CN117492032B

CN117492032B - Method, device, terminal and storage medium for judging collision rod of vehicle

Info

Publication number: CN117492032B
Application number: CN202311424294.6A
Authority: CN
Inventors: 沈聪英; 庞立洲; 刘学宾; 李永涛
Original assignee: Hebei Sanjia Electronic Co ltd
Current assignee: Hebei Sanjia Electronic Co ltd
Priority date: 2023-10-30
Filing date: 2023-10-30
Publication date: 2024-05-03
Anticipated expiration: 2043-10-30
Also published as: CN117492032A

Abstract

The invention is suitable for the technical field of vehicle driving assessment based on satellite application, and provides a vehicle collision rod judging method, a device, a terminal and a storage medium. The method comprises the following steps: acquiring positioning information and course angle information corresponding to a target vehicle from a Beidou positioning antenna and a Beidou directional antenna which are arranged on the target vehicle; determining a plane model of the target vehicle in a plane coordinate system based on the distance between the installation position of the Beidou positioning antenna on the target vehicle and each body edge point of the target vehicle, positioning information and course angle information; taking the position of a target pile rod in a plane coordinate system as a target point, and marking a plane model along a preset direction by taking the target point as a starting point; counting the number of intersection points of the scribing lines and the plane model, and marking the number as the number of the intersection points; and judging whether the target vehicle collides with the target pile rod or not according to the number of the intersection points. The invention can accurately judge whether the vehicle collides with the rod or not while avoiding the loss of the vibration sensor.

Description

Method, device, terminal and storage medium for judging collision rod of vehicle

Technical Field

The invention relates to the technical field of vehicle driving assessment based on satellite application, in particular to a vehicle collision bar judging method, a device, a terminal and a storage medium.

Background

Vehicle driving assessment is an important way to evaluate the driving level of a driver, for example, in a field driving skill examination (abbreviated as subject two) of a small car, the driving level of the driver is usually assessed by setting a stake on the ground to mark.

Among them, a vibration sensor is generally installed on a pole to capture a vibration signal to determine whether a vehicle collides with the pole during an inspection. However, when the driving level of the driver driving the large vehicle or the heavy vehicle is checked, since the mass of the large vehicle or the heavy vehicle is large, the vibration sensor may be damaged at the time of the crash bar, causing unnecessary loss and increasing the maintenance cost. Therefore, how to judge whether a vehicle collides with a rod or not while avoiding the loss of the vibration sensor is a problem to be solved.

Disclosure of Invention

The embodiment of the invention provides a vehicle collision rod judging method, a device, a terminal and a storage medium, which are used for solving the problem that vibration sensors are likely to be damaged when collision rod judgment is carried out based on the vibration sensors at present.

In a first aspect, an embodiment of the present invention provides a method for determining a striker of a vehicle, including:

Acquiring positioning information corresponding to a target vehicle from a Beidou positioning antenna arranged on the target vehicle, and acquiring heading angle information corresponding to the target vehicle from a Beidou directional antenna arranged on the target vehicle;

determining a plane model of the target vehicle in a plane coordinate system based on the distance between the installation position of the Beidou positioning antenna on the target vehicle and each body edge point of the target vehicle, the positioning information and the course angle information;

taking the position of a target pile rod in a plane coordinate system as a target point, and marking the target point as a starting point along a preset direction to the plane model, wherein the preset direction is a direction parallel to an x axis or a y axis in the plane coordinate system;

Counting the number of intersection points of the scribing line on one side of the target point and the plane model, and marking the number as the number of intersection points;

and judging whether the target vehicle collides with the target pile rod or not according to the number of the intersection points.

In one possible implementation manner, before acquiring the positioning information corresponding to the target vehicle from the beidou positioning antenna installed on the target vehicle and acquiring the heading angle information corresponding to the target vehicle from the beidou directional antenna installed on the target vehicle, the method further includes:

acquiring the number of influencing targets and the distance of the influencing targets in a preset distance range of a target vehicle and the position information of a target pile rod relative to the target vehicle, and respectively recording the number of the influencing targets, the distance of the influencing targets and the position information of the target pile rod relative to the target vehicle as first target number, first target distance and first position information;

inputting the first target number, the first target distance and the first position information into a preset error correction model to obtain a position error correction and an angle error correction;

The method for acquiring the positioning information corresponding to the target vehicle from the Beidou positioning antenna installed on the target vehicle and the course angle information corresponding to the target vehicle from the Beidou directional antenna installed on the target vehicle comprises the following steps:

Acquiring initial positioning information corresponding to a target vehicle from a Beidou positioning antenna installed on the target vehicle, and acquiring initial course angle information corresponding to the target vehicle from a Beidou directional antenna installed on the target vehicle;

Correcting the initial positioning information according to the position error correction to obtain positioning information corresponding to the target vehicle;

and correcting the initial course angle information according to the angle error correction to obtain course angle information corresponding to the target vehicle.

In one possible implementation manner, the training process of the preset error correction model includes:

acquiring the running speed of the history checking vehicle and the position information of the pile rod relative to the history checking vehicle when the history checking vehicle collides with the pile rod, and recording the position information as second position information;

According to the second position information and the running speed, determining historical position information respectively corresponding to the historical checking vehicles in collision with the pile rod at different angles;

According to the installation positions of the Beidou positioning antenna and the Beidou directional antenna on the target vehicle, sequentially setting the Beidou positioning antenna and the Beidou directional antenna at the historical positions corresponding to different historical position information, marking the setting positions of the Beidou positioning antenna at the corresponding historical positions as historical actual positioning information, and marking the angles of the historical checking vehicles at the corresponding historical positions as historical actual course angle information;

Recording positioning information and course angle information acquired by the Beidou positioning antenna and the Beidou directional antenna at corresponding historical positions, and taking the positioning information and the course angle information as historical initial positioning information and historical initial course angle information corresponding to the corresponding historical positions;

acquiring environment information in a preset distance range of a history checking vehicle, determining the number of influencing targets and the distance of the influencing targets possibly occurring in the preset distance range of the history checking vehicle according to the environment information, and recording the number of influencing targets and the distance of the influencing targets as a second target number and a second target distance respectively;

Constructing a training set according to the second target quantity, the second target distance, the second position information, the historical actual positioning information, the historical actual course angle information, the historical initial positioning information and the historical initial course angle information;

And training the initial neural network model based on the training set to obtain a preset error correction model.

In one possible implementation, each body edge point of the target vehicle includes each wheel of the target vehicle;

the determining a plane model of the target vehicle in a plane coordinate system based on the distance between the installation position of the Beidou positioning antenna on the target vehicle and each vehicle body edge point of the target vehicle, the positioning information and the course angle information comprises the following steps:

Determining a reference plane model of the target vehicle in a plane coordinate system based on the distance between the installation position of the Beidou positioning antenna on the target vehicle and each wheel of the target vehicle and the positioning information;

and rotating the reference plane model based on the course angle information to obtain a plane model of the target vehicle in a plane coordinate system.

In one possible implementation manner, after determining whether the target vehicle collides with the target pile stem according to the number of intersection points, the method further includes:

Acquiring an actual result of whether the target vehicle collides with the target pile rod or not;

And if the judgment result of judging whether the target vehicle collides with the target pile rod according to the number of the intersection points is opposite to the actual result, marking the position of the target point as a new vehicle body edge point.

Correcting the reference plane model based on the new vehicle body edge points;

and rotating the corrected reference plane model based on the course angle information to obtain a plane model of the target vehicle in a plane coordinate system.

In one possible implementation manner, the determining whether the target vehicle collides with the target pile according to the number of intersection points includes:

judging whether the number of the intersection points is odd or even;

if the number of the intersection points is even, judging that the target vehicle and the target pile rod are not collided;

And if the number of the intersection points is odd, judging that the target vehicle collides with the target pile rod.

In a second aspect, an embodiment of the present invention provides a vehicle striker judgment apparatus including:

The acquisition module is used for acquiring positioning information corresponding to the target vehicle from the Beidou positioning antenna installed on the target vehicle and acquiring heading angle information corresponding to the target vehicle from the Beidou directional antenna installed on the target vehicle;

The first processing module is used for determining a plane model of the target vehicle in a plane coordinate system based on the distance between the installation position of the Beidou positioning antenna on the target vehicle and each vehicle body edge point of the target vehicle, the positioning information and the course angle information;

The second processing module is used for marking the position of the target pile rod in the plane coordinate system as a target point along a preset direction by taking the target point as a starting point, wherein the preset direction is a direction parallel to an x axis or a y axis in the plane coordinate system;

The third processing module is used for counting the number of intersection points of the scribing line on one side of the target point and the plane model, and recording the number as the number of intersection points;

and the judging module is used for judging whether the target vehicle collides with the target pile rod or not according to the number of the intersection points.

In a third aspect, an embodiment of the present invention provides a terminal, including a memory for storing a computer program and a processor for calling and running the computer program stored in the memory, to perform the steps of the method as described above in the first aspect or any possible implementation manner of the first aspect.

In a fourth aspect, embodiments of the present invention provide a computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of the method as described above in the first aspect or any one of the possible implementations of the first aspect.

The embodiment of the invention provides a vehicle collision rod judging method, a device, a terminal and a storage medium, wherein positioning information corresponding to the installation position of a Beidou positioning antenna on a target vehicle can be accurately obtained through the Beidou positioning antenna installed on the target vehicle, heading angle information corresponding to the target vehicle can be accurately obtained through the Beidou directional antenna installed on the target vehicle, further, based on the distance between the installation position of the Beidou positioning antenna on the target vehicle and each vehicle body edge point of the target vehicle and the positioning information and the heading angle information, a plane model of the target vehicle in a plane coordinate system can be accurately determined, the position of a target pile rod is converted into a target point in the plane coordinate system, and therefore judgment of whether the target vehicle collides with the target pile rod is converted into judgment of whether the plane model intersects with the target point or not, and therefore, a vibration sensor is not required to be installed on the target pile rod, the number of intersection points of a scribing line and the plane model on one side of the target point is counted and the number of intersection points is recorded as the number of intersection points, and whether the target vehicle collides with the target pile rod or not can be judged according to the number of intersection points. In addition, according to the embodiment, the situation that the target vehicle is not a standard rectangle and has a course angle is considered, whether the target vehicle collides with the target pile rod is judged according to the number of the intersection points, whether the target point is in the plane model is judged according to the coordinates of the target point and the plane model, misjudgment caused when the target point is judged to be in the plane model according to the coordinates and the actual target pile rod does not collide with the target vehicle can be avoided, and therefore loss of a vibration sensor can be avoided, and whether the vehicle collides with the target pile rod can be accurately judged.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flowchart of an implementation of a method for determining a striker of a vehicle according to an embodiment of the present invention;

fig. 2 is a schematic diagram of setting of a beidou positioning antenna and a beidou directional antenna provided by an embodiment of the present invention;

FIG. 3 is a schematic diagram of a planar model and target points provided by an embodiment of the present invention;

fig. 4 is a schematic structural view of a vehicular striker judging device provided by an embodiment of the present invention;

fig. 5 is a schematic diagram of a terminal according to an embodiment of the present invention.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the following description will be made by way of specific embodiments with reference to the accompanying drawings.

Referring to fig. 1, a flowchart of an implementation of a method for determining a vehicle striker provided by an embodiment of the present invention is shown, where the method may be applied to a processing terminal connected to a beidou positioning antenna and a beidou directional antenna, and is described in detail as follows:

In step 101, positioning information corresponding to a target vehicle is obtained from a Beidou positioning antenna mounted on the target vehicle, and heading angle information corresponding to the target vehicle is obtained from a Beidou directional antenna mounted on the target vehicle.

As shown in fig. 2, a beidou fixed base station can be set at a position where the vehicle driving level check needs to be performed, and a beidou positioning antenna and a beidou directional antenna are set on a target vehicle for the vehicle driving level check. The Beidou fixed base station is used as a reference point, the Beidou positioning antenna and the Beidou directional antenna can receive a reference signal sent by the Beidou fixed base station, determine own position information according to the reference signal as positioning information corresponding to a target vehicle, and receive satellite information so as to determine heading angle information corresponding to the target vehicle.

The positioning information corresponding to the target vehicle, which is acquired by the Beidou positioning antenna, can be positioning information corresponding to the installation position of the Beidou positioning antenna in the target vehicle. Based on the positioning information, it is helpful to accurately determine a planar model of the target vehicle in a planar coordinate system.

The Beidou directional antenna can analyze carrier phase information in satellite signals according to the received satellite signals to acquire corresponding carrier integer ambiguity and correction amount information, so that course angle information corresponding to a target vehicle is acquired.

In step 102, a planar model of the target vehicle in a planar coordinate system is determined based on the distance between the installation position of the Beidou positioning antenna on the target vehicle and each body edge point of the target vehicle, as well as the positioning information and the heading angle information.

As shown in fig. 3, the installation position of the beidou positioning antenna on the target vehicle may be as shown in fig. 3a, the installation position of the beidou directional antenna on the target vehicle may be as shown in fig. 3B, points 21, 22, 23, 24 corresponding to four wheels on the target vehicle may be taken as body edge points of the target vehicle, and a planar model of the target vehicle in a planar coordinate system may be determined based on the distances between the installation position a of the beidou positioning antenna on the target vehicle and the body edge points 21, 22, 23, 24 corresponding to the four wheels, as well as the positioning information and the heading angle information.

In order to make the determined plane model more accurate, the corresponding positions of 01, 02, 03, … …, 24 can be taken as the vehicle body edge points, and then the plane model of the target vehicle in the plane coordinate system can be determined based on the distance between the installation position A of the Beidou positioning antenna on the target vehicle and the vehicle body edge points 01, 02, 03, … …, 24, positioning information and course angle information.

In step 103, the position of the target pile in the plane coordinate system is taken as a target point, and the target point is taken as a starting point to scribe the plane model along a preset direction.

The preset direction is a direction parallel to an x axis or a y axis in the plane coordinate system.

With continued reference to fig. 3, since the pile inserted on the ground can be regarded as one point in the planar coordinate system, the position of the target pile in the planar coordinate system can be regarded as a target point (for example, a target point a, b, c, d in the drawing), and then it is determined whether the target vehicle collides with the target pile by judging the planar model in the planar coordinate system and the target point.

Considering that the planar model of the target vehicle is not necessarily a standard rectangle, and the target vehicle may have an inclination angle, if it is determined whether the target point is in the planar model directly according to the coordinates of the target point and the coordinates of the planar model to determine whether the target vehicle collides with the target pile, there may occur a problem that the planar model of the target vehicle is regarded as a standard rectangle (as shown by a dotted line in fig. 3), and then the target point is determined to be in the rectangle according to the coordinates of four vertices of the rectangle, and the actual target point is not in the rectangle (as shown by a point d in fig. 3), or the coordinates of each of the body edge points (for example, body edge points 01, 02, 03, … …, 24) on the planar model of the target vehicle need to be determined in sequence, the calculation amount is large, and the instantaneity is not high. Therefore, the present embodiment converts the problem of whether or not the target vehicle collides with the target stub into a problem that the plane model corresponding to the target vehicle has several intersections with the extension lines of the target points corresponding to the target stub.

For example, it is possible to score a line toward the planar model in a direction parallel to the x-axis with the target point as the start point (as shown by a dash-dot line with the target point d as the start point or a dash-dot line in a parallel direction with the target point b as the start point in fig. 3), or score a line toward the planar model in a direction parallel to the y-axis with the target point as the start point (as shown by a dash-dot line in a vertical direction with the target point b as the start point in fig. 3), so that whether or not the target vehicle collides with the target pile rod is simply and accurately determined according to the number of intersecting points of the score line on the target point side and the planar model.

In step 104, the number of intersections between the scribe line on the target point side and the plane model is counted and recorded as the number of intersections.

In step 105, it is determined whether the target vehicle collides with the target pile according to the number of intersections.

With continued reference to fig. 3, when the target point is within the planar model or just at the edge line of the planar model, the number of intersection points of the scribe line on the side of the target point and the planar model is different from when the target point is outside the planar model. By utilizing the property, whether the target vehicle collides with the target pile rod or not is judged according to the number of the intersection points.

Optionally, determining whether the target vehicle collides with the target pile rod according to the number of intersection points may include:

It is determined whether the number of intersections is odd or even.

If the number of the intersection points is even, judging that the target vehicle and the target pile rod are not collided.

As shown in fig. 3, the target point d is taken as a starting point, and 2 points of intersection of the scribing line and the plane model are even numbers, which indicate that the target point d is outside the plane model, that is, the target vehicle does not collide with the target pile rod d.

As shown in fig. 3, the target point b is taken as a starting point, and 1 point of intersection points between the scribing line and the plane model is an odd number, which indicates that the target point b collides with the target pile rod b in the plane model, that is, the target vehicle.

In this embodiment, in order to determine whether the target vehicle and the target pile rod to be examined collide in time and reduce the possibility of erroneous judgment, the target vehicle is converted into a planar model in a planar coordinate system based on the distance between the installation position of the Beidou positioning antenna on the target vehicle and each body edge point of the target vehicle, and the positioning information and the heading angle information, and the target pile rod is converted into a target point in the planar coordinate system, so that the judgment of whether the target vehicle and the target pile rod collide is converted into the judgment of the number of intersecting points of the score lines of the planar model and the planar model from the target point along the preset direction, and thus, whether the target vehicle and the target pile rod collide in time is accurately determined without a sensor.

It should be noted that, when the processing terminal processes, for each target vehicle, multiple target stake posts may be monitored at the same time, and for each target stake post, the determination may be performed based on the vehicle bumper determination method provided in this embodiment.

According to the embodiment of the invention, the Beidou positioning antenna arranged on the target vehicle can accurately acquire positioning information corresponding to the installation position of the Beidou positioning antenna on the target vehicle, the Beidou directional antenna arranged on the target vehicle can accurately acquire heading angle information corresponding to the target vehicle, further, the planar model of the target vehicle in a planar coordinate system can be accurately determined based on the distance between the installation position of the Beidou positioning antenna on the target vehicle and each body edge point of the target vehicle and the positioning information and the heading angle information, and the position of the target pile rod is converted into the target point in the planar coordinate system, so that the judgment of whether the target vehicle collides with the target pile rod is converted into the judgment of whether the planar model intersects with the target point or not, a vibration sensor is not required to be arranged on the target pile rod, the number of intersection points of the target vehicle and the planar model on one side can be counted and recorded as the number of intersection points, and whether the target vehicle collides with the target pile rod can be judged according to the number of intersection points. In addition, according to the embodiment, the situation that the target vehicle is not a standard rectangle and has a course angle is considered, whether the target vehicle collides with the target pile rod is judged according to the number of the intersection points, whether the target point is in the plane model is judged according to the coordinates of the target point and the plane model, misjudgment caused when the target point is judged to be in the plane model according to the coordinates and the actual target pile rod does not collide with the target vehicle can be avoided, and therefore loss of a vibration sensor can be avoided, and whether the vehicle collides with the target pile rod can be accurately judged.

Optionally, before acquiring the positioning information corresponding to the target vehicle from the beidou positioning antenna installed on the target vehicle and acquiring the heading angle information corresponding to the target vehicle from the beidou directional antenna installed on the target vehicle, the method further includes:

Acquiring the number of influencing targets and the distance of the influencing targets in a preset distance range of a target vehicle and the position information of a target pile rod relative to the target vehicle, and respectively recording the number of the influencing targets, the distance of the influencing targets and the position information of the target pile rod relative to the target vehicle as first target number, first target distance and first position information; and inputting the first target quantity, the first target distance and the first position information into a preset error correction model to obtain a position error correction and an angle error correction.

Accordingly, obtaining positioning information corresponding to the target vehicle from the Beidou positioning antenna installed on the target vehicle, and obtaining heading angle information corresponding to the target vehicle from the Beidou directional antenna installed on the target vehicle may include:

initial positioning information corresponding to the target vehicle is obtained from a Beidou positioning antenna installed on the target vehicle, and initial course angle information corresponding to the target vehicle is obtained from a Beidou directional antenna installed on the target vehicle.

And correcting the initial positioning information according to the position error correction to obtain the positioning information corresponding to the target vehicle.

In this embodiment, consider the situation that some special heavy vehicles may have multi-path errors in the assessment sites, such as trees and mountains, and the accuracy of the Beidou positioning antenna and the Beidou directional antenna may be affected, and the situation that other large vehicles or heavy vehicles around the large vehicles or heavy vehicles may cause multi-path errors, after initial positioning information corresponding to the target vehicle is obtained from the Beidou positioning antenna installed on the target vehicle, and after initial heading angle information corresponding to the target vehicle is obtained from the Beidou directional antenna installed on the target vehicle, the initial positioning information and the initial heading angle information are corrected.

Taking possible error influencing factors into consideration, the number of influencing targets and the distance of the influencing targets in the preset distance range of the target vehicle and the position information of the target pile rod relative to the target vehicle can be acquired and respectively recorded as first target number, first target distance and first position information; and inputting the first target quantity, the first target distance and the first position information into a preset error correction model to obtain a position error correction and an angle error correction, so as to respectively correct corresponding initial positioning information and initial course angle information according to the position error correction and the angle error correction.

The preset distance range and which targets are used as influencing targets can be determined according to actual conditions when the preset error correction model is trained.

Optionally, the training process of the preset error correction model may include:

And acquiring the running speed of the history checking vehicle and the position information of the pile rod relative to the history checking vehicle when the history checking vehicle collides with the pile rod, and recording the position information as second position information.

And according to the second position information and the running speed, determining the historical position information respectively corresponding to the historical checking vehicles in collision with the pile rod at different angles.

According to the installation positions of the Beidou positioning antenna and the Beidou directional antenna on the target vehicle, the Beidou positioning antenna and the Beidou directional antenna are sequentially arranged at historical positions corresponding to different historical position information, the setting positions of the Beidou positioning antenna at the corresponding historical positions are recorded as historical actual positioning information, and the angles of the historical checking vehicles at the corresponding historical positions are recorded as historical actual course angle information.

And recording positioning information and course angle information acquired by the Beidou positioning antenna and the Beidou directional antenna at corresponding historical positions, and taking the positioning information and the course angle information as historical initial positioning information and historical initial course angle information corresponding to the corresponding historical positions.

Environmental information in a preset distance range of the historical checking vehicle is obtained, and the number of influencing targets and the distance of the influencing targets possibly occurring in the preset distance range of the historical checking vehicle are determined according to the environmental information and respectively recorded as a second target number and a second target distance.

And constructing a training set according to the second target quantity, the second target distance, the second position information, the historical actual positioning information, the historical actual course angle information, the historical initial positioning information and the historical initial course angle information.

In this embodiment, considering that the Beidou positioning antenna and the Beidou directional antenna are not generally adopted in the past examination, even if the Beidou positioning antenna and the Beidou directional antenna are adopted, it is difficult to obtain enough data volume to form a training set of a preset error correction model, and further the training set is required to be constructed based on some information existing in the history examination vehicle according to the problem that the training set is acquired based on the real vehicle in advance according to different conditions.

Specifically, considering the situation that the history checking vehicle usually records the running speed and the position where the collision occurs, the running speed of the history checking vehicle is obtained, and the position information of the pile rod relative to the history checking vehicle when the history checking vehicle collides with the pile rod is recorded as second position information, and according to the second position information and the running speed, the history position information respectively corresponding to the history checking vehicle and the pile rod at different angles is determined. At the moment, the situation that the history checking vehicle collides with the pile rod in different course angles and the position that the history checking vehicle collides with the pile rod just before, has collided and the like can be simulated, so that the simulated course angle is used as the information of the history actual course angle, and the simulated position is used as the information of the history actual positioning. And setting the Beidou positioning antenna and the Beidou directional antenna at positions corresponding to a certain historical position according to the installation positions of the Beidou positioning antenna and the Beidou directional antenna on the target vehicle, for example, if the Beidou positioning antenna is installed at the position A on the roof of the target vehicle, setting the Beidou positioning antenna at the corresponding position on the ground when the historical checking vehicle collides with the pile pole or the corresponding position on the ground when the historical checking vehicle collides with the pile pole just, and the like according to the relative position relation between the installation positions of the Beidou positioning antenna and the target vehicle, so that the positioning information and the course angle information acquired by the Beidou positioning antenna and the Beidou directional antenna at the corresponding historical positions are recorded to serve as the historical initial positioning information and the historical initial course angle information corresponding to the corresponding historical positions.

On the basis, environmental information in a preset distance range of the historical checking vehicle is acquired, and the number of influencing targets and the distance of the influencing targets possibly occurring in the preset distance range of the historical checking vehicle are determined according to the environmental information and respectively recorded as a second target number and a second target distance.

For example, environmental information within 50 meters, or environmental information within 100 meters, or environmental information within 150 meters, or the like of the history checking vehicle may be acquired. Taking the situation that the influence targets may be tall trees, mountain bodies, surrounding vehicles and the like as an example, determining that 100 trees, 90 trees, 80 trees or the like may occur in the preset distance range of the history checking vehicle, 1, 2, 3, 4 mountain bodies or the like may occur in the preset distance range of the history checking vehicle, and 2, 3 and 5 vehicles or the like which are also checked may occur, constructing possible influence target distances of each influence target, and constructing a training set according to the number of constructed second targets, the second target distances, the second position information, the history actual positioning information, the history initial positioning information and the history initial heading angle information, so as to train the initial model based on the training set, and acquiring a preset error correction model.

By way of example, the initial model may be an initial neural network model, an initial deep learning model, or the like.

Alternatively, the respective body edge points of the target vehicle may include the respective wheels of the target vehicle.

Accordingly, determining the planar model of the target vehicle in the planar coordinate system based on the distance between the installation position of the Beidou positioning antenna on the target vehicle and each body edge point of the target vehicle, as well as the positioning information and the heading angle information, may include:

And determining a reference plane model of the target vehicle in a plane coordinate system based on the distance between the installation position of the Beidou positioning antenna on the target vehicle and each wheel of the target vehicle and positioning information.

In this embodiment, in order to simplify the calculation, consider the case of taking only each wheel of the target vehicle as the vehicle body edge point, at this time, the distance between the installation position of the beidou positioning antenna on the target vehicle and each wheel of the target vehicle may be stored in advance, and after positioning information, that is, accurate positioning information of the installation position of the beidou positioning antenna on the target vehicle is obtained, the reference plane model of the target vehicle in the plane coordinate system may be determined based on the positioning information, and the distance between the installation position of the beidou positioning antenna on the target vehicle and each wheel of the target vehicle in combination with the trigonometric function. In order to display the planar model of the target vehicle in the planar coordinate system more accurately without considering the situation of the vehicle steering at this time, the reference planar model may be rotated based on the heading angle information to obtain the planar model of the target vehicle in the planar coordinate system.

In another embodiment, in order to make the planar model more accurate, so as to obtain a more accurate judgment result, the distances between a plurality of vehicle body edge points and the installation positions of the beidou positioning antenna on the target vehicle may also be stored in advance, for example, the vehicle body edge points 01, 02, 03, … …,24 shown in fig. 3, so as to determine, after the positioning information is obtained, a reference planar model of the target vehicle in the planar coordinate system based on the distance between the installation position of the beidou positioning antenna on the target vehicle and each vehicle body edge point of the target vehicle, and rotate the reference planar model based on the heading angle information, so as to obtain the planar model of the target vehicle in the planar coordinate system.

Optionally, after judging whether the target vehicle collides with the target pile according to the number of the intersections, the method may further include: acquiring an actual result of whether the target vehicle collides with the target pile rod or not; if the judgment result of judging whether the target vehicle collides with the target pile rod according to the number of the intersection points is opposite to the actual result, the position of the target point is marked as a new vehicle body edge point.

In this embodiment, in order to consider both the calculation amount and the accuracy of the determination result, after determining whether the target vehicle collides with the target pile according to the number of intersection points, an actual result of whether the target vehicle collides with the target pile is obtained, and when determining whether the determination result of whether the target vehicle collides with the target pile according to the number of intersection points is opposite to the actual result, the position of the target point is recorded as a new vehicle body edge point, so that, in the next determination, a reference plane model of the target vehicle in the plane coordinate system is determined based on the distance between the installation position of the Beidou positioning antenna on the target vehicle and each vehicle body edge point of the target vehicle stored in advance and the distance between the installation position of the Beidou positioning antenna on the target vehicle and the new vehicle body edge point, and then the reference plane model is rotated based on the heading angle information, so as to obtain the plane model of the target vehicle in the plane coordinate system.

The reference plane model is modified based on the new body edge points.

In this embodiment, in order to achieve both the calculation amount and the accuracy of the determination result and further reduce the calculation amount, after the position of the target point is recorded as a new vehicle body edge point, in the next determination, the reference plane model of the target vehicle in the plane coordinate system may be determined based on the distance between the installation position of the beidou positioning antenna on the target vehicle and each vehicle body edge point of the target vehicle stored in advance, for example, the distance between the installation position of the beidou positioning antenna on the target vehicle and each wheel of the target vehicle, and the positioning information. On the basis, the reference plane model is corrected based on the new vehicle body edge points, and then the corrected reference plane model is rotated based on course angle information, so that the plane model of the target vehicle in the plane coordinate system is obtained.

It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present invention.

The following are device embodiments of the invention, for details not described in detail therein, reference may be made to the corresponding method embodiments described above.

Fig. 4 is a schematic structural view of a vehicle striker judging device according to an embodiment of the present invention, and for convenience of explanation, only the portions related to the embodiment of the present invention are shown, and the details are as follows:

As shown in fig. 4, the vehicle striker judging device 4 includes: an acquisition module 41, a first processing module 42, a second processing module 43, a third processing module 44 and a judgment module 45.

The acquiring module 41 is configured to acquire positioning information corresponding to a target vehicle from a beidou positioning antenna installed on the target vehicle, and acquire heading angle information corresponding to the target vehicle from a beidou directional antenna installed on the target vehicle;

A first processing module 42, configured to determine a planar model of the target vehicle in a planar coordinate system based on a distance between an installation position of the beidou positioning antenna on the target vehicle and each body edge point of the target vehicle, and the positioning information and the heading angle information;

A second processing module 43, configured to scribe a target pile rod in a plane coordinate system with a target point as a start point along a preset direction, where the preset direction is a direction parallel to an x-axis or a y-axis in the plane coordinate system;

a third processing module 44, configured to count the number of intersections between the scribe line on the target point side and the plane model, and record the number of intersections as the number of intersections;

And the judging module 45 is used for judging whether the target vehicle collides with the target pile rod according to the number of the intersection points.

In one possible implementation manner, the obtaining module 41 may be further configured to obtain the number of influencing targets and the distance between influencing targets within the preset distance range of the target vehicle, and the position information of the target pile rod relative to the target vehicle, which are respectively recorded as the first target number, the first target distance and the first position information;

the acquiring module 41 may be configured to acquire initial positioning information corresponding to the target vehicle from a beidou positioning antenna installed on the target vehicle, and acquire initial heading angle information corresponding to the target vehicle from a beidou directional antenna installed on the target vehicle;

In one possible implementation, each body edge point of the target vehicle includes each wheel of the target vehicle; a first processing module 42, configured to determine a reference plane model of the target vehicle in a plane coordinate system based on a distance between an installation position of the beidou positioning antenna on the target vehicle and each wheel of the target vehicle and the positioning information;

In one possible implementation, the obtaining module 41 may be further configured to obtain an actual result of whether the target vehicle collides with the target pile stem;

Correcting the reference plane model based on the new vehicle body edge points;

In one possible implementation, the determining module 45 may be configured to determine whether the number of intersection points is odd or even;

Fig. 5 is a schematic diagram of a terminal according to an embodiment of the present invention. As shown in fig. 5, the terminal 5 of this embodiment includes: a processor 50, a memory 51 and a computer program 52 stored in the memory 51 and executable on the processor 50. The processor 50, when executing the computer program 52, implements the steps of the respective embodiments of the vehicle striker determination method described above, such as steps 101 through 105 shown in fig. 1. Or the processor 50, when executing the computer program 52, performs the functions of the modules/units of the apparatus embodiments described above, such as the functions of the modules/units 41 to 45 shown in fig. 4.

By way of example, the computer program 52 may be partitioned into one or more modules/units, which are stored in the memory 51 and executed by the processor 50 to complete the present invention. One or more of the modules/units may be a series of computer program instruction segments capable of performing a specific function for describing the execution of the computer program 52 in the terminal 5. For example, the computer program 52 may be split into the modules/units 41 to 45 shown in fig. 4.

The terminal 5 may be a computing device such as a desktop computer, a notebook computer, a palm computer, and a cloud server. The terminal 5 may include, but is not limited to, a processor 50, a memory 51. It will be appreciated by those skilled in the art that fig. 5 is merely an example of the terminal 5 and is not limiting of the terminal 5, and may include more or fewer components than shown, or may combine some components, or different components, e.g., the terminal may further include an input-output device, a network access device, a bus, etc.

The Processor 50 may be a central processing unit (Central Processing Unit, CPU), other general purpose Processor, digital signal Processor (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), field-Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 51 may be an internal storage unit of the terminal 5, such as a hard disk or a memory of the terminal 5. The memory 51 may also be an external storage device of the terminal 5, such as a plug-in hard disk provided on the terminal 5, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD), or the like. Further, the memory 51 may also include both an internal storage unit and an external storage device of the terminal 5. The memory 51 is used to store computer programs and other programs and data required by the terminal. The memory 51 may also be used to temporarily store data that has been output or is to be output.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal and method may be implemented in other manners. For example, the apparatus/terminal embodiments described above are merely illustrative, e.g., the division of modules or units is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present invention may implement all or part of the procedures in the method of the above embodiment, or may be implemented by instructing related hardware by a computer program, and the computer program may be stored in a computer readable storage medium, where the computer program, when executed by a processor, may implement the steps of the method embodiment of the above respective vehicle striker determination method. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, executable files or in some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth.

The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention.

Claims

1. A vehicle striker judging method, characterized by comprising:

Judging whether the target vehicle collides with the target pile rod or not according to the number of the intersection points;

After judging whether the target vehicle collides with the target pile rod according to the number of the intersection points, the method further comprises the following steps:

2. The vehicle striker judging method according to claim 1, wherein before acquiring positioning information corresponding to the target vehicle from the beidou positioning antenna mounted on the target vehicle and acquiring heading angle information corresponding to the target vehicle from the beidou directional antenna mounted on the target vehicle, further comprising:

3. The vehicle bumper judgment method according to claim 2, wherein the training process of the preset error correction model includes:

4. The vehicle bumper judgment method according to any one of claims 1 to 3, wherein each body edge point of the target vehicle includes each wheel of the target vehicle;

5. The vehicle bumper judgment method according to claim 1, wherein each body edge point of the target vehicle includes each wheel of the target vehicle;

Correcting the reference plane model based on the new vehicle body edge points;

6. The vehicle bumper judgment method according to claim 1, wherein the judgment as to whether the target vehicle collides with the target pile according to the number of intersection points, comprises:

judging whether the number of the intersection points is odd or even;

7. A vehicular striker judging device characterized by comprising:

The judging module is used for judging whether the target vehicle collides with the target pile rod or not according to the number of the intersection points;

the acquisition module is also used for acquiring an actual result of whether the target vehicle collides with the target pile rod or not;

8. A terminal comprising a memory for storing a computer program and a processor for invoking and running the computer program stored in the memory to perform the method of any of claims 1 to 6.

9. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the method according to any of the preceding claims 1 to 6.