CN115871567A - Vehicle self-adaptive steering radar system and working method thereof - Google Patents
Vehicle self-adaptive steering radar system and working method thereof Download PDFInfo
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- CN115871567A CN115871567A CN202211416110.7A CN202211416110A CN115871567A CN 115871567 A CN115871567 A CN 115871567A CN 202211416110 A CN202211416110 A CN 202211416110A CN 115871567 A CN115871567 A CN 115871567A
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Abstract
The invention relates to the technical field of automatic driving sensors, in particular to a vehicle self-adaptive steering radar system and a working method thereof.
Description
Technical Field
The invention relates to the technical field of automatic driving sensors, in particular to a vehicle self-adaptive steering radar system and a working method thereof.
Background
With the development of an automatic driving technology of an automobile, the automobile obtains more information by installing various sensors, and firstly, a high-precision map is used for obtaining specific information of the automobile at the current position, such as the current position, the current speed and a traffic scene in the current environment; secondly, the technology of recognizing lane lines by image processing using cameras is becoming mature, and detection of obstacles in a target area by millimeter wave radar has also been put into practical use.
However, in some special road conditions, such as when the car in the parking lot runs on a curve, the detection range of the millimeter wave radar is restricted by the fixing device, and effective information cannot be well detected. Therefore, the detection area of the millimeter wave radar is adjusted, and a driver can better find dangerous obstacles to solve the problem firstly.
Disclosure of Invention
In view of the above, the present invention provides a vehicle adaptive steering radar system and a working method thereof, so as to solve the problem that the existing millimeter wave radar is constrained by a fixing device and cannot well detect valid information during the vehicle running on a curve.
Based on the above purpose, the present invention provides a vehicle adaptive steering radar system, which includes a radar device, and further includes:
a fixing device for mounting the radar device;
the camera device is used for identifying the lane line information;
the control device is used for acquiring lane line information acquired by the camera device and calculating the optimal rotation angle of the radar device by combining the initial position and the end position of the lane line in the visual field of the camera device;
and the rotating device is used for driving the fixing device to rotate towards the curve direction of the lane line at the optimal rotating angle according to the optimal rotating angle calculated by the control device so as to drive the radar device to rotate in a fixed coordinate system.
Preferably, the control device is connected to the camera device via a CAN bus.
Preferably, the calculating of the optimal rotation angle of the radar device includes:
the initial position of the visual field of the camera device is adjusted to be in the same vertical plane with the center of the radar device,
identifying the lane line to obtain a two-dimensional aerial view of the lane line, and calculating a fitting curve function of the lane line
x＝ay 2 +by+c；
After obtaining the lane line fitting curve function, deriving the initial position and the ending position of the lane line in the camera view field to calculate a tangent line and obtain an included angle alpha which is the optimal rotation angle of the radar device,
wherein, x is a lane line fitting curve function, y is a variable of the curve function, a, b and c are a quadratic coefficient, a first order coefficient and a constant term respectively, y 'is a first order derivative of y, and y' is a second order derivative of y.
Preferably, the control device is further configured to calculate the length of the lane arc in the field of view of the camera device, determine the curve direction of the lane line by comparing the lengths of the lane line arcs on the two sides, and further control the rotating device to drive the fixing device to rotate in the curve direction of the lane line.
Preferably, the control device is further configured to determine whether the vehicle enters a curve from a straight road according to the curvature of the curve fitted by the lane line, and if so, perform the adaptive steering operation of the radar device.
Preferably, the determining whether the vehicle enters the curve from the straight road includes:
calculating the curvature K of the lane line fitting curve as follows:
and setting a discrimination threshold, and executing the self-adaptive steering work of the radar device when the lane line fitting curve is smaller than the discrimination threshold.
Preferably, the control means is further adapted to:
setting an upper floating threshold value and a lower floating threshold value, when the curvature of a next frame of detected lane line fitting curve of the image of the lane line acquired by the camera device is between the upper floating threshold value and the lower floating threshold value, maintaining the steering state of the previous state, and if the curvature of the next frame exceeds the range of the upper floating threshold value and the lower floating threshold value, updating the steering state of the next state again;
when the curvature of a certain frame of the lane line image collected by the camera device is larger than the curvature of the previous frame and the difference value of the curvature of the certain frame of the lane line image is larger than the interval between the lower floating threshold and the upper floating threshold, the steering device is controlled to rotate in the opposite direction and the condition that the axis of the radar device is parallel to the tangent of the lane line termination visual field point is met, and at the moment, the rotation angle is the difference value between the rotation angle of the previous state and the included angle alpha.
The present specification also provides a working method of the vehicle adaptive steering radar system, including:
identifying lane line information;
acquiring lane line information acquired by a camera device, and calculating the optimal rotation angle of the radar device by combining the initial position and the end position of the lane line in the field of view of the camera device;
and driving the fixing device to rotate by the optimal rotation angle in the vehicle steering direction according to the optimal rotation angle calculated by the control device so as to drive the radar device to rotate in a fixed coordinate system.
The invention has the beneficial effects that: when the car is traveling at the bend, discern the lane line through the camera, with information feedback to controlling means, controlling means can be according to lane line information and camera device's the field of vision in lane line initial position and final position, calculate radar installations's best turned angle, rethread control turning device is rotatory to lane line crooked direction with best turned angle, realize adjusting radar installations's angle, adapt to best observation area, acquire more effective information, avoid causing the accident because radar installation blind area, and can make full use of radar installation, improve its use value.
Drawings
In order to more clearly illustrate the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description in the prior art will be briefly described below, it is obvious that the drawings in the following description are only the present invention, and other drawings can be obtained by those skilled in the art without inventive efforts.
FIG. 1 is a block diagram of a vehicle adaptive steering radar system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a coordinate system of a radar apparatus according to an embodiment of the present invention;
fig. 3 is a schematic view illustrating the rotation of the radar device of the vehicle under a curved road condition according to the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to specific embodiments.
It is to be noted that technical terms or scientific terms used herein should have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. The use of "first," "second," and similar terms in the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
As shown in fig. 1 to fig. 3, an embodiment of the present disclosure provides a vehicle adaptive steering radar system, which includes a radar device, and further includes a fixing device, a camera device, a control device, and a rotating device, where the fixing device is used to fixedly connect the radar device, such as a millimeter wave radar, the camera device is used to identify lane line information, the control device is used to obtain lane line information collected by the camera device, and calculate an optimal rotation angle of the radar device by combining an initial position and an end position of a lane line in a field of view of the camera device, and the rotating device is used to drive the fixing device to rotate in a direction in which the lane line is bent at the optimal rotation angle according to the optimal rotation angle calculated by the control device, so as to drive the radar device to rotate in a fixed coordinate system.
The vehicle self-adaptation turns to radar system that this specification embodiment provided, when the car was gone at the bend, discern the lane line through the camera, feed back information to controlling means, controlling means can be according to lane line information and camera device's the field of vision in lane line initial position and final position, calculate radar device's best turned angle, rethread control rotating device is rotatory to lane line crooked direction with best turned angle, realize adjusting radar device's angle, adapt to best observation region, acquire more effective information, avoid causing the accident because radar device blind area, and can make full use of radar device, improve its use value.
As an implementation mode, the control device is connected with the camera device through the CAN bus, and the communication speed and the stability are high.
As an embodiment, the process of the control device calculating the optimal rotation angle of the radar device includes:
the initial position of the visual field of the camera device is adjusted to be on the same vertical plane with the center of the radar device,
identifying the lane line to obtain a two-dimensional aerial view of the lane line, and calculating a fitting curve function of the lane line
x＝ay 2 +by+c；
After obtaining the lane line fitting curve function, deriving the initial position and the ending position of the lane line in the camera view field to calculate a tangent line and obtain an included angle alpha which is the optimal rotation angle of the radar device,
wherein, x is a lane line fitting curve function, y is a variable of the curve function, a, b and c are a quadratic coefficient, a first order coefficient and a constant term respectively, y 'is a first order derivative of y, and y' is a second order derivative of y.
Referring to fig. 2, a coordinate system of the radar apparatus in which a horizontal axis is perpendicular to a housing of the radar apparatus and passes through a millimeter wave radar center, and a vertical axis is perpendicular to a bottom of the radar apparatus and passes through the center of the radar apparatus, the radar apparatus is rotated about the vertical axis.
As shown in fig. 3, when the vehicle is about to enter a curve, the detection area of the radar device covers the lower right area, which contains a lot of invalid information, and after the steering of the radar device is adjusted, it can be seen that the detection area of the radar device is mostly the valid area of the road surface.
When the automobile runs in the center of a lane line of a curve, the lane line can be regarded as an arc with a certain circle center and radius, the horizontal axis of the radar device is superposed with the center line of the lane, and the angle rho is a radar azimuth angle and is used for determining the detection range of the radar. QM is a camera detection area, Q is a camera view lane line starting point, M is a camera view lane line end point, OM is a connecting line between the circle center of the curve and the center of the radar device, a tangent line passing through the Q point and the N point and serving as a lane line respectively intersects at a point P, and an included angle between the two tangent lines is alpha.
The starting position of the field of view of the camera device is adjusted to be on the same vertical plane with the center of the millimeter wave radar, namely the circle center of the curve, the starting point Q of the field of view of the camera and the center point of the millimeter wave radar are projected on the same straight line, and the tangent line of the connecting line of the circle center of the curve and the starting position of the field of view of the camera is parallel to the driving direction of the automobile, namely the horizontal axis of the radar device.
When the automobile runs on a straight road, the two tangent lines can be regarded as being parallel to the horizontal axis of the radar device, and the detection range of the radar device is the optimal area. When entering a curve, the automobile runs along the tangential direction of the circle center of the curve and the starting point of the camera view, at the moment, the radar axis is changed to be parallel to the tangent of the end point of the camera view, the optimal detection area can be reached, and the rotating angle of the radar device is the included angle alpha of the two tangent lines.
Further, the angle α is obtained by the camera device and the control device. The camera device identifies the lane line through the prior art, obtains the lane line two-dimensional aerial view, and can calculate a lane line fitting curve function as follows:
x＝ay 2 +by+c
the distance between the pixel points of different lane lines and the vehicle can be obtained by the calibrated camera.
After obtaining the curve fitting function, deriving the initial position and the ending position of the lane line in the field of view of the camera to calculate a tangent line and obtain an included angle α, as follows:
and the arc length within the field of view can be calculated as follows:
the curve direction of the lane line can be judged by comparing the lengths of the arcs of the lane lines on the two sides, if the length of the lane line on the left side is smaller than that of the lane line on the right side, the lane line is considered to be curved along the anticlockwise direction, and if the length of the lane line on the left side is larger than that of the lane line on the right side, the lane line is considered to be curved along the clockwise direction. And the curvature K of the lane line can be obtained by the formula:
when the included angle alpha and the curvature K are obtained, a steering strategy is realized through the control device, and the curvature of the automobile can be changed continuously in the driving process. The curvature may be large when traveling on a straight road, and the curvature may be small when traveling on a curve. Therefore, a judgment threshold value can be set, when the curvature of the lane line is smaller than the judgment threshold value, the system starts to work, and the vehicle enters the curve and leaves the curve on the straight road, namely, the process that the curvature is firstly reduced and then is increased is carried out.
When the vehicle enters a curve from a straight road, the curvature is reduced to a discrimination threshold value, and the steering system starts to work. In order to improve the working efficiency of the system and reduce the calculation amount of the system, one lane line is selected for processing, and the included angle alpha of the two tangent lines is obtained, namely the control device adjusts the turning angle of the steering device along the bending direction of the lane line to be alpha.
When the steering device works, because the lane line detection has certain noise influence, the detected curvature may be interfered between adjacent frames of the camera, so an upper floating threshold value and a lower floating threshold value are set, when the camera device collects the lane line image, the next frame detects that the lane line curvature is in a threshold range, the last steering state is maintained, and if the next frame curvature exceeds the threshold range, the next state steering is renewed.
When the curvature of a certain frame of the lane line image collected by the camera device is larger than the curvature of the previous frame and the difference value of the curvature of the certain frame of the lane line image is larger than the interval of the upper floating threshold and the lower floating threshold, the fact that the vehicle is about to leave a curve and enter a straight line road is indicated, at the moment, the control device can control the steering device to rotate in the opposite direction and meet the condition that the axis of the radar is parallel to the tangent line of the end view point of the lane line, and at the moment, the rotating angle is the difference value of the rotating angle of the previous state and the angle alpha.
When the rotating device receives the signal of the control device, the fixing device of the radar is driven to rotate by a certain torque so as to realize the adjustment of the angle.
When the vehicle leaves a curve and enters a straight road, the curvature of the lane line is larger than a judgment threshold value, at the moment, the horizontal axis of the radar device is parallel to the lane line, and the control device stops working.
Based on the above, the self-adaptive steering function of the radar device can be realized when the vehicle enters a curve or leaves the curve, the view blind area of the radar device in a curve scene is solved, and more effective information is obtained.
An embodiment of the present specification further provides a working method of the adaptive steering radar system, including the following steps:
identifying lane line information;
acquiring lane line information acquired by a camera device, and calculating the optimal rotation angle of the radar device by combining the initial position and the end position of the lane line in the field of view of the camera device;
and according to the optimal rotation angle calculated by the control device, driving the fixing device to rotate in the optimal rotation angle and in the direction of vehicle steering so as to drive the radar device to rotate in the fixed coordinate system.
Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, is limited to those examples; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity.
The present invention is intended to embrace all such alternatives, modifications and variances which fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalents, improvements, and the like that may be made without departing from the spirit or scope of the present invention are intended to be included within the scope of the present invention.
Claims (8)
1. A vehicle adaptive steering radar system comprising a radar device, characterized by further comprising:
a fixing device for mounting the radar device;
the camera device is used for identifying the lane line information;
the control device is used for acquiring the lane line information acquired by the camera device and calculating the optimal rotation angle of the radar device by combining the initial position and the end position of the lane line in the field of view of the camera device;
and the rotating device is used for driving the fixing device to rotate towards the curve direction of the lane line at the optimal rotating angle according to the optimal rotating angle calculated by the control device so as to drive the radar device to rotate in a fixed coordinate system.
2. The vehicle adaptive steering radar system according to claim 1, wherein the control device is connected to the camera device through a CAN bus.
3. The vehicle adaptive steering radar system according to claim 1, wherein the calculating of the optimal turning angle of the radar device comprises:
the initial position of the visual field of the camera device is adjusted to be on the same vertical plane with the center of the radar device,
identifying the lane line to obtain a two-dimensional aerial view of the lane line, and calculating a fitting curve function of the lane line
x＝ay 2 +by+c；
After obtaining the lane line fitting curve function, deriving the initial position and the ending position of the lane line in the camera view field to calculate a tangent line and obtain an included angle alpha which is the optimal rotation angle of the radar device,
wherein, x is a lane line fitting curve function, y is a variable of the curve function, a, b and c are respectively a quadratic coefficient, a first order coefficient and a constant term, y 'is a first order derivative of y, and y' is a second order derivative of y.
4. The adaptive radar steering system according to claim 3, wherein the control device is further configured to calculate the lengths of the arcs of the lane lines in the field of view of the camera device, determine the curve direction of the lane lines by comparing the lengths of the arcs of the lane lines on two sides, and control the rotating device to drive the fixing device to rotate in the curve direction of the lane lines.
5. The vehicle adaptive steering radar system according to claim 3, wherein the control device is further configured to determine whether the vehicle enters a curve from a straight road according to the curvature of the curve fitted with the lane line, and if so, perform the adaptive steering operation of the radar device.
6. The vehicle adaptive steering radar system according to claim 5, wherein the determining whether the vehicle enters the curve from the straight road comprises:
calculating the curvature K of the lane line fitting curve as follows:
and setting a discrimination threshold, and executing the self-adaptive steering work of the radar device when the lane line fitting curve is smaller than the discrimination threshold.
7. The vehicle adaptive steering radar system according to claim 6, wherein the control device is further configured to:
setting an upper floating threshold value and a lower floating threshold value, when the curvature of a next frame of detected lane line fitting curve of the image of the lane line acquired by the camera device is between the upper floating threshold value and the lower floating threshold value, maintaining the steering state of the previous state, and if the curvature of the next frame exceeds the range of the upper floating threshold value and the lower floating threshold value, updating the steering state of the next state again;
when the curvature of a certain frame of the lane line image collected by the camera device is larger than the curvature of the previous frame and the difference value of the curvature of the certain frame of the lane line image is larger than the interval between the lower floating threshold and the upper floating threshold, the steering device is controlled to rotate in the opposite direction and the condition that the axis of the radar device is parallel to the tangent of the lane line termination visual field point is met, and at the moment, the rotation angle is the difference value between the rotation angle of the previous state and the included angle alpha.
8. A method of operating a vehicle adaptive steering radar system according to any one of claims 1 to 7, comprising:
identifying lane line information;
acquiring lane line information acquired by a camera device, and calculating the optimal rotation angle of the radar device by combining the initial position and the end position of the lane line in the field of view of the camera device;
and driving the fixing device to rotate by the optimal rotation angle in the vehicle steering direction according to the optimal rotation angle calculated by the control device so as to drive the radar device to rotate in a fixed coordinate system.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117949951A (en) * | 2024-03-26 | 2024-04-30 | 北京擎锋精密科技有限公司 | Radar self-adaptive adjusting system and adjusting method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117949951A (en) * | 2024-03-26 | 2024-04-30 | 北京擎锋精密科技有限公司 | Radar self-adaptive adjusting system and adjusting method thereof |
| CN117949951B (en) * | 2024-03-26 | 2024-05-28 | 北京擎锋精密科技有限公司 | Radar self-adaptive adjusting system and adjusting method thereof |
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