CN116148860A - Method and device for identifying static obstacle, vehicle and storage medium - Google Patents
Method and device for identifying static obstacle, vehicle and storage medium Download PDFInfo
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- CN116148860A CN116148860A CN202310004394.7A CN202310004394A CN116148860A CN 116148860 A CN116148860 A CN 116148860A CN 202310004394 A CN202310004394 A CN 202310004394A CN 116148860 A CN116148860 A CN 116148860A
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/50—Systems of measurement based on relative movement of target
- G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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Abstract
The application relates to a method and a device for identifying a static obstacle, a vehicle and a storage medium, wherein the method comprises the following steps: clustering radar waves reflected by the radar, and screening at least one moving target and at least one stationary target by combining speed information of the current vehicle; projecting at least one stationary target to a preset vehicle coordinate system, fitting a drivable interval, and fitting a predicted running track of the current vehicle in the current running state; a plurality of initial targets are obtained based on the drivable interval boundary obtained for the drivable interval, and at least one stationary obstacle is identified from the plurality of initial targets based on the predicted travel trajectory. According to the method and the device for identifying the static obstacle, the static target can be determined based on the data after clustering processing, and a plurality of initial targets are obtained based on the boundary of the drivable interval, so that at least one static obstacle is identified based on the predicted driving track, identification accuracy is improved, misidentification and missing identification are avoided, safety and reliability of a vehicle are improved, and driving experience is improved.
Description
Technical Field
The application relates to the technical field of intelligent driving assistance of automobiles, in particular to a method and a device for identifying static obstacles, a vehicle and a storage medium.
Background
Along with the development of the intelligent driving industry, automobiles provided with intelligent driving assistance are becoming popular, sensors are used as important sensing elements of a driving assistance system, the sensing capability of the driving assistance system on the running environment of the automobile can directly influence the functions and performance of the driving assistance system, and millimeter wave radars are used as important sensing sensors, so that the sensor is good in adaptability, high in anti-interference performance and widely used by the driving assistance system.
In the related art, in the millimeter wave radar sensing process, the radar emits millimeter waves outwards, and for objects adjacent to roadside obstacles, especially for objects with similar reflection properties to those of the obstacle radar, millimeter waves with similar reflection properties are reflected.
However, when the radar processes the target obstacle in the related art, the obstacle and the target object are easily clustered into the same target, so that the false recognition or the missing recognition is caused, the driving auxiliary function is not triggered or is triggered by mistake, the driving safety of the vehicle is reduced, the driving experience of the user is influenced, the intelligent level is low, and the improvement is needed.
Disclosure of Invention
The application provides a method, a device, a vehicle and a storage medium for identifying a static obstacle, which are used for solving the problems that when radar processes a target obstacle in the related technology, the obstacle and the target object are easily clustered into the same target, so that false identification or missing identification is caused, a driving auxiliary function is missed to trigger or false trigger, the driving safety of the vehicle is reduced, the driving experience of a user is influenced, the intelligent level is low and the like.
An embodiment of a first aspect of the present application provides an identification of a stationary obstacle, comprising the steps of: clustering radar waves reflected by the radar, and screening at least one moving target and at least one stationary target by combining speed information of the current vehicle; projecting the at least one stationary target to a preset vehicle coordinate system, fitting a drivable interval, and fitting a predicted running track of the current vehicle in a current running state; and obtaining a plurality of initial targets based on the obtained drivable interval boundary of the drivable interval, and identifying at least one stationary obstacle from the plurality of initial targets based on the predicted driving track.
According to the technical means, the static target can be determined based on the clustered data, and a plurality of initial targets are obtained based on the boundary of the drivable zone, so that at least one static obstacle is identified based on the predicted driving track, the identification accuracy is improved, false identification and missing identification are effectively avoided, and the safety and reliability of the vehicle are improved.
Optionally, in one embodiment of the present application, the obtaining a plurality of initial targets based on a travelable interval boundary obtained by the travelable interval includes: judging whether the track curvature of the boundary of the drivable interval meets a preset abrupt change condition or not; and if the preset mutation condition is met, reprocessing the target of the mutation point, and filtering radar waves of the mutation point roadside obstacle.
According to the technical means, whether the track curvature of the boundary of the drivable interval meets a certain mutation condition can be judged, when the track curvature meets the certain mutation condition, targets of mutation points are reprocessed, radar waves of roadside obstacles of the mutation points are filtered, and therefore stationary obstacles are recognized in a targeted manner, safety and reliability of vehicles are improved, and driving experience of users is improved.
Optionally, in one embodiment of the present application, the identifying at least one stationary obstacle from the plurality of initial targets based on the predicted driving trajectory includes: judging whether the processed target attribute meets a preset condition or not; and if the preset condition is met and the predicted running track is within, the vehicle is used as a static obstacle.
According to the technical means, whether the processed target attribute meets a certain condition or not can be judged, and when the processed target attribute meets the certain condition and is in the predicted running track, the initial target can be used as a static obstacle, so that a driver is reminded of paying attention to the static obstacle, the recognition accuracy is improved, the running safety of a vehicle is improved, and the driving experience of a user is improved.
Optionally, in one embodiment of the present application, the preset mutation condition is that a difference between a lateral position of the mutation point and a lateral position before mutation is greater than a first preset threshold and a radius of curvature from a previous point exceeds a second preset threshold.
According to the technical means, the preset mutation condition in the embodiment of the application is that the difference between the transverse position of the mutation point and the transverse position before mutation is larger than the first preset threshold value and the curvature radius of the previous point exceeds the second preset threshold value, and the mutation target can be effectively processed through the mutation condition, so that a driving system is assisted, the driving experience of a user is increased, and the practicability of a vehicle is ensured.
Optionally, in one embodiment of the present application, after identifying the at least one stationary obstacle, further comprising: while prompting the at least one stationary obstacle, generating a deceleration strategy and/or a steering strategy according to the relative speed, longitudinal distance and/or lateral distance of the current vehicle and the obstacle.
According to the technical means, the method and the device can generate different strategies according to different speeds and distances between the current vehicle and the obstacle while prompting at least one static obstacle, so that the static obstacle is effectively avoided, the intelligent level of the vehicle is improved, and the driving safety of the vehicle is improved.
An embodiment of a second aspect of the present application provides an apparatus for identifying a stationary obstacle, including: the screening module is used for carrying out clustering processing on radar waves reflected by the radar and screening at least one moving target and at least one static target by combining speed information of the current vehicle; the fitting module is used for projecting the at least one static target to a preset vehicle coordinate system, fitting a drivable interval and fitting a predicted running track of the current vehicle in the current running state; and the identification module is used for obtaining a plurality of initial targets based on the boundary of the drivable interval obtained by the drivable interval and identifying at least one static obstacle from the plurality of initial targets based on the predicted driving track.
Optionally, in one embodiment of the present application, the identification module includes: the first judging unit is used for judging whether the track curvature of the boundary of the drivable interval meets a preset abrupt change condition; and the filtering unit is used for reprocessing the targets of the mutation points and filtering radar waves of the roadside obstacles of the mutation points when the preset mutation conditions are met.
Optionally, in one embodiment of the present application, the identification module further includes: the second judging unit is used for judging whether the processed target attribute meets a preset condition; and the identification unit is used for being used as a static obstacle when the preset condition is met and the preset condition is within the predicted running track.
Optionally, in one embodiment of the present application, the preset mutation condition is that a difference between a lateral position of the mutation point and a lateral position before mutation is greater than a first preset threshold and a radius of curvature from a previous point exceeds a second preset threshold.
Optionally, in one embodiment of the present application, the identification module further includes: and the generating unit is used for prompting the at least one static obstacle and generating a deceleration strategy and/or a steering strategy according to the relative speed, the longitudinal distance and/or the transverse distance of the current vehicle and the obstacle.
An embodiment of a third aspect of the present application provides a vehicle, including: the system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to realize the identification method of the static obstacle as described in the embodiment.
A fourth aspect of the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the method of identifying a stationary obstacle as above.
The beneficial effects of the embodiment of the application are that:
(1) According to the method and the device for identifying the static obstacle, the static target can be determined based on the data after clustering processing, and a plurality of initial targets are obtained based on the boundary of the drivable interval, so that at least one static obstacle is identified based on the predicted driving track, the accuracy of identification is improved, false identification and missing identification are effectively avoided, and the safety and reliability of a vehicle are improved.
(2) According to the method and the device for identifying the stationary obstacle, whether the track curvature of the boundary of the drivable interval meets a certain mutation condition can be judged, when the certain mutation condition is met, targets of mutation points are reprocessed, radar waves of the roadside obstacle of the mutation points are filtered, and therefore the stationary obstacle is identified in a targeted mode, safety and reliability of a vehicle are improved, and driving experience is improved.
(3) According to the method and the device for identifying the target attribute, whether the processed target attribute meets a certain condition or not can be judged, when the processed target attribute meets the certain condition and is in the predicted running track, the initial target can be used as a static obstacle, so that a driver is reminded of paying attention to the static obstacle, the identification accuracy is improved, the running safety of a vehicle is improved, and the driving experience of a user is increased.
Additional aspects and advantages of the 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 application.
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The foregoing 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, in which:
fig. 1 is a flowchart of a method for identifying a stationary obstacle according to an embodiment of the present application;
FIG. 2 is a flow chart of identification of a stationary obstacle according to one embodiment of the present application;
fig. 3 is a schematic structural diagram of a static obstacle identifying device according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
Wherein, 10-recognition device of static obstacle: 100-screening module, 200-fitting module and 300-identifying module.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present application and are not to be construed as limiting the present application.
The following describes a method, an apparatus, a vehicle, and a storage medium for identifying a stationary obstacle according to embodiments of the present application with reference to the accompanying drawings. Aiming at the problems that when radar processes a target obstacle in the related technology mentioned in the background technology center, the obstacle and the target object are easily clustered into the same target, so that false recognition or false recognition is caused, a driving auxiliary function is not triggered or is not triggered, the driving safety of a vehicle is reduced, the driving experience of a user is influenced, and the intelligent level is low, the application provides a static obstacle recognition method. Therefore, the problems that when the radar processes the target obstacle, the obstacle and the target object are clustered into the same target easily, so that the false recognition or the missing recognition is caused, the driving auxiliary function is not triggered or is triggered by mistake, the driving safety of a vehicle is reduced, the driving experience of a user is influenced, the intelligent level is low and the like are solved.
Specifically, fig. 1 is a flow chart of a method for identifying a static obstacle according to an embodiment of the present application.
As shown in fig. 1, the method for identifying the stationary obstacle comprises the following steps:
in step S101, clustering is performed on radar waves reflected by the radar, and at least one moving object and at least one stationary object are screened out in combination with speed information of the current vehicle.
It can be understood that, in the embodiment of the present application, the Radar wave reflected by the Radar may illuminate the target and receive the echo thereof, and the ECU (Electronic Control Unit ) controller may cluster targets with the same attribute as the Radar wave, such as RCS (Radar Cross-Section) value, speed, angle, etc., and cluster the reflection points into target points, and combine with the speed information of the current vehicle, thereby screening out at least one moving target and at least one stationary target.
For example, embodiments of the present application may measure or calculate the ability of a target to reflect millimeter radar waves in the radar receiver direction through the RCS; for another example, in the embodiment of the present application, the remote object may be measured by the speed and the angle of the millimeter radar wave, the ECU controller may perform a clustering process on the targets with the same attribute of the millimeter radar wave, cluster the RCS value, the speed, the angle, and the like, determine that the target is a stationary target or a moving target by combining the speed of the current vehicle and the related attribute of the target point, and determine that the target point is stationary when the difference between the absolute value of the relative speed of the target point and the vehicle and the speed of the vehicle is about equal to 0
And when the difference between the absolute value of the relative speed of the target point and the vehicle and the speed of the vehicle is greater than 0, the target point can be judged to be a 5-movement target.
According to the method, the device and the system, at least one moving target and at least one static target can be screened out through clustering radar waves and combining with the vehicle speed, so that the safety of vehicle running is improved, and the intelligence and the practicability of the vehicle are improved.
In step S102, at least one stationary object is projected to a preset vehicle coordinate system, a drivable interval is fitted, and a predicted driving track in a current driving state of a current vehicle is fitted.
0 it can be appreciated that the embodiment of the application can project the clustered stationary targets under the vehicle coordinate system based on no
And fitting a drivable interval with the position information of the stationary target, and smoothing the boundary track of the drivable interval to output the boundary track information of the drivable interval, wherein the predicted driving track of the vehicle in the current driving state is fitted based on the speed, steering wheel angle, yaw rate and the like of the vehicle.
For example, the embodiment of the present application can continuously make the stationary objects with the same objects and continuous positions as a boundary between the travelable regions 5, and if the lateral positions of the two stationary points exceed the threshold value of 1m, they cannot be continuously made into a line, and the line is formed
The line can be smoothed to form a boundary with continuous curvature, and the current boundary is determined to be a drivable area by determining the relevant attribute of the boundary, including but not limited to the transverse distance, the longitudinal distance and the corresponding curvature of the position; for another example, the ECU controller in the embodiments of the present application may be based on the current vehicle speed, steering wheel angle, yaw rate, etc.,
fitting out the running track under the current state, fitting 0 to synthesize the running lane model based on the running track of the current vehicle and the related information of the boundary, determining the running lane of the current vehicle, calculating the relative distance between the current vehicle and the boundary,
when the distance between the center of the current vehicle and the boundary of the drivable interval is less than 3.5m, it may be determined that the current vehicle is traveling in a lane near the stationary barrier.
According to the method and the device for predicting the driving track, the driving interval can be fitted through projecting the static target to a certain vehicle coordinate system, so that the safety and reliability of the vehicle are further improved, and the driving experience of a user is improved.
5 in step S103, a plurality of initial targets are obtained based on the drivable interval boundary obtained from the drivable interval, and based on the preliminary set
The measured travel trajectory identifies at least one stationary obstacle from a plurality of initial targets.
It can be understood that, in the embodiment of the present application, a drivable interval may be fitted based on the position information of different stationary targets, where the stationary targets with the same target and continuous positions are continuous boundaries of one drivable interval, and when the difference between the absolute value of the relative speed between the target and the host vehicle in the drivable interval and the speed of the host vehicle is about equal to 0, it is determined that the target is a stationary obstacle.
0 for example, the embodiment of the application can determine the lane where the host vehicle runs based on the related information of the running boundary and count
And calculating the relative distance between the current vehicle and the boundary, if the distance between the current vehicle and the boundary of the drivable zone is smaller than 3.5m, judging that the vehicle runs on a lane close to the stationary obstacle, when a plurality of initial targets such as a street lamp, a tree, a pedestrian and the like are arranged in front of the vehicle in the lane of the stationary obstacle, judging that the speed difference between the current vehicle and the plurality of initial targets is the same, when the difference between the absolute value of the relative speeds of the street lamp, the tree and the current vehicle in the drivable zone and the current vehicle speed is approximately equal to 0, judging that the street lamp and the tree are stationary obstacles, and when the difference between the absolute value of the relative speeds of the pedestrian and the current vehicle in the drivable zone and the current vehicle speed is greater than 0, judging that the pedestrian is not the stationary obstacle.
According to the method and the device for identifying the static obstacle, the plurality of initial targets can be obtained based on the boundary of the drivable region, so that at least one static obstacle is identified based on the predicted driving track, the accuracy of identification is improved, false identification and missing identification are effectively avoided, the safety and the reliability of a vehicle are improved, and the driving experience is improved.
Optionally, in one embodiment of the present application, the obtaining a plurality of initial targets based on a travelable interval boundary obtained by the travelable interval includes: judging whether the track curvature of the boundary of the drivable interval meets a preset abrupt change condition or not; and if the preset mutation condition is met, reprocessing the target of the mutation point, and filtering radar waves of the mutation point roadside obstacle.
It can be understood that, in the embodiment of the present application, whether the track curvature of the boundary of the drivable interval is suddenly changed may be judged by the ECU controller, the preset sudden change condition may be that the difference value of the positions of the sudden change points exceeds a certain threshold, the ECU controller may filter out the sudden change points on the boundary of the drivable interval, and resume the continuous transverse position information to be consistent with the boundary, and at the same time reprocess the targets of the sudden change points, filter out the radar waves of the obstacle beside the sudden change points, and only process the radar waves reflected by the targets in the boundary of the drivable interval.
As a possible implementation manner, the embodiment of the application can judge that the track curvature of the drivable boundary is suddenly changed when the position difference value of the suddenly changed point exceeds a certain threshold value, at the moment, the target of the suddenly changed point can be reprocessed, the radar wave of the obstacle beside the suddenly changed point is filtered, only the radar wave reflected by the target in the drivable interval boundary is processed, if the processed target point RCS attribute meets the target threshold value, and the position information is in the vehicle driving track, the processed target point RCS attribute is taken as a final target with a selected function, and the obstacle in front of a driver can be reminded, so that the identification accuracy is improved, the driving safety of the vehicle is improved, and the driving experience of a user is improved.
It should be noted that the preset mutation conditions may be set by those skilled in the art according to actual situations, and are not particularly limited herein.
Optionally, in one embodiment of the present application, the identifying at least one stationary obstacle from the plurality of initial targets based on the predicted driving trajectory includes: judging whether the processed target attribute meets a preset condition or not; and if the preset condition is met and the predicted running track is within, the vehicle is used as a static obstacle.
It can be understood that, the preset condition in the embodiment of the application may be a sudden change condition of the bending degree of the boundary curve of the drivable interval, whether the attribute after the target processing of the sudden change point meets a certain condition can be judged, and by combining with the predicted driving track, whether the processed target is a static obstacle can be judged, if the position difference of the sudden change point in the embodiment of the application exceeds a certain threshold value, the preset condition is met, and the street lamp is in the predicted driving track, and at the moment, the street lamp is the static obstacle, through identifying the static obstacle, the collision can be prevented, thereby assisting the driving system and improving the driving safety of the vehicle.
It should be noted that the preset conditions may be set by those skilled in the art according to actual situations, and are not particularly limited herein.
Optionally, in one embodiment of the present application, the preset mutation condition is that a difference between a lateral position of the mutation point and a lateral position before mutation is greater than a first preset threshold and a radius of curvature from a previous point exceeds a second preset threshold.
It can be understood that, in the embodiment of the present application, whether the curve bending degree of the boundary track of the drivable zone is suddenly changed can be determined, when the difference between the lateral position of the sudden change point and the lateral position before sudden change is greater than a first preset threshold and the radius of curvature of the previous point exceeds a second preset threshold, it is determined that a certain sudden change condition is met, for example, when the difference between the lateral position of the sudden change point and the lateral position before sudden change exceeds 0.7m and the radius of curvature of the previous point exceeds a certain threshold 500m, it can be determined that the curve bending degree is suddenly changed, and at this time, it is determined that a certain sudden change condition is met, the sudden change target can be processed when the sudden change condition is met, so as to help identify the stationary obstacle, thereby improving the safety of vehicle driving.
It should be noted that the preset mutation condition and the preset threshold value may be set by those skilled in the art according to actual situations, and are not particularly limited herein.
Optionally, in one embodiment of the present application, after identifying the at least one stationary obstacle, further comprising: while prompting the at least one stationary obstacle, generating a deceleration strategy and/or a steering strategy according to the relative speed, longitudinal distance and/or lateral distance of the current vehicle and the obstacle.
It can be appreciated that the embodiment of the application can remind a driver of a static obstacle in front of a vehicle, and the ECU controller can perform deceleration and/or steering control according to the relative speed, longitudinal distance, transverse distance and the like of the vehicle and the target obstacle.
For example, when it is recognized that a static obstacle such as a tree exists in front of a vehicle, the embodiment of the application can display front static obstacle information through the in-vehicle display screen to remind a driver of paying attention to speed reduction driving, and can control the steering wheel rotation angle to steer according to the transverse distance between the current vehicle and the static obstacle; for another example, when recognizing that there is a static obstacle in front of the vehicle, such as a street lamp, the embodiment of the application can remind the driver of the static obstacle in front of the vehicle through voice, and the ECU can generate a deceleration strategy and a steering strategy according to the relative speed and the distance between the current vehicle and the street lamp, so that the driver can conveniently control the vehicle to run in a decelerating way, the steering wheel rotation angle is controlled to steer, safety accidents are prevented, and safety and reliability of the vehicle are guaranteed.
Specifically, the identification of a stationary obstacle of an embodiment of the present application is described in detail in one embodiment with reference to fig. 2.
As shown in fig. 2, an embodiment of the present application may include: millimeter wave radar module 1, speed of a motor vehicle module 2, steering wheel angle module 3, yaw rate module 4, ECU control module 5, display module 6, speed reduction module 7 and steering module 8.
According to the method and the device, original target millimeter wave data can be output through the millimeter wave radar module 1, millimeter waves are transmitted through the radar module 1 carried on a vehicle, the radar receives the millimeter waves reflected back to the radar through the target, the current vehicle speed information can be output through the vehicle speed module 2, the steering wheel corner can be output through the steering wheel corner module 3, when a static obstacle is recognized, the static obstacle can be prompted, and meanwhile, steering is controlled according to relative speed, longitudinal distance and/or transverse distance of the current vehicle and the obstacle, so that steering is controlled, the yaw rate of the vehicle can be output through the yaw rate module 4, the running track under the current state is fitted, the model of the running lane is fitted based on the relevant information of the running track and the boundary of the vehicle, the running lane of the vehicle is determined, and the relative distance between the vehicle and the boundary is calculated.
Further, the ECU control module 5 in the embodiment of the present application may cluster the targets with the same attribute (RCS value, 5 speed, angle, etc.) of the millimeter waves, cluster the reflection points into target points, and determine the related attributes of the targets, including RCS value, speed, position information, etc., the ECU control module 5 may determine whether the targets are stationary targets or moving targets according to the speed of the vehicle output by the vehicle speed module 2 and the related attributes of the target points, the ECU control module 5 may determine whether the targets are yaw rate output by the yaw rate module 4 based on the vehicle speed of the vehicle speed module 2, the steering angle output by the steering wheel angle module 3, and the yaw rate output by the yaw rate module 4, and fit
The ECU controller module 5 can display the running track in the current state through the display module 6 to remind the driver of the obstacle in front of 0, and the ECU controller module 5 can longitudinally distance and transversely distance through speed reduction according to the relative speed of the vehicle and the target
The module 7 performs deceleration and steering control by the steering module 8.
According to the method for identifying the static obstacle, which is provided by the embodiment of the application, the static target can be determined based on the clustered data, and a plurality of initial targets are obtained based on the boundary of the drivable interval, so that at least one of the static targets is identified based on the predicted driving track
And the static obstacle is improved, the identification accuracy is improved, the false identification and the missing identification are avoided, the safety and the reliability of the vehicle are improved, and the riding experience is improved by 5. Therefore, the problem that the obstacle and the target object are easily clustered when the radar processes the target obstacle in the related technology is solved
The same target causes the problems of false recognition or missing recognition, missing triggering or false triggering of a driving auxiliary function, reduction of the driving safety of a vehicle, influence on the driving experience of a user, low intelligent level and the like.
Next, a device for identifying a stationary obstacle according to an embodiment of the present application will be described with reference to the accompanying drawings.
Fig. 3 is a schematic structural view of a stationary obstacle recognition device according to an embodiment of the present application.
As shown in fig. 3, the stationary obstacle recognition apparatus 10 includes: a screening module 100, a fitting module 200 and an identification module 300.
Specifically, the screening module 100 is configured to perform clustering on radar waves reflected by the radar, and screen out at least one moving target and at least one stationary target in combination with speed information of a current vehicle.
5 fitting module 200 for projecting at least one stationary object to a preset vehicle coordinate system to fit a travelable region
And fitting a predicted running track under the current running state of the current vehicle.
The identifying module 300 is configured to obtain a plurality of initial targets based on a boundary of a drivable interval obtained from the drivable interval, and identify at least one stationary obstacle from the plurality of initial targets based on a predicted driving trajectory.
Optionally, in one embodiment of the present application, the identification module 300 includes: a first judging unit and a filtering unit. And 0, a first judging unit is used for judging whether the track curvature of the boundary of the drivable interval meets the preset abrupt change condition.
And the filtering unit is used for reprocessing the targets of the mutation points and filtering radar waves of the roadside obstacles of the mutation points when the preset mutation conditions are met.
Optionally, in one embodiment of the present application, the identification module 300 further includes: a second judging unit and an identifying unit.
And the second judging unit is used for judging whether the processed target attribute meets the preset condition.
And the identification unit is used for being used as a static obstacle when the preset condition is met and the predicted running track is in.
Optionally, in one embodiment of the present application, the preset mutation condition is that a difference between a lateral position of the mutation point and a lateral position before the mutation is greater than a first preset threshold and a radius of curvature from a previous point exceeds a second preset threshold.
Optionally, in one embodiment of the present application, the identification module 300 further includes: and a generating unit.
The generation unit is used for prompting at least one static obstacle and generating a deceleration strategy and/or a steering strategy according to the relative speed, the longitudinal distance and/or the transverse distance of the current vehicle and the obstacle.
It should be noted that the foregoing explanation of the embodiment of the method for identifying a static obstacle is also applicable to the device for identifying a static obstacle of this embodiment, and will not be repeated here.
According to the static obstacle recognition device provided by the embodiment of the application, the static targets can be determined based on the clustered data, and a plurality of initial targets are obtained based on the boundary of the drivable interval, so that at least one static obstacle is recognized based on the predicted driving track, the recognition accuracy is improved, the false recognition and missing recognition are avoided, the safety and the reliability of a vehicle are improved, and the driving experience is improved. Therefore, the problems that when the radar processes the target obstacle, the obstacle and the target object are clustered into the same target easily, so that the false recognition or the missing recognition is caused, the driving auxiliary function is not triggered or is triggered by mistake, the driving safety of a vehicle is reduced, the driving experience of a user is influenced, the intelligent level is low and the like are solved.
Fig. 4 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:
The processor 402 implements the method of identifying stationary obstacles provided in the above-described embodiment when executing a program.
Further, the vehicle further includes:
a communication interface 403 for communication between the memory 401 and the processor 402.
A memory 401 for storing a computer program executable on the processor 402.
If the memory 401, the processor 402, and the communication interface 403 are implemented independently, the communication interface 403, the memory 401, and the processor 402 may be connected to each other by a bus and perform communication with each other. The bus may be an industry standard architecture (Industry Standard Architecture, abbreviated ISA) bus, an external device interconnect (Peripheral Component, abbreviated PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, abbreviated EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 4, but not only one bus or one type of bus.
Alternatively, in a specific implementation, if the memory 401, the processor 402, and the communication interface 403 are integrated on a chip, the memory 401, the processor 402, and the communication interface 403 may complete communication with each other through internal interfaces.
The processor 402 may be a central processing unit (Central Processing Unit, abbreviated as CPU), or an application specific integrated circuit (Application Specific Integrated Circuit, abbreviated as ASIC), or one or more integrated circuits configured to implement embodiments of the present application.
The embodiment of the application also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor implements the above method for identifying stationary obstacles.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "N" is at least two, such as two, three, etc., unless explicitly defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and additional implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order from that shown or discussed, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: electrical connection (electronic device) having one or N wires, portable computer cartridge (magnetic device), random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber device, and method of manufacturing the same
Portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the 5 program is printed, as the program may be electronically captured, via optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. Above mentioned real world
In an embodiment, the N steps or methods may be implemented in software or 0 firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above embodiments may be implemented by program instructions for implementing the respective hardware, the program may be stored in a computer-readable storage medium,
the program, when executed, comprises one or a combination of the steps of the method embodiments.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated module not only comprises
The method can be realized in a form of hardware or a form of a software functional module. The integrated module, if implemented as a 0 software functional module and sold or used as a stand-alone product, may also be stored on a computer readable medium
Taking the storage medium.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like. Although embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.
Claims (10)
1. A method of identifying a stationary obstacle, comprising the steps of:
clustering radar waves reflected by the radar, and screening at least one moving target and at least one stationary target by combining speed information of the current vehicle;
projecting the at least one stationary target to a preset vehicle coordinate system, fitting a drivable interval, and fitting a predicted running track of the current vehicle in a current running state; and
and obtaining a plurality of initial targets based on the boundary of the drivable interval obtained from the drivable interval, and identifying at least one static obstacle from the plurality of initial targets based on the predicted driving track.
2. The method of claim 1, wherein the deriving a plurality of initial targets based on the travelable interval boundaries derived from the travelable interval comprises:
judging whether the track curvature of the boundary of the drivable interval meets a preset abrupt change condition or not;
and if the preset mutation condition is met, reprocessing the target of the mutation point, and filtering radar waves of the mutation point roadside obstacle.
3. The method of claim 2, wherein the identifying at least one stationary obstacle from the plurality of initial targets based on the predicted travel trajectory comprises:
judging whether the processed target attribute meets a preset condition or not;
and if the preset condition is met and the predicted running track is within, the vehicle is used as a static obstacle.
4. The method according to claim 2, wherein the predetermined mutation condition is that a difference between a lateral position of the mutation point and a lateral position before mutation is greater than a first predetermined threshold value and a radius of curvature from a previous point exceeds a second predetermined threshold value.
5. The method of claim 1, further comprising, after identifying the at least one stationary obstacle:
while prompting the at least one stationary obstacle, generating a deceleration strategy and/or a steering strategy according to the relative speed, longitudinal distance and/or lateral distance of the current vehicle and the obstacle.
6. An apparatus for identifying a stationary obstacle, comprising:
the screening module is used for carrying out clustering processing on radar waves reflected by the radar and screening at least one moving target and at least one static target by combining speed information of the current vehicle;
the fitting module is used for projecting the at least one static target to a preset vehicle coordinate system, fitting a drivable interval and fitting a predicted running track of the current vehicle in the current running state; and
and the identification module is used for obtaining a plurality of initial targets based on the boundary of the drivable interval obtained by the drivable interval and identifying at least one static obstacle from the plurality of initial targets based on the predicted driving track.
7. The apparatus of claim 6, wherein the identification module comprises:
the first judging unit is used for judging whether the track curvature of the boundary of the drivable interval meets a preset abrupt change condition;
and the filtering unit is used for reprocessing the targets of the mutation points and filtering radar waves of the roadside obstacles of the mutation points when the preset mutation conditions are met.
8. The apparatus of claim 7, wherein the identification module further comprises:
the second judging unit is used for judging whether the processed target attribute meets a preset condition;
and the identification unit is used for being used as a static obstacle when the preset condition is met and the preset condition is within the predicted running track.
9. A vehicle, characterized by comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the method of identifying a stationary obstacle as claimed in any one of claims 1 to 5.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor for implementing a method of identifying a stationary obstacle according to any one of claims 1-5.
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| CN202310004394.7A CN116148860A (en) | 2023-01-03 | 2023-01-03 | Method and device for identifying static obstacle, vehicle and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116674644A (en) * | 2023-07-28 | 2023-09-01 | 北京小米移动软件有限公司 | Anti-collision control method and device and electronic equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116674644A (en) * | 2023-07-28 | 2023-09-01 | 北京小米移动软件有限公司 | Anti-collision control method and device and electronic equipment |
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