CN118033643A - Ultrasonic radar ranging data processing method, device, equipment and medium - Google Patents
Ultrasonic radar ranging data processing method, device, equipment and medium Download PDFInfo
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Abstract
The invention discloses a processing method, device and equipment of ultrasonic radar ranging data and a storage medium. The method comprises the following steps: if a parking trigger event of the vehicle is detected, acquiring distance measurement data of the ultrasonic radar of the vehicle at the current and last sampling time; determining obstacle state information at each sampling moment according to the ranging data at each sampling moment; determining the state deviation information of the host vehicle according to the state information of the host vehicle at the current and last sampling moments; determining reference state information of the current sampling moment according to the state deviation information of the vehicle and the barrier state information of the last sampling moment; and determining the identity judgment result of the obstacle according to the reference state information and the obstacle state information of the current sampling moment. The technical scheme solves the problems of low ranging data processing efficiency, low processing result accuracy and the like, can realize the identity judgment of static obstacles, effectively filters noise signals, reduces information interference and improves the vehicle sensing efficiency and sensing accuracy.
Description
Technical Field
The present invention relates to the field of data processing technologies, and in particular, to a method and apparatus for processing ultrasonic radar ranging data, an electronic device, and a storage medium.
Background
The ultrasonic radar has the advantages of simple ranging method, low cost and no influence of external environment, and is widely applied to parking systems.
At present, the distance measurement data of the ultrasonic radar is mainly processed by multi-sensor fusion processing and simple data processing. The multi-sensor fusion processing method comprises a visual priori algorithm, an ultrasonic radar array voting algorithm and other processing methods, and is high in cost and complex in algorithm. The simple data processing method generally does not consider complex working conditions such as vehicle steering and the like, and greatly simplifies a vehicle motion model, so that the error of data processing is larger and the reliability is poor.
Therefore, there is a need for a ranging data processing method that is reliable in data processing results, low in cost, and efficient in execution.
Disclosure of Invention
The invention provides a processing method, a device, equipment and a storage medium of ultrasonic radar ranging data, which are used for solving the problems of low ranging data processing efficiency, low processing result accuracy and the like.
According to an aspect of the present invention, there is provided a method of processing ultrasonic radar ranging data, the method comprising:
if a parking trigger event of the vehicle is detected, acquiring the ranging data of the ultrasonic radar of the vehicle at the current sampling time and the ranging data of the ultrasonic radar of the vehicle at the last sampling time;
determining the obstacle state information at the current sampling moment according to the ranging data at the current sampling moment, and determining the obstacle state information at the last sampling moment according to the ranging data at the last sampling moment;
Determining the state deviation information of the host vehicle according to the state information of the host vehicle at the current sampling moment and the state information of the host vehicle at the last sampling moment;
determining reference state information of the current sampling time according to the state deviation information of the vehicle and the barrier state information of the last sampling time;
and determining the identity judgment result of the obstacle according to the reference state information of the current sampling time and the obstacle state information of the current sampling time.
According to another aspect of the present invention, there is provided an apparatus for processing ultrasonic radar ranging data, the apparatus comprising:
The distance measurement data acquisition module is used for acquiring the distance measurement data of the ultrasonic radar of the vehicle at the current sampling moment and the distance measurement data of the ultrasonic radar of the vehicle at the last sampling moment if the parking trigger event of the vehicle is detected;
The obstacle state determining module is used for determining obstacle state information at the current sampling moment according to the ranging data at the current sampling moment and determining the obstacle state information at the last sampling moment according to the ranging data at the last sampling moment;
The state deviation determining module is used for determining the state deviation information of the vehicle according to the vehicle state information of the current sampling moment and the vehicle state information of the last sampling moment;
The reference state determining module is used for determining the reference state information of the current sampling moment according to the state deviation information of the vehicle and the obstacle state information of the last sampling moment;
the identity judging module is used for determining the identity judging result of the obstacle according to the reference state information of the current sampling time and the obstacle state information of the current sampling time.
According to another aspect of the present invention, there is provided an electronic apparatus including:
At least one processor; and a memory communicatively coupled to the at least one processor; the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor, so that the at least one processor can execute the method for processing ultrasonic radar ranging data according to any embodiment of the present invention.
According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to execute the method for processing ultrasonic radar ranging data according to any one of the embodiments of the present invention.
According to the technical scheme, when a parking trigger event of the vehicle is detected, distance measurement data of an ultrasonic radar of the vehicle at the current sampling moment and distance measurement data of the ultrasonic radar of the vehicle at the last sampling moment are obtained; determining the obstacle state information at the current sampling moment according to the ranging data at the current sampling moment, and determining the obstacle state information at the last sampling moment according to the ranging data at the last sampling moment; determining the state deviation information of the host vehicle according to the state information of the host vehicle at the current sampling moment and the state information of the host vehicle at the last sampling moment; determining reference state information of the current sampling time according to the state deviation information of the vehicle and the barrier state information of the last sampling time; and determining the identity judgment result of the obstacle according to the reference state information of the current sampling time and the obstacle state information of the current sampling time. According to the technical scheme, the problems of low ranging data processing efficiency, low processing result accuracy and the like are solved, the vehicle motion model is built, obstacle physical theory data at the current moment is calculated by using vehicle state data and obstacle data at the last sampling moment in the parking process, and the obstacle physical theory data is compared with the obstacle acquisition data at the current moment, so that the identity judgment of static obstacles is realized, noise signals can be effectively filtered, information interference is reduced, and vehicle perception efficiency and perception accuracy are improved.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and 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 a method for processing ultrasonic radar ranging data according to a first embodiment of the present invention;
Fig. 2A is a flowchart of a processing method of ultrasonic radar ranging data according to a second embodiment of the present invention;
Fig. 2B is a schematic diagram of the movement of the vehicle according to the second embodiment of the present invention;
Fig. 3 is a schematic structural diagram of a processing device for ultrasonic radar ranging data according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device implementing a processing method of ultrasonic radar ranging data according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. The technical scheme of the application obtains, stores, uses, processes and the like the data, which all meet the relevant regulations of national laws and regulations.
Example 1
Fig. 1 is a flowchart of a method for processing ultrasonic radar ranging data according to an embodiment of the present invention, which is applicable to a processing scenario of ultrasonic radar ranging data in a parking environment. The method may be performed by a processing device of ultrasonic radar ranging data, which may be implemented in hardware and/or software, which may be configured in an electronic device. As shown in fig. 1, the method includes:
And S110, if a parking trigger event of the vehicle is detected, acquiring the ranging data of the ultrasonic radar of the vehicle at the current sampling time and the ranging data of the ultrasonic radar of the vehicle at the last sampling time.
The scheme can be executed by a driving auxiliary system of the vehicle, and the parking trigger event can be that the vehicle starts parking or the vehicle is in the parking process. The driving auxiliary system can judge whether the vehicle starts parking or not or whether the vehicle is in a parking state through the information such as the movement speed, the acceleration, the movement direction and the like of the vehicle. The driving auxiliary system of the vehicle can also be provided with a parking key, and after the driver presses the parking key, the driving auxiliary system can control the vehicle to automatically park. The driving auxiliary system can also judge whether the vehicle starts parking or not by detecting a parking state mark matched with the parking key.
The ultrasonic radar can be deployed around the host vehicle for sensing obstacles in the driving environment of the host vehicle. The host vehicle may deploy one or more ultrasonic radars. The driving assistance system can communicate with the ultrasonic radar, and periodically acquire ranging data acquired by the ultrasonic radar according to the sampling period of the ultrasonic radar.
If the vehicle is detected to start parking or the vehicle is in a parking state, the driving auxiliary system can acquire the ranging data of the current sampling moment and the ranging data of the last sampling moment through the ultrasonic radar deployed on the vehicle. The distance measurement data may include distances between obstacles detected by the ultrasonic radars and the vehicle.
S120, determining the obstacle state information at the current sampling moment according to the ranging data at the current sampling moment, and determining the obstacle state information at the last sampling moment according to the ranging data at the last sampling moment.
It can be appreciated that the driving assistance system can calculate the obstacle state information at the current sampling time according to the ranging data at the current sampling time, the deployment position of the ultrasonic radar, the detection range of the ultrasonic radar, and the like. Specifically, the obstacle state information may include a distance between the obstacle and the vehicle, and an included angle between the obstacle and the vehicle forward direction. Similarly, the driving assistance system may calculate the obstacle state information at the previous sampling time from the ranging data at the previous sampling time, the deployment position of the ultrasonic radar, the detection range of the ultrasonic radar, and the like.
S130, determining the state deviation information of the vehicle according to the vehicle state information of the current sampling moment and the vehicle state information of the last sampling moment.
The driving assistance system may acquire the own vehicle state information at the current sampling time and the own vehicle state information at the last sampling time in advance. The vehicle state information may include information such as a position, a speed, an acceleration, and a heading angle of the vehicle. According to the state information of the vehicle at the current sampling time and the state information of the vehicle at the last sampling time, the driving auxiliary system can calculate the state deviation information of the vehicle. Specifically, the driving assistance system may obtain the vehicle state deviation information by calculating the difference between the vehicle state information at the current sampling time and the vehicle state information at the previous sampling time.
And S140, determining the reference state information of the current sampling time according to the state deviation information of the vehicle and the barrier state information of the last sampling time.
For static obstacles, such as parked vehicles, green belts and the like, the vehicle is not moved in the parking process, so that the driving assistance system can calculate the reference state information of the static obstacle at the current sampling time according to the state deviation information of the vehicle and the obstacle state information of the last sampling time so as to compare with the actually acquired obstacle state information of the current sampling time and judge whether the static obstacle detected at the current sampling time and the last sampling time is the same static obstacle.
S150, determining the identity judgment result of the obstacle according to the reference state information of the current sampling time and the obstacle state information of the current sampling time.
It is easy to understand that the reference state information may correspond to the obstacle state information, and the driving assistance system may compare the reference state information at the current sampling time with the obstacle state information at the current sampling time, and determine whether the obstacle is the same static obstacle according to the comparison result.
According to the technical scheme, when a parking trigger event of the vehicle is detected, distance measurement data of an ultrasonic radar of the vehicle at the current sampling moment and distance measurement data of the ultrasonic radar of the vehicle at the last sampling moment are obtained; determining the obstacle state information at the current sampling moment according to the ranging data at the current sampling moment, and determining the obstacle state information at the last sampling moment according to the ranging data at the last sampling moment; determining the state deviation information of the host vehicle according to the state information of the host vehicle at the current sampling moment and the state information of the host vehicle at the last sampling moment; determining reference state information of the current sampling time according to the state deviation information of the vehicle and the barrier state information of the last sampling time; and determining the identity judgment result of the obstacle according to the reference state information of the current sampling time and the obstacle state information of the current sampling time. According to the technical scheme, the problems of low ranging data processing efficiency, low processing result accuracy and the like are solved, the vehicle motion model is built, obstacle physical theory data at the current moment is calculated by using vehicle state data and obstacle data at the last sampling moment in the parking process, and the obstacle physical theory data is compared with the obstacle acquisition data at the current moment, so that the identity judgment of static obstacles is realized, noise signals can be effectively filtered, information interference is reduced, and vehicle perception efficiency and perception accuracy are improved.
Example two
Fig. 2A is a flowchart of a processing method of ultrasonic radar ranging data according to a second embodiment of the present invention, which is based on the above embodiment. As shown in fig. 2A, the method includes:
And S210, if a parking trigger event of the vehicle is detected, acquiring the ranging data of the ultrasonic radar of the vehicle at the current sampling time and the ranging data of the ultrasonic radar of the vehicle at the last sampling time.
S220, determining the obstacle state information at the current sampling moment according to the ranging data at the current sampling moment, and determining the obstacle state information at the last sampling moment according to the ranging data at the last sampling moment.
S230, determining the state deviation information of the vehicle according to the vehicle state information of the current sampling moment and the vehicle state information of the last sampling moment.
In this solution, the vehicle state information may include a vehicle position and a heading angle, and the vehicle state deviation information may include a position deviation and a heading angle deviation.
Fig. 2B is a schematic diagram of the movement of the host vehicle according to the second embodiment of the present invention, in which the ultrasonic radar at the left front corner of the host vehicle is used as the target radar, as shown in fig. 2B, the position of the target radar at the current sampling time is S k, the position of the target radar at the last sampling time is S k-1, the driving assistance system may set up a plane rectangular coordinate system with the preset reference point of the host vehicle at each time as the origin, for example O k-1、Ok, and the driving direction of the host vehicle as the positive direction of the abscissa, and the position of the host vehicle is represented by the plane rectangular coordinate. The current sampling time host vehicle position may be represented as (x k,yk), the current sampling time host vehicle course angle may be represented as θ k, the last sampling time host vehicle position may be represented as (x k-1,yk-1), and the last sampling time host vehicle course angle may be represented as θ k-1. The own-vehicle state information at the current sampling instant may be represented by a state vector v k,The state information of the host vehicle at the last sampling time can be represented by a state vector v k-1,/>The host vehicle state deviation information may be represented by a deviation vector av,
S240, determining the reference distance of the current sampling time according to the position deviation, the distance between the obstacle at the last sampling time and the vehicle and the included angle between the obstacle at the last sampling time and the advancing direction of the vehicle.
It can be appreciated that the obstacle state information may include a distance between the obstacle and the host vehicle and an included angle between the obstacle and a traveling direction of the host vehicle; the reference state information includes a reference distance and a reference angle. As shown in fig. 2B, the current sampling instant obstacle state information may be represented by a state vector T k,Wherein L k represents the distance between the obstacle T at the current sampling time and the host vehicle, and α k represents the angle between the obstacle T at the current sampling time and the forward direction of the host vehicle. Similarly, the obstacle state information at the last sampling time can be represented by a state vector T k-1,/>Wherein L k-1 represents the distance between the obstacle T and the host vehicle at the previous sampling time, and α k-1 represents the angle between the obstacle T and the host vehicle at the previous sampling time.
As a triangle Δs k-1TSk surrounded by a dashed line in fig. 2B, according to the triangle relationship and cosine law, the reference distance at the current sampling time may be expressed as:
Wherein, Representing ultrasonic radar displacement from last sampling time to current sampling time,/>Representing the included angle between the obstacle and the advancing direction of the host computer at the last sampling moment,/>
Thus, in a preferred embodiment, the calculation formula of the reference distance may be expressed as:
s250, determining a reference angle of the current sampling time according to the position deviation, the course angle deviation, the distance between the obstacle and the vehicle at the last sampling time and the included angle between the obstacle at the last sampling time and the advancing direction of the vehicle.
As shown in fig. 2B, by solving the triangle, the driving assistance system may calculate a reference angle at the current sampling time, where a calculation formula of the reference angle is:
Wherein k represents the current sampling time, Δx represents the distance deviation in the first direction, Δy represents the distance deviation in the second direction, L k-1 represents the distance between the obstacle and the vehicle at the previous sampling time, α k-1 represents the angle between the obstacle and the vehicle at the previous sampling time, and Δθ represents the heading angle deviation.
S260, determining state deviation information according to the reference state information of the current sampling time and the obstacle state information of the current sampling time.
The driving assistance system may use a result of comparing the reference distance L 'k at the current sampling time with the distance L k between the obstacle at the current sampling time and the vehicle as state deviation information, or may use a result of comparing the angle α k between the obstacle at the current sampling time and the forward direction of the vehicle with the reference angle α' k at the current sampling time as state deviation information.
In one possible solution, the obstacle state information includes a distance between the obstacle and the vehicle and an included angle between the obstacle and a forward direction of the vehicle; the reference state information comprises a reference distance and a reference angle; the state deviation information comprises a distance deviation and an angle deviation;
The determining the state deviation information according to the reference state information of the current sampling time and the barrier state information of the current sampling time comprises the following steps:
Determining a distance deviation according to the reference distance of the current sampling moment and the distance between the obstacle and the vehicle at the current sampling moment;
and determining the angle deviation according to the reference angle of the current sampling time and the included angle between the obstacle and the advancing direction of the vehicle at the current sampling time.
The driving assistance system may make a difference between the distance L k between the obstacle and the host vehicle at the current sampling time and the reference distance L' k at the current sampling time to obtain a distance deviation Δl. Meanwhile, the driving assistance system can also make the difference between the included angle alpha k between the obstacle at the current sampling moment and the advancing direction of the vehicle and the reference angle alpha' k at the current sampling moment to obtain the angle deviation delta alpha. Based on the distance deviation Δl and the angle deviation Δα, the driving assistance system may generate state deviation information
S270, determining the identity judgment result of the obstacle according to the state deviation information.
The driving assistance system may preset a state deviation threshold, and compare the state deviation information with the state deviation threshold to obtain the identity determination result of the obstacle.
In this embodiment, optionally, determining the identity determination result of the obstacle according to the state deviation information includes:
if the distance deviation is smaller than or equal to a preset distance threshold value and the angle deviation is smaller than or equal to a preset angle threshold value, determining that the obstacle identified at the current moment and the obstacle identified at the previous moment are the same static obstacle;
if the distance deviation is larger than a preset distance threshold value or the angle deviation is larger than a preset angle threshold value, determining that the obstacle identified at the current moment and the obstacle identified at the previous moment are not the same static obstacle.
According to the technical scheme, when a parking trigger event of the vehicle is detected, distance measurement data of an ultrasonic radar of the vehicle at the current sampling moment and distance measurement data of the ultrasonic radar of the vehicle at the last sampling moment are obtained; determining the obstacle state information at the current sampling moment according to the ranging data at the current sampling moment, and determining the obstacle state information at the last sampling moment according to the ranging data at the last sampling moment; determining the state deviation information of the host vehicle according to the state information of the host vehicle at the current sampling moment and the state information of the host vehicle at the last sampling moment; determining reference state information of the current sampling time according to the state deviation information of the vehicle and the barrier state information of the last sampling time; and determining the identity judgment result of the obstacle according to the reference state information of the current sampling time and the obstacle state information of the current sampling time. According to the technical scheme, the problems of low ranging data processing efficiency, low processing result accuracy and the like are solved, the vehicle motion model is built, obstacle physical theory data at the current moment is calculated by using vehicle state data and obstacle data at the last sampling moment in the parking process, and the obstacle physical theory data is compared with the obstacle acquisition data at the current moment, so that the identity judgment of static obstacles is realized, noise signals can be effectively filtered, information interference is reduced, and vehicle perception efficiency and perception accuracy are improved.
Example III
Fig. 3 is a schematic structural diagram of a processing device for ultrasonic radar ranging data according to a third embodiment of the present invention. As shown in fig. 3, the apparatus includes:
The ranging data obtaining module 310 is configured to obtain ranging data of the ultrasonic radar of the host vehicle at a current sampling time and ranging data of the ultrasonic radar of the host vehicle at a previous sampling time if a parking trigger event of the host vehicle is detected;
The obstacle state determining module 320 is configured to determine obstacle state information at a current sampling time according to the ranging data at the current sampling time, and determine obstacle state information at a previous sampling time according to the ranging data at the previous sampling time;
The state deviation determining module 330 is configured to determine the state deviation information of the host vehicle according to the state information of the host vehicle at the current sampling time and the state information of the host vehicle at the last sampling time;
A reference state determining module 340, configured to determine reference state information of a current sampling time according to the host vehicle state deviation information and barrier state information of a previous sampling time;
The identity determining module 350 is configured to determine an identity determining result of the obstacle according to the reference state information of the current sampling time and the obstacle state information of the current sampling time.
In this scheme, optionally, the host vehicle state information includes a host vehicle position; the host vehicle state deviation information comprises position deviation; the obstacle state information comprises the distance between the obstacle and the vehicle and the included angle between the obstacle and the advancing direction of the vehicle; the reference state information includes a reference distance;
The reference state determining module 340 includes a reference distance determining unit for:
and determining the reference distance of the current sampling time according to the position deviation, the distance between the obstacle and the vehicle at the last sampling time and the included angle between the obstacle at the last sampling time and the advancing direction of the vehicle.
On the basis of the scheme, optionally, the host vehicle state information further comprises a course angle; the host vehicle state deviation information also comprises course angle deviation; the reference state information further comprises a reference angle;
The reference state determining module 340 includes a reference distance determining unit for:
And determining a reference angle of the current sampling time according to the position deviation, the course angle deviation, the distance between the obstacle and the vehicle at the last sampling time and the included angle between the obstacle and the advancing direction of the vehicle at the last sampling time.
In one possible implementation, the identity determining module 350 includes:
the deviation information determining unit is used for determining state deviation information according to the reference state information of the current sampling time and the obstacle state information of the current sampling time;
and the judging result determining unit is used for determining the identity judging result of the obstacle according to the state deviation information.
On the basis of the scheme, optionally, the obstacle state information comprises the distance between the obstacle and the vehicle and the included angle between the obstacle and the advancing direction of the vehicle; the reference state information comprises a reference distance and a reference angle; the state deviation information comprises a distance deviation and an angle deviation;
the deviation information determining unit is specifically configured to:
Determining a distance deviation according to the reference distance of the current sampling moment and the distance between the obstacle and the vehicle at the current sampling moment;
and determining the angle deviation according to the reference angle of the current sampling time and the included angle between the obstacle and the advancing direction of the vehicle at the current sampling time.
In one possible solution, the judging result determining unit is specifically configured to:
if the distance deviation is smaller than or equal to a preset distance threshold value and the angle deviation is smaller than or equal to a preset angle threshold value, determining that the obstacle identified at the current moment and the obstacle identified at the previous moment are the same static obstacle;
if the distance deviation is larger than a preset distance threshold value or the angle deviation is larger than a preset angle threshold value, determining that the obstacle identified at the current moment and the obstacle identified at the previous moment are not the same static obstacle.
In a preferred embodiment, the calculation formula of the reference distance is:
The calculation formula of the reference angle is as follows:
Wherein k represents the current sampling time, Δx represents the distance deviation in the first direction, Δy represents the distance deviation in the second direction, L k-1 represents the distance between the obstacle and the vehicle at the previous sampling time, α k-1 represents the angle between the obstacle and the vehicle at the previous sampling time, and Δθ represents the heading angle deviation.
The processing device for the ultrasonic radar ranging data provided by the embodiment of the invention can execute the processing method for the ultrasonic radar ranging data provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Example IV
Fig. 4 shows a schematic diagram of an electronic device 410 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 4, the electronic device 410 includes at least one processor 411, and a memory, such as a Read Only Memory (ROM) 412, a Random Access Memory (RAM) 413, etc., communicatively connected to the at least one processor 411, wherein the memory stores computer programs executable by the at least one processor, and the processor 411 may perform various suitable actions and processes according to the computer programs stored in the Read Only Memory (ROM) 412 or the computer programs loaded from the storage unit 418 into the Random Access Memory (RAM) 413. In the RAM 413, various programs and data required for the operation of the electronic device 410 may also be stored. The processor 411, the ROM 412, and the RAM 413 are connected to each other through a bus 414. An input/output (I/O) interface 415 is also connected to bus 414.
Various components in the electronic device 410 are connected to the I/O interface 415, including: an input unit 416 such as a keyboard, a mouse, etc.; an output unit 417 such as various types of displays, speakers, and the like; a storage unit 418, such as a magnetic disk, optical disk, or the like; and a communication unit 419 such as a network card, modem, wireless communication transceiver, etc. The communication unit 419 allows the electronic device 410 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.
The processor 411 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 411 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 411 performs the respective methods and processes described above, for example, the processing method of ultrasonic radar ranging data.
In some embodiments, the method of processing ultrasonic radar ranging data may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as storage unit 418. In some embodiments, some or all of the computer program may be loaded and/or installed onto the electronic device 410 via the ROM 412 and/or the communication unit 419. When the computer program is loaded into RAM 413 and executed by processor 411, one or more steps of the above-described processing method of ultrasonic radar ranging data may be performed. Alternatively, in other embodiments, the processor 411 may be configured to perform the processing of ultrasonic radar ranging data in any other suitable manner (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable ultrasonic radar ranging data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/operations specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (10)
1. A method of processing ultrasonic radar ranging data, the method comprising:
if a parking trigger event of the vehicle is detected, acquiring the ranging data of the ultrasonic radar of the vehicle at the current sampling time and the ranging data of the ultrasonic radar of the vehicle at the last sampling time;
determining the obstacle state information at the current sampling moment according to the ranging data at the current sampling moment, and determining the obstacle state information at the last sampling moment according to the ranging data at the last sampling moment;
Determining the state deviation information of the host vehicle according to the state information of the host vehicle at the current sampling moment and the state information of the host vehicle at the last sampling moment;
determining reference state information of the current sampling time according to the state deviation information of the vehicle and the barrier state information of the last sampling time;
and determining the identity judgment result of the obstacle according to the reference state information of the current sampling time and the obstacle state information of the current sampling time.
2. The method of claim 1, wherein the host vehicle status information includes host vehicle location; the host vehicle state deviation information comprises position deviation; the obstacle state information comprises the distance between the obstacle and the vehicle and the included angle between the obstacle and the advancing direction of the vehicle; the reference state information includes a reference distance;
The determining the reference state information of the current sampling time according to the state deviation information of the vehicle and the barrier state information of the last sampling time includes:
and determining the reference distance of the current sampling time according to the position deviation, the distance between the obstacle and the vehicle at the last sampling time and the included angle between the obstacle at the last sampling time and the advancing direction of the vehicle.
3. The method of claim 2, wherein the host vehicle status information further comprises a heading angle; the host vehicle state deviation information also comprises course angle deviation; the reference state information further comprises a reference angle;
The determining the reference state information of the current sampling time according to the state deviation information of the vehicle and the barrier state information of the last sampling time includes:
And determining a reference angle of the current sampling time according to the position deviation, the course angle deviation, the distance between the obstacle and the vehicle at the last sampling time and the included angle between the obstacle and the advancing direction of the vehicle at the last sampling time.
4. The method according to claim 1, wherein determining the identity judgment result of the obstacle according to the reference state information of the current sampling time and the obstacle state information of the current sampling time comprises:
determining state deviation information according to the reference state information of the current sampling time and the barrier state information of the current sampling time;
and determining the identity judgment result of the obstacle according to the state deviation information.
5. The method of claim 4, wherein the obstacle state information includes a distance of the obstacle from the host vehicle and an angle of the obstacle from a forward direction of the host vehicle; the reference state information comprises a reference distance and a reference angle; the state deviation information comprises a distance deviation and an angle deviation;
The determining the state deviation information according to the reference state information of the current sampling time and the barrier state information of the current sampling time comprises the following steps:
Determining a distance deviation according to the reference distance of the current sampling moment and the distance between the obstacle and the vehicle at the current sampling moment;
and determining the angle deviation according to the reference angle of the current sampling time and the included angle between the obstacle and the advancing direction of the vehicle at the current sampling time.
6. The method of claim 5, wherein determining the identity determination of the obstacle based on the state deviation information comprises:
if the distance deviation is smaller than or equal to a preset distance threshold value and the angle deviation is smaller than or equal to a preset angle threshold value, determining that the obstacle identified at the current moment and the obstacle identified at the previous moment are the same static obstacle;
if the distance deviation is larger than a preset distance threshold value or the angle deviation is larger than a preset angle threshold value, determining that the obstacle identified at the current moment and the obstacle identified at the previous moment are not the same static obstacle.
7. A method according to claim 3, wherein the reference distance is calculated by the formula:
The calculation formula of the reference angle is as follows:
Wherein k represents the current sampling time, Δx represents the distance deviation in the first direction, Δy represents the distance deviation in the second direction, L k-1 represents the distance between the obstacle and the vehicle at the previous sampling time, α k-1 represents the angle between the obstacle and the vehicle at the previous sampling time, and Δθ represents the heading angle deviation.
8. An ultrasonic radar ranging data processing device, comprising:
The distance measurement data acquisition module is used for acquiring the distance measurement data of the ultrasonic radar of the vehicle at the current sampling moment and the distance measurement data of the ultrasonic radar of the vehicle at the last sampling moment if the parking trigger event of the vehicle is detected;
The obstacle state determining module is used for determining obstacle state information at the current sampling moment according to the ranging data at the current sampling moment and determining the obstacle state information at the last sampling moment according to the ranging data at the last sampling moment;
The state deviation determining module is used for determining the state deviation information of the vehicle according to the vehicle state information of the current sampling moment and the vehicle state information of the last sampling moment;
The reference state determining module is used for determining the reference state information of the current sampling moment according to the state deviation information of the vehicle and the obstacle state information of the last sampling moment;
the identity judging module is used for determining the identity judging result of the obstacle according to the reference state information of the current sampling time and the obstacle state information of the current sampling time.
9. An electronic device, the electronic device comprising:
At least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of processing ultrasonic radar ranging data according to any one of claims 1-7.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores computer instructions for causing a processor to execute the method of processing ultrasonic radar ranging data according to any one of claims 1 to 7.
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