/EH)) + L1, y3= yE + sin ^ HEG ^ L1= y1+ sin (arccos ((EF ^2 L1^2-L2^ 2)/(2 EF ^ L1)) + arctan (HF/EH)) + L1, wherein EH = x2-x1, HF = y1-y2, EH ^2 HF ^ 2^ HF ^2.
S203, under the condition that only one single distance sensor detects the obstacle currently according to the distance data, determining a first side length of the first trilateral according to a first distance value acquired by the single distance sensor at a first moment.
Two end points corresponding to the first side length of the first trilateral are a first position and a third position.
Specifically, when only a single distance sensor detects an obstacle, the time may be a first time, and a distance value between the obstacle detected by the distance sensor and the distance sensor at the time is a first side length of the first trilateral.
For example, fig. 4 is a schematic diagram of a single distance sensor detecting an obstacle, as shown in fig. 4, a dashed line part of a vehicle tail is a detection range of the distance sensor, a rectangular plane coordinate system is established, a position coordinate of the distance sensor may be set as E (x 1, y 1), a position coordinate of the obstacle, i.e., a third position coordinate, is G (x 3, y 3), when the single distance sensor detects an obstacle, a distance between the obstacle detected by the single distance sensor and the sensor is L1, i.e., the position of the distance sensor is a first position, a time when the distance sensor detects the obstacle is a first time, and the distance L1 is a first side length of a first triangle.
And S204, determining a second side length of the first trilateral according to a second distance value acquired by the single distance sensor at a second moment.
Two end points corresponding to the second side length of the first trilateral are a second position and a third position, and the second moment is located behind the first moment.
Specifically, the vehicle may travel a short distance forward or backward, and the distance collected by the distance sensor may be used as the second distance value every preset time during the change of the vehicle position, where the preset time may be 450 milliseconds or 1 second.
For example, as shown in fig. 4, when the obstacle is a stationary object, after only a single distance sensor detects the obstacle, the vehicle travels straight backward for 450 milliseconds, which is a second time, which is a second position with coordinates F (x 2, y 2), and the distance value L2 collected by the distance sensor is the second side length of the first trilateral.
And S205, determining a third side length of the first trilateral according to the driving distance of the vehicle from the first time to the second time.
The driving distance is determined according to the driving data, and two end points corresponding to the third side length of the first trilateral are a first position and a second position.
Specifically, the distance traveled by the vehicle during the time period from the first time to the second time may be obtained based on a plurality of wheel speed sensors.
For example, as shown in fig. 4, the first time position E, the second time position F and the obstacle position G form a trilateral area, and a driving distance of the vehicle is calculated to be L3 within 450 milliseconds after the vehicle is driven straight, which is the third side length of the first trilateral according to the plurality of wheel speed sensors.
Further, the driving data includes a first wheel speed pulse value of the left rear wheel and a second wheel speed pulse value of the right rear wheel corresponding to the first time, and includes a third wheel speed pulse value of the left rear wheel and a fourth wheel speed pulse value of the right rear wheel corresponding to the second time, and the driving distance is obtained by the following method: and determining a target determination mode according to the magnitude relation between the first wheel speed pulse value and the third wheel speed pulse value and the magnitude relation between the second wheel speed pulse value and the fourth wheel speed pulse value.
Specifically, the calculation mode of the vehicle running distance can be determined according to the pulse values of the left and right rear wheels collected by the first-moment wheel speed pulse sensor, the pulse values of the left and right rear wheels collected by the second-moment wheel speed pulse sensor and the size relationship of the pulse values.
Optionally, the driving distance is determined according to a target determination manner, where the target determination manner includes a first wheel speed pulse value, a second wheel speed pulse value, a third wheel speed pulse value, a fourth wheel speed pulse value, a wheel rolling radius, and a pulse variation value of each wheel rotation circle, and when the fourth wheel speed pulse value is smaller than the second wheel speed pulse value, the target determination manner further includes a preset wheel speed pulse threshold.
Specifically, the wheel speed pulse threshold is a maximum wheel speed pulse value, which may be 4096 or 8191, and the pulse change value per wheel rotation may be 96.
Further, determining the running distance according to the target determination method includes determining that the running distance running data includes a first wheel speed pulse value of the left rear wheel and a second wheel speed pulse value of the right rear wheel corresponding to the first moment, and includes a third wheel speed pulse value of the left rear wheel and a fourth wheel speed pulse value of the right rear wheel corresponding to the second moment, by using the following expressions, where the running distance is obtained by:
when RLPulse2> = RLPulse1, RRPulse2> = RRPulse1,
S＝((RLPulse2-RLPulse1+RRPulse2-RRPulse1)/(2*WholePulse))*2πR；
when RLPulse2> = RLPulse1, RRPulse2< RRPulse1,
S＝((RLPulse2-RLPulse1+PulseMax-RRPulse1+RRPulse2)/(2*WholePulse))*2πR；
when RLPulse2< RLPulse1, RRPulse2> = RRPulse1,
S＝((PulseMax-RLPulse1+RLPulse2+RRPulse2-RRPulse1)/(2*WholePulse))*2πR；
when RLPulse2< RLPulse1, RRPulse2< RRPulse1,
S＝((PulseMax-RLPulse1+RLPulse2+PulseMax-RRPulse1+RRPulse2)/(2*WholePulse))*2πR；
wherein S represents a driving distance, RLPulse1 represents a first wheel speed pulse value of the left rear wheel corresponding to a first time, RRPulse1 represents a second wheel speed pulse value of the right rear wheel corresponding to the first time, RLPulse2 represents a first wheel speed pulse value of the left rear wheel corresponding to a second time, RRPulse2 represents a first wheel speed pulse value of the left rear wheel corresponding to the second time, pulseMax represents a preset wheel speed pulse threshold, wheatpulse represents a pulse variation value of each wheel rotation, and R represents a wheel rolling radius.
Specifically, the distance value S obtained in the above manner is the length of the third side of a trilateral polygon.
S206, determining position information of a third position according to the first side length of the first trilateral, the second side length of the first trilateral, the third side length of the first trilateral and the installation position of the single distance sensor.
For example, as shown in fig. 4, a plane rectangular coordinate system is established, the position coordinates of the distance sensor are set as E (x 1, y 1), the position coordinates of the obstacle are G (x 3, y 3), the distance between the distance sensor and the obstacle is L1 when the obstacle is detected by a single distance sensor, the coordinates of the vehicle after traveling straight backward for 3 seconds are F (x 2, y 2) when the obstacle is a stationary object, the distance between the distance sensor and the obstacle is L2, the traveling distance of the vehicle is calculated as L3 according to the wheel speed sensor, the three point coordinates of a, B and G form a triangle, and the position coordinates of the G point can be expressed as:
x3= x1+ cos +heg ^ L1= x1+ cos (arccos ((L3 ^2+ l1^2-L2^ 2)/(2 x l3 x l1)) + arctan (HF/EH))) L1, y3= y1+ sin ^ HEG = L1= y1+ sin (arccos ((L3 ^ 2L 1^2-L2^ 2)/(2 x l3 x l1)) + arctan (HF/EH)) + L1, where EH = x2-x1, HF = y1-y2.
According to the obstacle positioning method based on the vehicle provided by the embodiment of the invention, the position of the obstacle is determined in different modes according to different detected obstacle numbers, when two distance sensors detect the obstacle simultaneously, the position of the obstacle is determined according to the distance data acquired by the two distance sensors, and when only a single distance sensor can detect the obstacle, the specific position information of the obstacle is determined according to the trilateral position relation between the two positions of the single distance sensor at different moments and the obstacle, and the conventional running data calculated through time and speed is converted into the running data obtained by using wheel speed pulses acquired by a wheel speed sensor, so that the position of the obstacle relative to the vehicle can be accurately determined, higher external obstacle sensing information is provided for an emergency braking system of the vehicle, the problem that the position of the vehicle for positioning the obstacle is inaccurate is solved, and the precision for positioning different obstacles by the vehicle is improved.
On the basis of the above embodiment, the method may further include:
optionally, obtaining distance data of the vehicle and the obstacle includes obtaining original distance data of the vehicle and the obstacle acquired by a distance sensor; and smoothing the original distance data by utilizing a five-point cubic linear smoothing algorithm to obtain the distance data.
Specifically, after the original distance data between the vehicle and the obstacle is acquired through the distance sensor, the original distance data can be smoothed through a five-point cubic linear smoothing algorithm, and the distance between the vehicle and the obstacle and the position information of the obstacle can be calculated through the smoothed distance data.
For example, the distance signals collected by the distance sensors at different times may be set as D (k) (k =0, \8230; N-1), the distance signal after the smoothing process is Dend (k), and the number of sampling points is N, and then a specific calculation method of the five-point three-time line smoothing process is:
if N <5, dend (k) = D (k);
if N >5, dend [0] = (3.0 [ D ], [0] +2.0 [ D ], [1] + D [2] -D [4 ])/5.0, dend [1] = (4.0 [ D ], [0] +3.0 [ D ], [1] +2 [ D ], [2] + D [3 ]/10.0, provided that i =2, \ 8230 \ 8230; (N-3), then: dend [ i ] = (D [ i-2] + D [ i-1] + D [ i ] + D [ i +1] + D [ i +2 ]/5.0, dend [ N-2] = (4.0X D [ N-1] + 3.0X D [ N-2] + 2X D [ N-3] + D [ N-4 ]/10.0, dend ], [ N-1] = (3.0X D [ N-1] + 2.0X D [ N-2] + D [ N-3] -D [ N-5 ])/5.0).
EXAMPLE III
Fig. 5 is a schematic structural diagram of a vehicle-based obstacle positioning device according to a third embodiment of the present invention. As shown in fig. 5, the apparatus includes: a data acquisition module 301, a first location information determination module 302, and a location information determination module 303, wherein:
the data acquisition module is used for acquiring distance data between a vehicle and an obstacle and driving data of the vehicle, wherein the vehicle is provided with at least two distance sensors and a plurality of wheel speed sensors, the distance data is acquired through the distance sensors, and the driving data is acquired through the plurality of wheel speed sensors;
the first position information determining module is used for determining the position information of the obstacle according to the distance data under the condition that the first distance sensor and the second distance sensor are determined to detect the obstacle simultaneously according to the distance data;
and a second position information determination module for determining position information of a third position based on the distance data and the driving data, based on a first trilateral formed by a first position of the single distance sensor at the first time, a second position of the single distance sensor at the second time, and a third position of the obstacle, in case it is determined that only the single distance sensor currently detects the obstacle based on the distance data.
The device for positioning the obstacle based on the vehicle acquires the distances between the vehicle and the obstacle, which are acquired by a plurality of distance sensors, and the driving data of the vehicle, which is acquired by a plurality of wheel speed sensors, determines the number of the distance sensors detecting the obstacle according to the distance data, determines the position of the obstacle in different modes according to different numbers, determines the position of the obstacle according to the distance data acquired by the two distance sensors when the two distance sensors simultaneously detect the obstacle, determines the specific position information of the obstacle according to the trilateral position relation between the two positions of the single distance sensor at different moments and the obstacle when only a single distance sensor can detect the obstacle, and converts the conventional driving data calculated by time and speed into the wheel speed pulses acquired by the wheel speed sensors to obtain the driving data, thereby obtaining higher precision, solving the problem of inaccurate position of the obstacle positioned by the vehicle, and improving the precision of positioning different obstacles by the vehicle.
Optionally, the first location information determining module 302 includes:
a sixth position information determination unit integrated in the vehicle for determining position information of a sixth position from the distance data, based on a second trilateral constructed by a fourth position of the first distance sensor at the present time, a fifth position of the second distance sensor at the present time, and a sixth position of the obstacle, in the case where it is determined from the distance data that the first distance sensor and the second distance sensor simultaneously detect the obstacle.
Further, determining the location information of the sixth location according to the distance data includes: determining the first side length of a second trilateral according to a third distance value acquired by a first distance sensor at the current moment, wherein two end points corresponding to the first side length of the second trilateral are a sixth position and the installation position of the first distance sensor; determining a second side length of the second trilateral according to a fourth distance value acquired by the second distance sensor at the current moment, wherein two end points corresponding to the second side length of the second trilateral are a sixth position and an installation position of the second distance sensor; determining a third side length of the second trilateral according to the installation position of the first distance sensor and the installation position of the second distance sensor; and determining the position information of the sixth position according to the first side length of the second trilateral, the second side length of the second trilateral, the three side lengths of the second trilateral, the installation position of the first distance sensor and the installation position of the second distance sensor.
Optionally, the second location information determining module 303 includes:
the first side length determining unit of the first trilateral is used for determining the first side length of the first trilateral according to a first distance value acquired by a single distance sensor at a first moment, wherein two end points corresponding to the first side length of the first trilateral are a first position and a third position;
the second side length determining unit of the first trilateral is used for determining the second side length of the first trilateral according to a second distance value acquired by the single distance sensor at a second moment, wherein two end points corresponding to the second side length of the first trilateral are a second position and a third position, and the second moment is located after the first moment;
the third side length determining unit of the first trilateral is used for determining the third side length of the first trilateral according to the driving distance of the vehicle from the first moment to the second moment, wherein the driving distance is determined according to the driving data, and two end points corresponding to the third side length of the first trilateral are a first position and a second position;
and a third position information determination unit for determining position information of the third position according to the first side length of the first trilateral, the second side length of the first trilateral, the third side length of the first trilateral, and the installation position of the single distance sensor.
Further, the driving data includes a first wheel speed pulse value of the left rear wheel and a second wheel speed pulse value of the right rear wheel corresponding to the first time, and includes a third wheel speed pulse value of the left rear wheel and a fourth wheel speed pulse value of the right rear wheel corresponding to the second time, and the driving distance is obtained by the following method:
optionally, determining a target determination mode according to a magnitude relationship between the first wheel speed pulse value and the third wheel speed pulse value and a magnitude relationship between the second wheel speed pulse value and the fourth wheel speed pulse value;
optionally, the driving distance is determined according to a target determination manner, where the target determination manner includes a first wheel speed pulse value, a second wheel speed pulse value, a third wheel speed pulse value, a fourth wheel speed pulse value, a wheel rolling radius, and a pulse variation value of each wheel rotation circle, and when the fourth wheel speed pulse value is smaller than the second wheel speed pulse value, the target determination manner further includes a preset wheel speed pulse threshold.
Further, determining the running distance according to the target determination method includes determining that the running distance running data includes a first wheel speed pulse value of the left rear wheel and a second wheel speed pulse value of the right rear wheel corresponding to the first moment, and includes a third wheel speed pulse value of the left rear wheel and a fourth wheel speed pulse value of the right rear wheel corresponding to the second moment, by using the following expressions, where the running distance is obtained by:
when RLPulse2> = RLPulse1, RRPulse2> = RRPulse1,
S＝((RLPulse2-RLPulse1+RRPulse2-RRPulse1)/(2*WholePulse))*2πR；
when RLPulse2> = RLPulse1, RRPulse2< RRPulse1,
S＝((RLPulse2-RLPulse1+PulseMax-RRPulse1+RRPulse2)/(2*WholePulse))*2πR；
when RLPulse2< RLPulse1, RRPulse2> = RRPulse1,
S＝((PulseMax-RLPulse1+RLPulse2+RRPulse2-RRPulse1)/(2*WholePulse))*2πR；
when RLPulse2< RLPulse1, RRPulse2< RRPulse1,
S＝((PulseMax-RLPulse1+RLPulse2+PulseMax-RRPulse1+RRPulse2)/(2*WholePulse))*2πR；
wherein S represents a driving distance, RLPulse1 represents a first wheel speed pulse value of the left rear wheel corresponding to a first time, RRPulse1 represents a second wheel speed pulse value of the right rear wheel corresponding to the first time, RLPulse2 represents a first wheel speed pulse value of the left rear wheel corresponding to a second time, RRPulse2 represents a first wheel speed pulse value of the left rear wheel corresponding to the second time, pulseMax represents a preset wheel speed pulse threshold, wheatpulse represents a pulse variation value of each wheel rotation, and R represents a wheel rolling radius.
Optionally, obtaining distance data between the vehicle and the obstacle includes: acquiring original distance data of a vehicle and an obstacle acquired by a distance sensor; and smoothing the original distance data by utilizing a five-point cubic linear smoothing algorithm to obtain the distance data.
The vehicle-based obstacle positioning device provided by the embodiment of the invention can execute the vehicle-based obstacle positioning method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
FIG. 6 illustrates a schematic structural diagram of a vehicle that may be used to implement an embodiment of the present invention. As shown in fig. 6, the vehicle 400 includes a memory 401, a processor 402, and a computer program stored in the memory 401 and executable on the processor 402, and when the processor 402 executes the computer program, the steps executed by the vehicle in the vehicle-based obstacle location method according to the embodiment of the present invention can be implemented, which has corresponding functions and advantages.
The vehicle can further comprise: at least two distance sensors and a plurality of wheel speed sensors, etc., wherein the distance sensors may be ultrasonic radar sensors, and the wheel speed sensors may be wheel speed pulse sensors.
A computer program running on the processor 402 for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server
EXAMPLE five
In the context of the present invention, a computer-readable storage medium may be a tangible medium, which when executed by a computer processor, is for performing a vehicle-based obstacle location method, the method comprising:
acquiring distance data of a vehicle and an obstacle and driving data of the vehicle, wherein the vehicle is provided with at least two distance sensors and a plurality of wheel speed sensors, the distance data is acquired by the distance sensors, and the driving data is acquired by the plurality of wheel speed sensors;
determining position information of the obstacle according to the distance data when the first distance sensor and the second distance sensor are determined to simultaneously detect the obstacle according to the distance data;
in the case where it is determined from the distance data that the obstacle is currently detected by only a single distance sensor, position information of a third position of the obstacle is determined from the distance data and the travel data on the basis of a first trilateral formed by a first position of the single distance sensor at a first time instant, a second position of the single distance sensor at a second time instant, and the third position.
In the context of the present invention, a computer readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The computer device provided above can be used to execute the vehicle-based obstacle positioning method provided in any of the above embodiments, with corresponding functions and benefits.
It should be noted that, in the embodiment of the vehicle-based obstacle locating device, the included units and modules are only divided according to the functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in some detail by the above embodiments, the invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the invention, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. A vehicle-based obstacle locating method, comprising:
acquiring distance data of a vehicle and an obstacle and driving data of the vehicle, wherein the vehicle is provided with at least two distance sensors and a plurality of wheel speed sensors, the distance data is acquired through the distance sensors, and the driving data is acquired through the plurality of wheel speed sensors;
under the condition that the first distance sensor and the second distance sensor are determined to simultaneously detect the obstacles according to the distance data, determining the position information of the obstacles according to the distance data;
in the case where it is determined from the distance data that the obstacle is currently detected by only a single distance sensor, position information of a third position of the obstacle is determined from the distance data and the travel data on the basis of a first trilateral formed by a first position of the single distance sensor at a first time instant, a second position of the single distance sensor at a second time instant, and the third position.
2. The method of claim 1, wherein determining position information for the third location based on a first trilateral formed by a first location of the single distance sensor at a first time, a second location of the single distance sensor at a second time, and a third location of the obstacle from the distance data and the travel data comprises:
determining a first side length of the first trilateral according to a first distance value acquired by the single distance sensor at the first moment, wherein two endpoints corresponding to the first side length of the first trilateral are the first position and the third position;
determining a second side length of the first trilateral according to a second distance value acquired by the single distance sensor at the second moment, wherein two end points corresponding to the second side length of the first trilateral are the second position and the third position, and the second moment is located after the first moment;
determining a third side length of the first trilateral according to a driving distance of the vehicle from the first moment to the second moment, wherein the driving distance is determined according to the driving data, and two endpoints corresponding to the third side length of the first trilateral are the first position and the second position;
and determining the position information of the third position according to the first side length of the first trilateral, the second side length of the first trilateral, the third side length of the first trilateral and the installation position of the single distance sensor.
3. The method according to claim 2, wherein the driving data includes a first wheel speed pulse value of the left rear wheel and a second wheel speed pulse value of the right rear wheel corresponding to a first time, and includes a third wheel speed pulse value of the left rear wheel and a fourth wheel speed pulse value of the right rear wheel corresponding to a second time, and the driving distance is obtained by:
determining a target determination mode according to the magnitude relation between the first wheel speed pulse value and the third wheel speed pulse value and the magnitude relation between the second wheel speed pulse value and the fourth wheel speed pulse value;
and determining the running distance according to the target determination mode, wherein the target determination mode comprises the first wheel speed pulse value, the second wheel speed pulse value, the third wheel speed pulse value, the fourth wheel speed pulse value, a wheel rolling radius and a pulse change value of each wheel rotation circle, and the target determination mode further comprises a preset wheel speed pulse threshold value under the condition that the fourth wheel speed pulse value is smaller than the second wheel speed pulse value.
4. The method according to claim 3, wherein the determining the travel distance according to the target determination manner includes determining the travel distance by the following expression:
when RLPulse2> = RLPulse1, RRPulse2> = RRPulse1,
S＝((RLPulse2-RLPulse1+RRPulse2-RRPulse1)/(2*WholePulse))*2πR；
when RLPulse2> = RLPulse1, RRPulse2< RRPulse1,
S＝((RLPulse2-RLPulse1+PulseMax-RRPulse1+RRPulse2)/(2*WholePulse))*2πR；
when RLPulse2< RLPulse1, RRPulse2> = RRPulse1,
S＝((PulseMax-RLPulse1+RLPulse2+RRPulse2-RRPulse1)/(2*WholePulse))*2πR；
when RLPulse2< RLPulse1, RRPulse2< RRPulse1,
S＝((PulseMax-RLPulse1+RLPulse2+PulseMax-RRPulse1+RRPulse2)/(2*WholePulse))*2πR；
wherein S represents the travel distance, RLPulse1 represents a first wheel speed pulse value of the left rear wheel corresponding to the first time, RRPulse1 represents a second wheel speed pulse value of the right rear wheel corresponding to the first time, RLPulse2 represents a first wheel speed pulse value of the left rear wheel corresponding to the second time, RRPulse2 represents a first wheel speed pulse value of the left rear wheel corresponding to the second time, pulseMax represents a preset wheel speed pulse threshold, wheatpulse represents a pulse variation value of each wheel rotation, and R represents a wheel rolling radius.
5. The method of claim 1, wherein determining the location information of the obstacle from the distance data in the event that it is determined from the distance data that the first and second distance sensors simultaneously detected the obstacle comprises:
in a case where it is determined from the distance data that the first and second distance sensors simultaneously detect the obstacle, position information of a sixth position of the obstacle is determined from the distance data based on a second trilateral constructed by a fourth position of the first distance sensor at the present time, a fifth position of the second distance sensor at the present time, and the sixth position.
6. The method of claim 5, wherein determining the location information for the sixth location based on the distance data comprises:
determining a first side length of the second trilateral according to a third distance value acquired by the first distance sensor at the current moment, wherein two end points corresponding to the first side length of the second trilateral are the sixth position and the installation position of the first distance sensor;
determining a second side length of the second trilateral according to a fourth distance value acquired by the second distance sensor at the current moment, wherein two end points corresponding to the second side length of the second trilateral are the sixth position and the installation position of the second distance sensor;
determining a third side length of the second trilateral according to the installation position of the first distance sensor and the installation position of the second distance sensor;
and determining the position information of the sixth position according to the first side length of the second trilateral, the second side length of the second trilateral, the three side lengths of the second trilateral, the installation position of the first distance sensor and the installation position of the second distance sensor.
7. The method according to any one of claims 1-6, wherein said obtaining vehicle-to-obstacle distance data comprises:
acquiring original distance data of the vehicle and the obstacle acquired by the distance sensor;
and smoothing the original distance data by utilizing a five-point cubic linear smoothing algorithm to obtain distance data.
8. A vehicle-based obstacle locating device, comprising:
the system comprises a data acquisition module, a data acquisition module and a data processing module, wherein the data acquisition module is used for acquiring distance data between a vehicle and an obstacle and driving data of the vehicle, the vehicle is provided with at least two distance sensors and a plurality of wheel speed sensors, the distance data are acquired by the distance sensors, and the driving data are acquired by the plurality of wheel speed sensors;
the first position information determining module is used for determining the position information of the obstacle according to the distance data under the condition that the first distance sensor and the second distance sensor are determined to simultaneously detect the obstacle according to the distance data;
a second position information determination module configured to determine, based on the distance data and the travel data, position information of a third position of the obstacle, based on a first trilateral formed by a first position of the single distance sensor at a first time, a second position of the single distance sensor at a second time, and the third position, if it is determined from the distance data that only a single distance sensor currently detects the obstacle.
9. A vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the vehicle is equipped with at least two distance sensors and a plurality of wheel speed sensors, the processor when executing the computer program implementing the steps performed by the vehicle in the vehicle based obstacle positioning method according to any of claims 1-7.
10. A computer readable storage medium storing computer instructions for causing a processor to perform the vehicle-based obstacle location method of any one of claims 1-7 when executed.
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| CN117970933A (en) * | 2024-04-02 | 2024-05-03 | 无锡车联天下信息技术有限公司 | Vehicle self-positioning correction method used in low-speed parking straight driving scene |
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| JP3708650B2 (en) * | 1996-06-11 | 2005-10-19 | トヨタ自動車株式会社 | Crew protection device using obstacle detection device |
| DE10361315A1 (en) * | 2003-12-19 | 2005-07-21 | Valeo Schalter Und Sensoren Gmbh | Method and device for determining the position of at least one reflection point on an obstacle |
| JP7007049B2 (en) * | 2016-12-26 | 2022-02-10 | ダイハツ工業株式会社 | Obstacle detection device |
| CN110988885B (en) * | 2019-12-24 | 2021-12-03 | 深圳南方德尔汽车电子有限公司 | Method, device and system for monitoring surrounding environment of automobile and storage medium |
| CN113138379A (en) * | 2020-01-16 | 2021-07-20 | 上海欧菲智能车联科技有限公司 | Method and system for carrying out triangulation based on single radar |
| CN114103933B (en) * | 2021-09-10 | 2024-03-15 | 华人运通(上海)自动驾驶科技有限公司 | Obstacle positioning method, parking control method, device and vehicle |
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| CN117970933B (en) * | 2024-04-02 | 2024-05-31 | 无锡车联天下信息技术有限公司 | Vehicle self-positioning correction method used in low-speed parking straight driving scene |
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