WO2020001346A1 - 探测装置探测角度的调整方法、装置及具有其的车辆 - Google Patents

探测装置探测角度的调整方法、装置及具有其的车辆 Download PDF

Info

Publication number
WO2020001346A1
WO2020001346A1 PCT/CN2019/091941 CN2019091941W WO2020001346A1 WO 2020001346 A1 WO2020001346 A1 WO 2020001346A1 CN 2019091941 W CN2019091941 W CN 2019091941W WO 2020001346 A1 WO2020001346 A1 WO 2020001346A1
Authority
WO
WIPO (PCT)
Prior art keywords
detection
angle
information
detection device
road
Prior art date
Application number
PCT/CN2019/091941
Other languages
English (en)
French (fr)
Inventor
范波
白军明
游志友
Original Assignee
比亚迪股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 比亚迪股份有限公司 filed Critical 比亚迪股份有限公司
Publication of WO2020001346A1 publication Critical patent/WO2020001346A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/02—Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
    • B60R2011/008—Adjustable or movable supports
    • B60R2011/0092—Adjustable or movable supports with motorization

Definitions

  • the present application relates to the technical field of vehicles, and in particular, to a method for adjusting the detection angle of a detection device, an adjustment device for the detection angle of a detection device, and a vehicle.
  • the front millimeter wave radar is installed at a fixed position, detects a fixed area in a certain range, and senses the surrounding environment of the vehicle in time according to the road conditions in the detection area. At the same time, it can be used to further confirm the vehicle in front of the camera.
  • the above method is only suitable for straight roads or roads with low curvature.
  • the radar is installed at a fixed angle, resulting in a large effective detection area after entering the curve.
  • the amplitude is reduced, and the currently tracked vehicle enters the curve, and the target vehicle will be lost when it exceeds the detection area of the radar; or when a new target vehicle cuts in the curve condition, because it does not enter the detection area of the radar, then The target vehicle cannot be detected and needs to be resolved urgently.
  • This application is intended to solve at least one of the technical problems in the related technology.
  • the first object of the present application is to propose a method for adjusting the detection angle of the detection device, which can dynamically adjust the detection angle of the detection device according to the degree of curve of the road, thereby effectively increasing the detection area of the detection device and reducing
  • the detection blind zone of the detection device is helpful for identifying the road situation before the vehicle on the driving path, which can improve the safety of driving and the user experience.
  • the second object of the present application is to provide an adjusting device for the detection angle of the detecting device.
  • a third object of the present application is to propose a vehicle.
  • a fourth object of the present application is to propose an electronic device.
  • a fifth object of the present application is to propose a computer-readable storage medium.
  • an embodiment of the first aspect of the present application proposes a method for adjusting a detection angle of a detection device, including the following steps: obtaining first bending information of a road ahead of a vehicle currently traveling; and acquiring according to the first bending information, Adjusting angle of the detecting device; and controlling the detecting device to adjust the detecting angle according to the adjusting angle.
  • the method for adjusting the detection angle of the detection device can obtain the first bending information of the road ahead of the vehicle, and obtain the adjustment angle of the detection device according to the first bending information, so as to control the detection device according to the adjustment angle.
  • the adjustment of the detection angle effectively increases the detection area of the detection device and reduces the detection blind area of the detection device, which is beneficial to the recognition of the road situation before the vehicle on the driving path, and can improve the driving safety and the user experience.
  • the acquiring the first curve information of a forward road currently traveled by the vehicle includes: acquiring road parameter information of the forward road from navigation information according to the position information of the vehicle; The road parameter information determines whether the road ahead is a curve. If the road ahead is a curve, the first curve information of the road ahead is extracted from the road parameter information.
  • the acquiring the first curve information of the forward road currently traveled by the vehicle includes: acquiring a road surface image of the forward road currently traveled by the vehicle, and acquiring the first road information of the forward road according to the road surface image.
  • a curvy message is
  • the acquiring the first bending information of the road ahead according to the road surface image includes: identifying a road surface marker on the road ahead from the road surface image; based on the The pavement marker extracts a link formed by the pixel points where the pavement marker is located, and obtains second bending information of the link; according to the second bending information, first bending information of the road ahead is obtained.
  • the method further includes: if the road surface marker is not recognized from the road surface image, obtaining corner information of the current steering wheel of the vehicle; and determining the road ahead according to the corner information. First bend information.
  • the method before determining the first curve information of the road ahead according to the corner information, the method further includes: determining that a duration of the steering wheel of the vehicle in a steering state exceeds a preset duration, and When the preset duration is exceeded, triggering to determine the first curve information of the road ahead.
  • the controlling the detection device to adjust a detection angle according to the adjustment angle includes: obtaining a drive for driving the first drive motor and the second drive motor according to the adjustment angle. The number of motor rotations of the motor; controlling the first driving motor and the second driving motor to rotate according to the corresponding number of motor rotations respectively, so as to drive the detection device to occur with the motor in horizontal and vertical directions respectively The amount of displacement corresponding to the number of rotations.
  • the method after controlling the detection device to perform detection angle adjustment according to the adjustment angle, the method further includes: obtaining corner information of a steering wheel of the vehicle; and judging the corresponding corner information. Whether the detection angle of the detection device matches the detection angle of the adjusted detection device; if the two detection angles do not match, the detection angle of the detection device corresponding to the rotation angle information is used to adjust the detection device after adjustment The detection angle is updated.
  • an embodiment of the second aspect of the present application proposes an adjusting device for detecting a detection angle of a detection device, including: a first acquisition module, configured to acquire first bending information of a road ahead of a vehicle; and a second acquisition module Is configured to obtain an adjustment angle of the detection device according to the first bending information; and an adjustment module is configured to control the detection device to adjust the detection angle according to the adjustment angle.
  • the adjustment device for the detection angle of the detection device may obtain the first bending information of the road ahead of the vehicle through the first acquisition module, and obtain the adjustment angle of the detection device according to the first curvature information through the second acquisition module. Therefore, the adjustment module controls the detection device to adjust the detection angle according to the adjustment angle, thereby effectively increasing the detection area of the detection device and reducing the detection blind area of the detection device, which is beneficial to the identification of the road situation before the vehicle on the driving path and can improve driving. Security to improve user experience.
  • an embodiment of the third aspect of the present application provides a vehicle, which includes the adjusting device for detecting the angle of the detecting device.
  • the vehicle in the embodiment of the present application may obtain the first curve information of the road ahead of the vehicle through the first acquisition module, and obtain the adjustment angle of the detection device according to the first curve information through the second acquisition module, so that the Adjust the angle, control the detection device to adjust the detection angle, effectively increase the detection area of the detection device, reduce the detection blind zone of the front millimeter wave radar, which is conducive to the identification of the road situation before the vehicle on the driving path, and can improve the driving safety. Improve user experience.
  • an embodiment of the fourth aspect of the present application provides an electronic device including a memory and a processor; wherein the processor runs the readable executable program code stored in the memory to run the same with the available device.
  • a program corresponding to the program code is executed to implement the method for adjusting the detection angle of the detection device.
  • the electronic device in the embodiment of the present application can dynamically adjust the detection angle of the detection device according to the degree of curve of the road when the program corresponding to the method for adjusting the detection angle of the detection device is executed, which is effective.
  • Increasing the detection area of the detection device and reducing the detection blind area of the detection device are conducive to identifying the road situation before the vehicle on the driving path, which can improve driving safety and improve the user experience.
  • an embodiment of the fifth aspect of the present application proposes a computer-readable storage medium having stored thereon a computer program that implements the above-mentioned method for adjusting a detection angle of a detection device when executed by a processor.
  • the detection angle of the detection device when a program stored on the computer-readable storage medium corresponding to the method for adjusting the detection angle of the detection device is executed, the detection angle of the detection device can be dynamically adjusted according to the curve of the road Therefore, the detection area of the detection device can be effectively increased, and the detection blind area of the detection device can be reduced, which is helpful for identifying the road situation before the vehicle on the driving path, and can improve the driving safety and the user experience.
  • FIG. 1 is a flowchart of a method for adjusting a detection angle of a detection device according to an embodiment of the present application
  • FIG. 2 is a flowchart of a method for adjusting a detection angle of a detection device according to an embodiment of the present application
  • FIG. 3 is a flowchart of a method for adjusting a detection angle of a detection device according to another embodiment of the present application.
  • FIG. 4 is a schematic structural diagram of an adjustment mechanism of a detection device according to an embodiment of the present application.
  • FIG. 5 is a flowchart of a method for adjusting a detection angle of a detection device according to another embodiment of the present application.
  • FIG. 6 is a flowchart of a method for adjusting a detection angle of a detection device according to still another embodiment of the present application.
  • FIG. 7 is a schematic block diagram of a device for adjusting a detection angle of a detection device according to a specific embodiment of the present application.
  • FIG. 8 is a flowchart of a method for adjusting a detection angle of a detection device according to a specific embodiment of the present application.
  • FIG. 9 is a schematic block diagram of a device for adjusting a detection angle of a detection device according to an embodiment of the present application.
  • FIG. 10 is a schematic block diagram of a vehicle according to an embodiment of the present application.
  • FIG. 11 is a block diagram of an electronic device according to an embodiment of the present application.
  • FIG. 1 is a flowchart of a method for adjusting a detection angle of a detection device according to an embodiment of the present application.
  • the detection device may be a millimeter-wave radar, an ultrasonic radar, or the like, and the detection angle is an angle that can be detected by the detection device.
  • the method for adjusting the detection angle of the detection device includes the following steps:
  • an image acquisition device such as a camera
  • an image acquisition device in front of the vehicle may be used to detect the road ahead of the vehicle currently Perform image acquisition to obtain the road surface image of the road ahead, and then recognize the road surface image.
  • the first curve information of the road ahead of the vehicle is obtained according to the road surface image, where the first curve information may be a curve
  • the curve value of the curve indicates the degree of curve of the road.
  • an electronic map is installed on the vehicle, and navigation information is stored on the electronic map, and the navigation information will indicate the condition of each area or road section on the electronic map.
  • the current position of the vehicle may be known based on the GPS (Global Positioning System) on the vehicle, and the road parameter information of the road ahead of the current position of the vehicle may be obtained according to the navigation information, so as to judge based on the road parameter information.
  • the road ahead is a curve
  • the first curve information of the road ahead is extracted from the road parameter information, which effectively improves the accuracy of obtaining the first curve information.
  • the detection can be calculated based on the first curve information. Adjustment angle of the device.
  • a mapping relationship between the curve information of the road ahead and the adjustment angle of the detection device may be set. After the first curve information is obtained, the mapping relationship may be queried to obtain the adjustment angle of the detection device.
  • a bending range may correspond to an adjustment angle. The bending range in which the first bending information is located may be determined first, and then the adjustment angle of the detection device may be determined according to the bending range.
  • a calculation formula for adjusting the angle is set. After the first bending information is obtained, the first bending information is input into a calculation formula, and an adjustment angle of a detection device is output through the calculation formula, and calculated by the calculation formula. In this way, a precise adjustment angle can be obtained, making the adjustment of the detection device more accurate.
  • the angle value that needs to be adjusted can be calculated according to the curve changes on the road, and sent to the detection device adjustment mechanism through the controller local area network to control the detection device to adjust the detection angle.
  • the first bending information of the road ahead of the vehicle is obtained, and the adjustment angle of the detection device is obtained according to the first bending information, so that the detection device is controlled according to the adjustment angle.
  • Adjusting the detection angle effectively increases the detection area of the detection device and reduces the detection blind area of the detection device, which is conducive to the identification of road targets in front of the vehicle, reduces the probability of target loss, improves driving safety, and improves user experience.
  • the process of obtaining the first curve information of the road ahead specifically includes the following steps:
  • the image acquisition device on the vehicle can be used to obtain the Pavement image, identifying pavement markers on the road ahead from the pavement image.
  • the lines formed by the pixels of the road markings can be extracted according to the road markings. If the pixels of the road markings form a straight line, it means that it is not a curve. If the pixels of the road markings are located, The point forming a connecting line is a curve, then the position information of the curve in the road surface image is obtained, and the degree of bending of the connecting line of the pixel point where the road surface marker is formed is obtained according to the position information, that is, the pixel point of the road surface marker forms the first line of the connecting line. Two pieces of bending information, where the second piece of bending information may be a bending value formed by forming a connection line between pixel points where a road surface marker is located.
  • the degree of curve of the pavement marker often reflects the degree of curve of the road. Therefore, after obtaining the second curve information of the line where the pavement marker is located, you can change This second curve information is used as the first curve information of the road ahead. Specifically, by acquiring the second bending information, according to a preset mapping function or a mapping list, the first bending information corresponding to the second bending information can be obtained, and the situation of the road surface can be understood in real time based on the image recognition method, which can effectively improve Accuracy of the first bending information.
  • the above-mentioned first curve information acquisition method for a road ahead further includes the following steps:
  • the pavement markers cannot be identified from the pavement image. Therefore, the current corner information of the vehicle's steering wheel can be obtained. In order to identify whether the front is a curve or not through the corner information, the recognition is effectively guaranteed through multiple aspects, wherein the corner information includes steering information and angle information.
  • the corner information of the steering wheel can be determined by judging whether or not the corner prompt information sent by the navigation system is obtained.
  • the corner prompt information sent by the navigation system can be voice prompt information sent by the navigation system, or it can be Route prompt information from the navigation system.
  • the rotation angle information of the steering wheel may be determined by judging that the duration of the steering wheel of the vehicle in the steering state exceeds a preset duration, and when the preset duration is exceeded, triggering to determine the first bending information of the road ahead. That is, when the steering wheel angle sensor detects that the steering wheel is turned counterclockwise and the duration of the steering wheel in the steering state exceeds a preset time period t, vehicle corner information is generated; similarly, when the steering wheel angle sensor detects the steering wheel When there is a clockwise turning operation and the duration of the steering wheel in the steering state exceeds a preset duration t, vehicle rotation angle information is generated.
  • the vehicle needs to turn according to the degree of curve of the road during driving. Therefore, after the corner information is obtained, the first curve information of the road ahead can be determined.
  • the detection area of the detection device can be effectively increased, and the detection blind zone of the front millimeter wave radar can be effectively reduced, which is beneficial to the identification of road targets in front of the vehicle, reduces the probability of target loss, improves driving safety, and improves user experience.
  • the detection device adjustment mechanism involved in the method for adjusting the detection angle of the detection device includes: an adjustment lever 1, a radar mounting bracket 2, a radar 3 (the detection device may be a millimeter wave radar), and a first The drive motor 4 and the second drive motor 5.
  • the front millimeter wave radar adjustment mechanism drives the movement of the adjustment rod 1 through the first drive motor 4 and the second drive motor 5, respectively, that is, to adjust the horizontal and vertical angles of the millimeter wave radar to adjust the front millimeter wave radar transmitting surface.
  • the role of angle can be a rigid connection between the first drive motor 4 and the adjustment rod 1, and a rigid connection between the second drive motor 5 and the adjustment rod 1.
  • the adjustment rod, and the first drive motor 4 and the second drive The motor 5 can be provided with the calculation of the number of motor movements, and the feedback of the adjustment angle and the correction of the zero position can be calculated by combining the number of motor movements with the transmission ratio.
  • controlling the detection device to adjust the detection angle according to the adjustment angle includes the following steps:
  • the driving motor of the detection device may include a first driving motor and a second driving motor.
  • the first driving motor may be used to adjust the detection device in a horizontal direction
  • the second driving motor may be used to adjust the detection device in a vertical direction.
  • the number of rotations of the motor of the driving motor driving the detection device can be obtained according to the adjustment angle, so that the displacement amount corresponding to the number of rotations of the motor in the horizontal direction of the first driving motor is sequentially controlled according to the number of rotations of the driving motor.
  • the displacement amount corresponding to the number of rotations of the motor in the vertical direction of the second drive motor is sequentially controlled, and the rotation angle of the detection device is adjusted by the first drive motor and the second drive motor according to the adjustment angle, thereby effectively improving the accuracy of the adjustment.
  • the method further includes the following steps:
  • S602 Determine whether the detection angle of the detection device corresponding to the rotation angle information matches the detection angle of the adjusted detection device.
  • the rotation angle information of the steering wheel of the vehicle can be obtained again, and then the detection angle of the detection device corresponding to the rotation angle information is obtained according to the rotation angle information.
  • the detection angle of the detection device corresponding to the rotation angle information matches the detection angle of the adjusted detection device, that is, if the detection angle of the detection device corresponding to the rotation angle information is controlled after the detection device is controlled to adjust the detection angle, If the detection angle of the adjusted detection device matches, the adjustment is accurate. If, after controlling the detection device to adjust the detection angle, the detection angle of the detection device corresponding to the rotation angle information does not match the detection angle of the adjusted detection device, it means that the adjustment is not accurate enough and the detection angle of the detection device needs to be corrected so that The detection angle of the detection device corresponding to the rotation angle information matches the detection angle of the adjusted detection device, so as to improve the detection range of the detection device and effectively ensure the accuracy of the detection angle of the detection device.
  • the method for adjusting the detection angle of the detection device involved in the method for adjusting the detection angle of the detection device according to the embodiment of the present application may include: a forward-looking camera 11, an image processing unit 22, and a front millimeter wave radar adjustment.
  • the forward-looking camera 11 can be installed at the front windshield position to detect the situation of the road ahead (for example, within 100 meters).
  • the road video information collected by the forward-looking camera 11 passes LVDS (Voltage Differential Signaling, low voltage differential signal). Or Ethernet transmission to the image processing unit 22, the image unit 22 calculates the curve change value of the road in front of the vehicle according to the road information in the video image, and inputs it to the front millimeter wave radar adjustment mechanism 33 through CAN.
  • the front millimeter wave radar adjustment mechanism 33 can According to the bending change value of the road in front, the steering wheel angle 44 on the vehicle, and other vehicle attitude data, a comprehensive calculation is performed to determine the angle that the current front millimeter wave radar 55 needs to adjust and adjust.
  • forward-looking camera 11 and the image processing unit 22 may be combined into one assembly component, and the front millimeter-wave radar adjustment mechanism 33 and the front millimeter-wave radar 55 may be combined into one assembly component.
  • the personnel will design according to the actual situation and will not be specifically limited here.
  • the following describes a method for adjusting a detection angle of a detection device according to an embodiment of the present application by using a specific embodiment.
  • Step S801 Collect road video information in front of the vehicle (for example, within 100 meters) through a camera, and transmit the video information to the graphics processing unit through LVDS.
  • Step S802 Calculate and determine whether the road line in front of the vehicle is clear according to the data of the front camera. Otherwise, go to step S803, or go to step S804;
  • Step S803 if the current road lane of the vehicle is not clear or there is no lane line, collect the current steering angle information of the steering wheel, comprehensively calculate and judge, and skip to step S807;
  • step S804 if the road line in front of the vehicle is clear and recognizable, the graphics processing unit performs processing calculation based on the collected road information, recognizes road identification information such as a road line, a road crossing, or a street lamp, and calculates the degree of curve of the road. Then judge whether the vehicle is in a curved road condition according to the curve of the road. If it is not a curved road condition, discard the current video data, continue to update and calculate the video data at the next moment, and perform processing calculations in this cycle.
  • road identification information such as a road line, a road crossing, or a street lamp
  • step 805 when it is calculated that the road ahead is a curved road, the valid data is retained, and the first curve information of the road ahead is calculated and output in detail according to the current lane line.
  • Step S806 Obtain the rotation angle information of the steering wheel of the vehicle, and determine whether the detection angle of the detection device corresponding to the rotation angle information matches the detection angle of the adjusted detection device. If the two detection angles do not match, the detection device corresponding to the rotation angle information is used. The detection angle updates the detection angle of the adjusted detection device in this cycle.
  • step S807 if the angle of the front millimeter wave radar needs to be adjusted, the target angle value to be adjusted is output through CAN.
  • step S808 the target angle is adjusted, and after the adjustment is in place, the data at the next time point is continuously updated, and this cycle is performed.
  • the first bending information of the road ahead of the vehicle is obtained, and the adjustment angle of the detection device is obtained according to the first bending information, so that the detection is controlled according to the adjustment angle.
  • the device adjusts the detection angle, effectively increases the detection area of the detection device, and reduces the detection blind area of the detection device. It is conducive to identifying the situation of the road before the vehicle on the driving path, improving driving safety, and improving the user experience.
  • the detection angle of the adjusted detection device may be updated by using the detection angle of the detection device corresponding to the rotation angle information.
  • FIG. 9 is a schematic block diagram of a device for adjusting a detection angle of a detection device according to an embodiment of the present application.
  • the adjusting device 10 for detecting the detection angle of the detecting device includes a first obtaining module 100, a second obtaining module 200, and an adjusting module 300.
  • the first acquisition module 100 is configured to acquire first bending information of a road ahead of the vehicle.
  • the second acquisition module 200 is configured to acquire an adjustment angle of the detection device according to the first bending information.
  • the adjustment module 300 is configured to control the detection device to perform detection angle adjustment according to the adjustment angle.
  • the first obtaining module 100 is configured to: obtain road parameter information of the road ahead from the navigation information according to the position information of the vehicle; determine whether the road ahead is a curve or not according to the road parameter information; For a curve, first curve information of a road ahead is extracted from the road parameter information.
  • the first obtaining module 100 is further configured to obtain a road surface image of a road ahead of the vehicle, and obtain first curve information of the road ahead according to the road surface image.
  • the first obtaining module 100 is further configured to: identify a pavement marker on a road ahead from a pavement image; and based on the pavement marker, extract a line formed by pixels of the pavement marker, and Acquire the second bending information of the line; according to the second bending information, obtain the first bending information of the road ahead.
  • the above-mentioned detecting device detecting angle adjusting device 10 is further configured to: if a road surface landmark is not recognized from the road surface image, obtain the current steering wheel angle information of the vehicle; and determine according to the turning angle information. First bend information for the road ahead.
  • the method before determining the first curve information of the road ahead according to the corner information, the method further includes: determining that the duration of the steering wheel of the vehicle in the steering state exceeds a preset duration, and when the preset duration is exceeded , Triggering to determine the first bending information of the road ahead.
  • the adjustment module 300 is configured to: obtain the number of motor rotations of the drive motor for driving the first drive motor and the second drive motor according to the adjustment angle; and sequentially control the first drive motor And the second driving motor are respectively rotated according to the corresponding number of motor rotations, so as to drive the detection device to generate displacements corresponding to the number of motor rotations in the horizontal direction and the vertical direction, respectively.
  • the adjustment module 300 is further configured to: obtain the rotation angle information of the steering wheel of the vehicle; determine whether the detection angle of the detection device corresponding to the rotation angle information matches the detection angle of the adjusted detection device; if two detections If the angles do not match, then the detection angle of the detection device corresponding to the rotation angle information is used to update the detection angle of the adjusted detection device.
  • the first acquisition module can acquire first bending information of a road ahead of the vehicle
  • the second acquisition module can obtain the detection device's Adjust the angle, so as to control the detection device to adjust the detection angle through the adjustment module according to the adjustment angle, effectively increase the detection area of the detection device, reduce the detection blind area of the detection device, and facilitate the identification and improvement of the road situation before the vehicle on the driving path. Driving safety improves user experience.
  • an embodiment of the present application further provides a vehicle 20, which includes the adjusting device 10 for detecting a detection angle of the detecting device.
  • the first acquisition module can obtain the first curve information of the road ahead, and the second acquisition module can obtain the adjustment angle of the detection device according to the first curve information.
  • the module controls the detection device to adjust the detection angle according to the adjustment angle, which effectively increases the detection area of the detection device and reduces the detection blind area of the detection device. It is beneficial to identify the road situation before the vehicle on the driving path, improve driving safety, and improve User experience.
  • an embodiment of the present application further provides an electronic device 1000 including a memory 1100 and a processor 1200.
  • the processor 1200 runs and executes an executable program by reading the executable program code stored in the memory 1100.
  • the program corresponding to the code is used to implement the method for adjusting the detection angle of the detection device.
  • the electronic device 1000 may include, but is not limited to, a memory 1100 and a processor 1200. Those skilled in the art can understand that FIG. 11 is only an example of the electronic device 1000, and does not constitute a limitation on the electronic device 1000. It may include more or fewer components than shown in the figure, or combine some components or different components.
  • the electronic device 1000 may further include an input / output device, a network access device, and a bus.
  • the processor 1200 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), ready-made Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • a general-purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
  • the memory 1100 may be an internal storage unit of the electronic device 1000, such as a hard disk or a memory of the electronic device 1000.
  • the memory 1100 may also be an external storage device of the electronic device 1000, for example, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, and a flash memory card (Flash) provided on the electronic device 1000. Card) and so on.
  • SMC Smart Media Card
  • SD Secure Digital
  • Flash flash memory card
  • the memory 1100 may further include both an internal storage unit of the electronic device 1000 and an external storage device.
  • the memory 1100 is used to store a computer program and other programs and data required by the electronic device 1000.
  • the memory 1100 may also be used to temporarily store data that has been output or is to be output.
  • the detection angle of the detection device can be dynamically adjusted according to the degree of curve of the road. Therefore, the detection area of the detection device can be effectively increased, and the detection blind area of the detection device can be reduced, which is beneficial to the recognition of the road situation before the vehicle on the driving path, which can improve the driving safety and the user experience.
  • An embodiment of the present application further proposes a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the foregoing method for adjusting a detection angle of a detection device.
  • the detection device when a program stored on the computer-readable storage medium corresponding to the method for adjusting the detection angle of the detection device is executed, the detection device can be dynamically adjusted according to the degree of curve of the road.
  • the irradiation angle can effectively increase the detection area of the detection device and reduce the detection blind area of the detection device, which is beneficial to the recognition of the road situation before the vehicle on the driving path, and can improve the driving safety and user experience.
  • first and second are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as “first” and “second” may explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "plurality” is at least two, for example, two, three, etc., unless it is specifically and specifically defined otherwise.
  • the terms “installation,” “connected,” “connected,” and “fixed” should be broadly understood unless otherwise specified and limited. For example, they can be fixed connections or removable connections. , Or integrated; it can be mechanical or electrical; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of the two elements or the interaction between the two elements, unless otherwise specified The limit.
  • the specific meanings of the above terms in this application can be understood according to specific situations.
  • the first feature "on” or “down” of the second feature may be the first and second features in direct contact, or the first and second features indirectly through an intermediate medium. contact.
  • the first feature is “above”, “above”, and “above” the second feature.
  • the first feature is directly above or obliquely above the second feature, or it only indicates that the first feature is higher in level than the second feature.
  • the first feature is “below”, “below”, and “below” of the second feature.
  • the first feature may be directly below or obliquely below the second feature, or it may simply indicate that the first feature is less horizontal than the second feature.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Traffic Control Systems (AREA)

Abstract

一种探测装置探测角度的调整方法，包括以下步骤：获取车辆当前行驶的前方道路的第一弯曲信息；根据第一弯曲信息，获取探测装置的调整角度；根据调整角度，控制探测装置进行探测角度调整。还涉及了一种探测装置探测角度的调整装置及具有其的车辆。此方法可以根据道路的弯曲程度，动态地调整探测装置的探测角度，从而有效地增大探测装置的探测区域，减少探测装置的探测盲区，有利于对行驶路径上车前道路情况的识别，可以提升驾驶的安全性，提升用户使用体验。

Description

探测装置探测角度的调整方法、装置及具有其的车辆
相关申请的交叉引用
本申请基于申请号为201810714838.5，申请日为2018年06月29申请的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本申请涉及车辆技术领域，特别涉及一种探测装置探测角度的调整方法、一种探测装置探测角度的调整装置和一种车辆。
背景技术
相关技术中，车前毫米波雷达安装在固定位置，探测一定范围的固定区域，根据探测区域内的道路情况及时感知车辆的周边环境，同时可结合摄像头对前方车辆进行进一步确认。
然而，上述方式仅适用于直线道路或弯度不大的路况，当道路弯曲程度较大，如下匝道或换道路况时，由于雷达安装为固定角度，导致在进入弯道后，其有效探测区域大幅度缩小，当前期已跟踪到的车辆进入弯道，而超出雷达的探测区域时，目标车辆会丢失；或者在弯道工况有新的目标车切入时，由于未进入雷达的探测区域，则无法探测到目标车辆，亟待解决。
申请内容
本申请旨在至少在一定程度上解决相关技术中的技术问题之一。
为此，本申请的第一个目的在于提出一种探测装置探测角度的调整方法，可以根据道路的弯曲程度，动态地调整探测装置的探测角度，从而有效地增大探测装置的探测区域，减少探测装置的探测盲区，有利于对行驶路径上车前道路情况的识别，可以提升驾驶的安全性，提升用户使用体验。
本申请的第二个目的在于提出一种探测装置探测角度的调整装置。
本申请的第三个目的在于提出一种车辆。
本申请的第四个目的在于提出一种电子设备。
本申请的第五个目的在于提出一种计算机可读存储介质。
为达到上述目的，本申请第一方面实施例提出了一种探测装置探测角度的调整方法， 包括以下步骤：获取车辆当前行驶的前方道路的第一弯曲信息；根据所述第一弯曲信息，获取探测装置的调整角度；根据所述调整角度，控制所述探测装置进行探测角度调整。
本申请实施例的探测装置探测角度的调整方法，可以获取车辆当前行驶的前方道路的第一弯曲信息，并根据第一弯曲信息，获取探测装置的调整角度，从而根据调整角度，控制探测装置进行探测角度调整，有效地增大探测装置的探测区域，减少探测装置的探测盲区，有利于对行驶路径上车前道路情况的识别，可以提升驾驶的安全性，提升用户使用体验。
在本申请的一个实施例中，所述获取车辆当前行驶的前方道路的第一弯曲信息，包括：根据所述车辆的位置信息，从导航信息中获取所述前方道路的道路参数信息；根据所述道路参数信息判断所述前方道路是否为弯道，如果所述前方道路为弯道，从所述道路参数信息中提取所述前方道路的第一弯曲信息。
在本申请的一个实施例中，所述获取车辆当前行驶的前方道路的第一弯曲信息，包括：获取车辆当前行驶的前方道路的路面图像，根据所述路面图像，获取所述前方道路的第一弯曲信息。
在本申请的一个实施例中，所述根据所述路面图像，获取所述前方道路的第一弯曲信息，包括：从所述路面图像中识别所述前方道路上的路面标志物；基于所述路面标志物，提取所述路面标志物所在像素点形成的连线，并获取所述连线的第二弯曲信息；根据所述第二弯曲信息，得到所述前方道路的第一弯曲信息。
在本申请的一个实施例中，还包括；如果从所述路面图像中未识别到所述路面标志物，获取所述车辆当前的方向盘的转角信息；根据所述转角信息，确定所述前方道路的第一弯曲信息。
在本申请的一个实施例中，所述根据所述转角信息，确定所述前方道路的第一弯曲信息之前，还包括：确定所述车辆的方向盘处于转向状态的持续时长超出预设时长，并在超出所述预设时长时，触发确定所述前方道路的第一弯曲信息。
在本申请的一个实施例中，所述根据所述调整角度，控制所述探测装置进行探测角度调整，包括：根据所述调整角度，获取用于驱动第一驱动马达和第二驱动马达的驱动马达的马达转动圈数；控制所述第一驱动马达和所述第二驱动马达分别按照各自对应的马达转动圈数进行转动，以带动所述探测装置分别在水平方向和垂直方向上发生与马达转动圈数对应的位移量。在本申请的一个实施例中，所述根据所述调整角度，控制所述探测装置进行探测角度调整之后，还包括：获取所述车辆的方向盘的转角信息；判断所述转角信息对应的所述探测装置的探测角度与调整后的所述探测装置的探测角度是否匹配；如果两个探测角度不匹配，则利用所述转角信息对应的所述探测装置的探测角度对调整后的所述探测 装置的探测角度进行更新。
为达到上述目的，本申请第二方面实施例提出了一种探测装置探测角度的调整装置，包括：第一获取模块，用于获取车辆当前行驶的前方道路的第一弯曲信息；第二获取模块，用于根据所述第一弯曲信息，获取探测装置的调整角度；调整模块，用于根据所述调整角度，控制所述探测装置进行探测角度调整。
本申请实施例的探测装置探测角度的调整装置，可以通过第一获取模块获取车辆当前行驶的前方道路的第一弯曲信息，并通过第二获取模块根据第一弯曲信息，获取探测装置的调整角度，从而通过调整模块根据调整角度，控制探测装置进行探测角度调整，有效地增大探测装置的探测区域，减少探测装置的探测盲区，有利于对行驶路径上车前道路情况的识别，可以提升驾驶的安全性，提升用户使用体验。
为达到上述目的，本申请第三方面实施例提出了一种车辆，其包括上述的探测装置探测角度的调整装置。
本申请实施例的车辆，可以通过第一获取模块获取车辆当前行驶的前方道路的第一弯曲信息，并通过第二获取模块根据第一弯曲信息，获取探测装置的调整角度，从而通过调整模块根据调整角度，控制探测装置进行探测角度调整，有效地增大探测装置的探测区域，减少前毫米波雷达的探测盲区，有利于对行驶路径上车前道路情况的识别，可以提升驾驶的安全性，提升用户使用体验。
为达到上述目的，本申请第四方面实施例提出了一种电子设备，包括存储器、处理器；其中，所述处理器通过读取所述存储器中存储的可执行程序代码来运行与所述可执行程序代码对应的程序，以用于实现上述的探测装置探测角度的调整方法。
本申请实施例的电子设备，在其上存储的与通过执行上述的探测装置探测角度的调整方法对应的程序被执行时，可以根据道路的弯曲程度，动态地调整探测装置的探测角度，从而有效地增大探测装置的探测区域，减少探测装置的探测盲区，有利于对行驶路径上车前道路情况的识别，可以提升驾驶的安全性，提升用户使用体验。
为达到上述目的，本申请第五方面实施例提出了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现上述的探测装置探测角度的调整方法。
本申请实施例的计算机可读存储介质，在其上存储的与通过执行上述的探测装置探测角度的调整方法对应的程序被执行时，可以根据道路的弯曲程度，动态地调整探测装置的探测角度，从而有效地增大探测装置的探测区域，减少探测装置的探测盲区，有利于对行驶路径上车前道路情况的识别，可以提升驾驶的安全性，提升用户使用体验。
本申请附加的方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实践了解到。
附图说明
本申请上述的和/或附加的方面和优点从下面结合附图对实施例的描述中将变得明显和容易理解，其中：
图1为根据本申请一个实施例的探测装置探测角度的调整方法的流程图；
图2为根据本申请一个实施例的探测装置探测角度的调整方法的流程图；
图3为根据本申请另一个实施例的探测装置探测角度的调整方法的流程图；
图4为根据本申请一个实施例的探测装置调节机构的结构示意图；
图5为根据本申请又一个实施例的探测装置探测角度的调整方法的流程图；
图6为根据本申请再一个实施例的探测装置探测角度的调整方法的流程图；
图7为根据本申请一个具体实施例的探测装置探测角度的调整装置的方框示意图；
图8为根据本申请一个具体实施例的探测装置探测角度的调整方法的流程图；
图9为根据本申请一个实施例的探测装置探测角度的调整装置的方框示意图；
图10为根据本申请一个实施例的车辆的方框示意图；
图11为根据本申请一个实施例的电子设备的方框示意图。
具体实施方式
下面详细描述本申请的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本申请，而不能理解为对本申请的限制。
下面参照附图描述根据本申请实施例提出的探测装置探测角度的调整方法、探测装置探测角度的调整装置、车辆、电子设备和计算机可读存储介质，首先将参照附图描述根据本申请实施例提出的探测装置探测角度的调整方法。
图1是本申请实施例的探测装置探测角度的调整方法的流程图。该实施例中，探测装置可为毫米波雷达、超声波雷达等，探测角度为探测装置所能探测到的角度。
如图1所示，该探测装置探测角度的调整方法包括以下步骤：
S1，获取车辆当前行驶的前方道路的第一弯曲信息。
在本申请的一个实施例中，为了能够获取车辆当前行驶的前方道路的第一弯曲信息，可以在车辆行驶过程中，通过车辆前方的图像采集装置(如摄像头)对车辆当前所行驶的前方道路进行图像采集，得到前方道路的路面图像，然后对路面图像进行识别，识别出前方道路为弯道时，根据路面图像获取车辆前方道路的第一弯曲信息，其中，第一弯曲信息可以为弯道的弯曲值，弯道的弯曲值表示道路的弯曲程度。由此，在到达弯道转弯 前就可以提前了解前方道路是否为弯道以及前面道路的弯曲程度，便于驾驶员为提前了解弯道上的道路情况做准备，用于指引驾驶员弯道处的驾驶行为，实现了对弯道的提前预测。
可选地，车辆上都安装有电子地图，电子地图上会存储有导航信息，导航信息会标注电子地图上每个区域或者路段的情况。本申请实施例中，可以基于车辆上的GPS(Global Positioning System，全球定位系统)得知车辆的当前位置，并根据导航信息得到车辆的当前位置前方道路的道路参数信息，以便根据道路参数信息判断前方道路是否为弯道，并在前方道路为弯道时，从道路参数信息中提取前方道路的第一弯曲信息，有效提高获取第一弯曲信息的准确性。
S2，根据第一弯曲信息，获取探测装置的调整角度。
当根据导航信息或者采集到的图像，识别出前方道路为弯道时，在弯道上如果继续保持探测装置之前的角度，可能会导致探测装置的探测区域，无法完全覆盖前方道路，容易出现探测盲区，本申请实施例中，在获取到前方道路的第一弯曲信息后，为了能够使得探测装置的探测范围能够与前方道路的弯曲程度匹配，以消除探测盲区，可以根据第一弯曲信息计算出探测装置的调整角度。
可选地，可以设置有前车道路的弯曲信息与探测装置的调整角度之间的映射关系，在获取到第一弯曲信息后，可以查询该映射关系，得到探测装置的调整角度。一般情况下，可以一个弯曲范围对应一个调整角度，可以先确定出第一弯曲信息所在的弯曲范围，然后根据该弯曲范围确定探测装置的调整角度。
可选地，设置有调整角度的计算公式，在获取到第一弯曲信息后，将该第一弯曲信息，输入到计算公式中，通过该计算公式输出一个探测装置的调整角度，通过计算公式计算的方式，能够得到一个精确的调整角度，使得探测装置的调整更加准确。
S3，根据调整角度，控制探测装置进行探测角度调整。
具体地，可以根据道路上的曲线变化情况，计算需要调节的角度值，通过控制器局域网络发给探测装置调节机构，以控制探测装置进行探测角度调整。
根据本申请实施例的探测装置探测角度的调整方法，可以获取车辆当前行驶的前方道路的第一弯曲信息，并根据第一弯曲信息，获取探测装置的调整角度，从而根据调整角度，控制探测装置进行探测角度调整，有效地增大探测装置的探测区域，减少探测装置的探测盲区，有利于对车前道路目标的识别，降低目标丢失的概率，提升驾驶的安全性，提升用户使用体验。
在本申请的一个实施例中，根据路面图像识别出前方道路为弯道时，获取前方道路的第一弯曲信息的过程，如图2所示，具体包括以下步骤：
S21，从路面图像中识别前方道路上的路面标志物。
实际生活中，道路旁都会有路面标志物，可以通过获取实际道路的影像序列数据进行识别前方道路上的路面标志物，如路面上的道路线、马路牙或路灯等道路识别信息，并对每一张影像进行路面标志物的检测识别，一般情况下，在道路上的弯道处都会在设置有弯道的路面标志物，因此，可以通过车辆上的图像采集装置获取车辆当前所行驶道路的路面图像，从路面图像中识别前方道路上的路面标志物。
S22，基于路面标志物，提取路面标志物所在像素点形成的连线，并获取连线的第二弯曲信息。
可以理解的是，可以根据路面标志物提取路面标志物的所在像素点形成的连线，如果路面标志物的所在像素点形成连线为直线，则代表不是弯道，如果路面标志物的所在像素点形成连线为曲线，则获取该曲线在路面图像中的位置信息，根据位置信息获取路面标志物的所在像素点形成连线的弯曲程度，即路面标志物的所在像素点形成连线的第二弯曲信息，其中，第二弯曲信息可以为路面标志物所在的像素点形成连线形成的弯曲值。
S23，根据第二弯曲信息，得到前方道路的第一弯曲信息。
一般情况下，路面标志物就是沿着道路进行布设的，路面标志物的弯曲程度往往反映出道路的弯曲程度，因此在获取到路面标志物的所在连线的第二弯曲信息后，就可以将该第二弯曲信息，作为前方道路的第一弯曲信息。具体地，通过第二弯曲信息的获取，根据预设的映射函数或者映射列表，可以得到与第二弯曲信息对应的第一弯曲信息，基于图像识别的方式来实时了解路面的情况，可以有效提高第一弯曲信息的精确性。
在本申请的一个实施例中，如图3所示，上述的前方道路的第一弯曲信息获取方法，还包括以下步骤：
S31，如果从路面图像中未识别到路面标志物，获取车辆当前的方向盘的转角信息。
具体地，有些弯道处可能不存在路面标志物，或者是由于时间较久路面标志物已经不清晰，则无法从路面图像中识别到路面标志物，因此，可以获取车辆当前的方向盘的转角信息，以通过转角信息来识别前方是否为弯道，通过多个方面进行识别，有效保证识别的准确性，其中，转角信息包含转向信息和角度信息。
作为一种的可能实现方式，方向盘的转角信息可以通过判断是否获取到导航系统发送的转角提示信息进行确定，其中，导航系统发送的转角提示信息可以是导航系统发出的语音提示信息，也可以是导航系统发出的路线提示信息等。
作为另一种可能的实现方式，方向盘的转角信息可以通过判断车辆的方向盘处于转向状态的持续时长超出预设时长来确定，并在超出预设时长时，触发确定前方道路的第一弯曲信息。也就是说，当通过方向盘转角传感器检测到方向盘存在逆时针转动操作且方向盘处于转向状态的持续时长超出预设时长t时，则生成车辆转角信息；同理可知，当通过方 向盘转角传感器检测到方向盘存在顺时针转动操作且方向盘处于转向状态的持续时长超出预设时长t时，则生成车辆转角信息。
需要说明的是，上述两种获取转角信息方式仅是示例性的，不作为对本申请的具体限制，当然本领域的技术人员还可以通过其他技术手段获取方向盘转角信息，在此不对其进行详细说明。
S32，根据转角信息，确定前方道路的第一弯曲信息。
一般情况下，车辆在行驶过程中，需要根据道路弯曲的程度进行转向，因此，在获取到转角信息后，就可以确定出前方道路的第一弯曲信息。
根据本申请实施例的探测装置探测角度的调整方法，可以在未从路面图像中未识别到路面标志物时，获取车辆当前的方向盘的转角信息，根据转角信息，确定前方道路的第一弯曲信息，从而有效地增大探测装置的探测区域，减少前毫米波雷达的探测盲区，有利于对车前道路目标的识别，降低目标丢失的概率，提升驾驶的安全性，提升用户使用体验。
下面结合图4、图5详细阐述本申请实施例的探测装置探测角度的调整方法。
如图4所示，本申请实施例的探测装置探测角度的调整方法涉及到的探测装置调节机构包括：调节杆1、雷达安装支架2、雷达3(探测装置可以为毫米波雷达)、第一驱动马达4和第二驱动马达5。其中，车前毫米波雷达调节机构分别通过第一驱动马达4和第二驱动马达5驱动调节杆1的运动，即调节毫米波雷达的水平角度和垂直角度，以达到调节前毫米波雷达发射面角度的作用，第一驱动马达4和调节杆1之间可为刚性连接，第二驱动马达5和调节杆1之间也可为刚性连接，调节杆，且第一驱动马达4和第二驱动马达5可以自带有马达运动圈数的计算，可以通过马达运动圈数结合传动比计算调节角度的反馈及零点位置的校正功能。
在本申请的一个实施例中，如图5所示，根据调整角度，控制探测装置进行探测角度调整，包括以下步骤：
S501，根据调整角度，获取用于驱动第一驱动马达和第二驱动马达的驱动马达的马达转动圈数。
具体地，探测装置的驱动马达可以包括第一驱动马达和第二驱动马达，第一驱动马达可以用于水平方向上调节探测装置，第二驱动马达可以垂直方向上调节探测装置。
S502，控制第一驱动马达和第二驱动马达分别按照各自对应的马达转动圈数进行转动，以带动探测装置分别在水平方向和垂直方向上发生与马达转动圈数对应的位移量。
具体地，驱动探测装置的驱动马达的马达转动圈数可以根据调整角度得到，从而根据驱动马达的马达转动圈数按序控制第一驱动马达水平方向上发生与马达转动圈数对应的位移量，按序控制第二驱动马达垂直方向上发生与马达转动圈数对应的位移量，通过第一驱 动马达和第二驱动马达根据调整角度来调节探测装置的转动角度，有效提高调节的准确性。
在本申请的一个实施例中，如图6所示，在根据调整角度，控制探测装置进行探测角度调整之后，还包括以下步骤：
S601，获取车辆的方向盘的转角信息。
S602，判断转角信息对应的探测装置的探测角度与调整后的探测装置的探测角度是否匹配。
具体地，为了保证探测装置进行探测角度调整的准确性，在初次调整之后，可以再次获取车辆的方向盘的转角信息，然后根据该转角信息，获取到与该转角信息对应的探测装置的探测角度。
进一步地，判断转角信息对应的探测装置的探测角度与调整后的探测装置的探测角度是否匹配，也就是说，如果在控制探测装置进行探测角度调整之后，转角信息对应的探测装置的探测角度与调整后的探测装置的探测角度相匹配，则说明调整准确。如果在控制探测装置进行探测角度调整之后，转角信息对应的探测装置的探测角度与调整后的探测装置的探测角度不匹配，则说明调整不够准确，需要对探测装置的探测角度进行修正，以使转角信息对应的探测装置的探测角度与调整后的探测装置的探测角度相匹配，以便于提高探测装置的探测范围，有效保证探测装置的探测角度的准确性。
S603，如果两个探测角度不匹配，则利用转角信息对应的探测装置的探测角度对调整后的探测装置的探测角度进行更新，实现对探测装置的探测角度实时调节。
下面结合图7、图8详细阐述本申请实施例的探测装置探测角度的调整方法。
举例而言，如图7所示，本申请实施例的探测装置探测角度的调整方法涉及到的探测装置探测角度的调整装置可以包括：前视摄像头11、图像处理单元22、前毫米波雷达调节机构33、方向盘转角传感器44、前毫米波雷达55。
其中，前视摄像头11可以安装在前风挡玻璃位置，用于探测前方(如100米范围内)道路情况，前视摄像头11采集到的道路视频信息通过LVDS(Voltage Differential Signaling，低电压差分信号)或以太网络传输给图像处理单元22，图像单元22根据视频图像中的道路信息计算出车辆前方道路的弯曲变化值，通过CAN输入给前毫米波雷达调节机构33，前毫米波雷达调节机构33可以根据前方道路的弯曲变化值和车辆上的方向盘转角44及其它车辆姿态数据，综合运算判断当前前毫米波雷达55需要调节的角度，并进行调节。需要说明的是，前视摄像头11和图像处理单元22可以合并为一个总成部件，车前毫米波雷达调节机构33和前毫米波雷达55可以合并为一个总成部件，具体地可以由本领域技术人员根据实际情况进行设计，在此不做具体限定。
如图8所示，下面以一个具体实施例阐述本申请实施例的探测装置探测角度的调整方 法。
步骤S801，通过摄像头采集车前方(如100米范围内)的道路视频信息，并通过LVDS传输给图形处理单元。
步骤S802，根据前方摄像头的数据，计算判断车辆前方道路线是否清晰,，不是则执行不是S803，是则执行步骤S804；
步骤S803，若车辆行驶的当前道路车道线不清晰或无车道线，则采集方向盘当前转角信息，综合计算判断，跳转至步骤S807；
步骤S804，若车辆前方道路线清晰可识别，则图形处理单元根据采集到的道路信息，进行处理计算，识别出路面上的道路线、马路牙或路灯等道路识别信息计算出道路的弯曲程度，再根据道路的弯曲程度判断车辆前方是否处于弯道路况，若不是弯道路况，则丢掉当前的视频数据，继续更新计算下一时刻的视频数据，并进行处理计算，以此循环。
步骤805，当计算出车辆前方为弯道道路，则保留此有效数据，并根据当前的车道线详细计算输出前方道路的第一弯道信息。
步骤S806，获取车辆的方向盘的转角信息，判断转角信息对应的探测装置的探测角度与调整后的探测装置的探测角度是否匹配，如果两个探测角度不匹配，则利用转角信息对应的探测装置的探测角度对调整后的探测装置的探测角度进行更新，以此循环。
步骤S807，若需要调整前毫米波雷达的角度，则通过CAN输出需要调整的目标角度值。
步骤S808，调整至目标角度，并在调整到位后，则继续更新下一时刻的数据，以此循环。
根据本申请实施例提出的探测装置探测角度的调整方法，可以获取车辆当前行驶的前方道路的第一弯曲信息，并根据第一弯曲信息，获取探测装置的调整角度，从而根据调整角度，控制探测装置进行探测角度调整，有效地增大探测装置的探测区域，减少探测装置的探测盲区，有利于对行驶路径上车前道路情况的识别，提升驾驶的安全性，提升用户使用体验，同时，还可以利用转角信息对应的探测装置的探测角度对调整后的探测装置的探测角度进行更新。
其次参照附图描述根据本申请实施例提出的探测装置探测角度的调整装置。
图9是本申请实施例的探测装置探测角度的调整装置的方框示意图。
如图9所示，该探测装置探测角度的调整装置10包括：第一获取模块100、第二获取模块200和调整模块300。
其中，第一获取模块100用于获取车辆当前行驶的前方道路的第一弯曲信息。第二获取模块200用于根据第一弯曲信息，获取探测装置的调整角度。调整模块300用于根据调整角度，控制探测装置进行探测角度调整。
在本申请的一个实施例中，第一获取模块100用于：根据车辆的位置信息，从导航信息中获取前方道路的道路参数信息；根据道路参数信息判断前方道路是否为弯道，如果前方道路为弯道，从道路参数信息中提取前方道路的第一弯曲信息。
在本申请的一个实施例中，第一获取模块100还用于：获取车辆当前行驶的前方道路的路面图像，根据路面图像，获取前方道路的第一弯曲信息。
在本申请的一个实施例中，第一获取模块100，进一步用于：从路面图像中识别前方道路上的路面标志物；基于路面标志物，提取路面标志物所在像素点形成的连线，并获取连线的第二弯曲信息；根据第二弯曲信息，得到前方道路的第一弯曲信息。
在本申请的一个实施例中，上述的探测装置探测角度的调整装置10，还用于：如果从路面图像中未识别到路面标志物，获取车辆当前的方向盘的转角信息；根据转角信息，确定前方道路的第一弯曲信息。
在本申请的一个实施例中，根据转角信息，确定前方道路的第一弯曲信息之前，还包括：确定车辆的方向盘处于转向状态的持续时长超出预设时长，并在超出所述预设时长时，触发确定所述前方道路的第一弯曲信息。
在本申请的一个实施例中，调整模块300用于：根据调整角度，获取用于驱动第一驱动马达和第二驱动马达的驱动马达的马达转动圈数；按序控制所述第一驱动马达和所述第二驱动马达分别按照各自对应的马达转动圈数进行转动，以带动所述探测装置分别在水平方向和垂直方向上发生与马达转动圈数对应的位移量。
在本申请的一个实施例中，调整模块300还用于：获取车辆的方向盘的转角信息；判断转角信息对应的探测装置的探测角度与调整后的探测装置的探测角度是否匹配；如果两个探测角度不匹配，则利用转角信息对应的探测装置的探测角度对调整后的探测装置的探测角度进行更新。
需要说明的是，前述对探测装置探测角度的调整方法实施例的解释说明也适用于该实施例的探测装置探测角度的调整装置，此处不再赘述。
根据本申请实施例提出的探测装置探测角度的调整装置，可以通过第一获取模块获取车辆当前行驶的前方道路的第一弯曲信息，并通过第二获取模块根据第一弯曲信息，获取探测装置的调整角度，从而通过调整模块根据调整角度，控制探测装置进行探测角度调整，有效地增大探测装置的探测区域，减少探测装置的探测盲区，有利于对行驶路径上车前道路情况的识别，提升驾驶的安全性，提升用户使用体验。
如图10所示，本申请实施例还提出了一种车辆20，该车辆包括上述的探测装置探测角度的调整装置10。
根据本申请实施例提出的车辆，可以通过第一获取模块获取车辆当前行驶的前方道路 的第一弯曲信息，并通过第二获取模块根据第一弯曲信息，获取探测装置的调整角度，从而通过调整模块根据调整角度，控制探测装置进行探测角度调整，有效地增大探测装置的探测区域，减少探测装置的探测盲区，有利于对行驶路径上车前道路情况的识别，提升驾驶的安全性，提升用户使用体验。
如图11所示，本申请实施例还提出了一种电子设备1000，包括存储器1100、处理器1200；其中，处理器1200通过读取存储器1100中存储的可执行程序代码来运行与可执行程序代码对应的程序，以用于实现上述的探测装置探测角度的调整方法。
其中，电子设备1000可包括，但不仅限于，存储器1100和处理器1200。本领域技术人员可以理解，图11仅仅是电子设备1000的示例，并不构成对电子设备1000的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件，例如电子设备1000还可以包括输入输出设备、网络接入设备、总线等。
处理器1200可以是中央处理单元(Central Processing Unit，CPU)，还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
存储器1100可以是电子设备1000的内部存储单元，例如电子设备1000的硬盘或内存。存储器1100也可以是电子设备1000的外部存储设备，例如电子设备1000上配备的插接式硬盘，智能存储卡(Smart Media Card，SMC)，安全数字(Secure Digital，SD)卡，闪存卡(Flash Card)等。
进一步地，存储器1100还可以既包括电子设备1000的内部存储单元也包括外部存储设备。存储器1100用于存储计算机程序以及电子设备1000所需的其他程序和数据。存储器1100还可以用于暂时地存储已经输出或者将要输出的数据。根据本申请实施例提出的电子设备，在其上存储的与通过执行上述的探测装置探测角度的调整方法对应的程序被执行时，可以根据道路的弯曲程度，动态地调整探测装置的探测角度，从而有效地增大探测装置的探测区域，减少探测装置的探测盲区，有利于对行驶路径上车前道路情况的识别，可以提升驾驶的安全性，提升用户使用体验。
本申请实施例还提出了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现上述的探测装置探测角度的调整方法。
根据本申请实施例提出的计算机可读存储介质，在其上存储的与通过执行上述的探测装置探测角度的调整方法对应的程序被执行时，可以根据道路的弯曲程度，动态地调整探 测装置的照射角度，从而有效地增大探测装置的探测区域，减少探测装置的探测盲区，有利于对行驶路径上车前道路情况的识别，可以提升驾驶的安全性，提升用户使用体验。
在本申请的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本申请的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
在本申请中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
在本申请中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
尽管上面已经示出和描述了本申请的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本申请的限制，本领域的普通技术人员在本申请的范围内可以对上述实施例 进行变化、修改、替换和变型。

Claims (12)

  1. 一种探测装置探测角度的调整方法，其特征在于，所述方法包括以下步骤：
    获取车辆当前行驶的前方道路的第一弯曲信息；
    根据所述第一弯曲信息，获取探测装置的调整角度；
    根据所述调整角度，控制所述探测装置进行探测角度调整。
  2. 根据权利要求1所述的方法，其特征在于，所述获取车辆当前行驶的前方道路的第一弯曲信息，包括：
    根据所述车辆的位置信息，从导航信息中获取所述前方道路的道路参数信息；
    根据所述道路参数信息判断所述前方道路是否为弯道，如果所述前方道路为弯道，从所述道路参数信息中提取所述前方道路的第一弯曲信息。
  3. 根据权利要求1所述的方法，其特征在于，所述获取车辆当前行驶的前方道路的第一弯曲信息，包括：
    获取车辆当前行驶的前方道路的路面图像，根据所述路面图像，获取所述前方道路的第一弯曲信息。
  4. 根据权利要求3所述的方法，其特征在于，所述根据所述路面图像，获取所述前方道路的第一弯曲信息，包括：
    从所述路面图像中识别所述前方道路上的路面标志物；
    基于所述路面标志物，提取所述路面标志物所在像素点形成的连线，并获取所述连线的第二弯曲信息；
    根据所述第二弯曲信息，得到所述前方道路的第一弯曲信息。
  5. 根据权利要求3所述的方法，其特征在于，还包括；
    如果从所述路面图像中未识别到路面标志物，获取所述车辆当前的方向盘的转角信息；
    根据所述转角信息，确定所述前方道路的第一弯曲信息。
  6. 根据权利要求5所述的方法，其特征在于，所述根据所述转角信息，确定所述前方道路的第一弯曲信息之前，还包括：
    确定所述车辆的方向盘处于转向状态的持续时长超出预设时长，并在超出所述预设时长时，触发确定所述前方道路的第一弯曲信息。
  7. 根据权利要求1-6任一项所述的方法，其特征在于，所述根据所述调整角度，控制所述探测装置进行探测角度调整，包括：
    根据所述调整角度，获取用于驱动第一驱动马达和第二驱动马达的驱动马达的马达转动圈数；
    控制所述第一驱动马达和所述第二驱动马达分别按照各自对应的马达转动圈数进行转动，以带动所述探测装置分别在水平方向和垂直方向上发生与马达转动圈数对应的位移量。
  8. 根据权利要求1-7任一项所述的方法，其特征在于，所述根据所述调整角度，控制所述探测装置进行探测角度调整之后，还包括：
    获取所述车辆的方向盘的转角信息；
    判断所述转角信息对应的所述探测装置的探测角度与调整后的所述探测装置的探测角度是否匹配；
    如果两个探测角度不匹配，则利用所述转角信息对应的所述探测装置的探测角度对调整后的所述探测装置的探测角度进行更新。
  9. 一种探测装置探测角度的调整装置，其特征在于，包括：
    第一获取模块，用于获取车辆当前行驶的前方道路的第一弯曲信息；
    第二获取模块，用于根据所述第一弯曲信息，获取探测装置的调整角度；
    调整模块，用于根据所述调整角度，控制所述探测装置进行探测角度调整。
  10. 一种车辆，其特征在于，包括：如权利要求9所述的探测装置探测角度的调整装置。
  11. 一种电子设备，其特征在于，包括存储器、处理器；
    其中，所述处理器通过读取所述存储器中存储的可执行程序代码来运行与所述可执行程序代码对应的程序，以用于实现如权利要求1-8中任一所述的探测装置探测角度的调整方法。
  12. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，该程序被处理器执行时实现如权利要求1-8中任一所述的探测装置探测角度的调整方法。
PCT/CN2019/091941 2018-06-29 2019-06-19 探测装置探测角度的调整方法、装置及具有其的车辆 WO2020001346A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201810714838.5 2018-06-29
CN201810714838.5A CN110654320A (zh) 2018-06-29 2018-06-29 探测装置探测角度的调整方法、装置及具有其的车辆

Publications (1)

Publication Number Publication Date
WO2020001346A1 true WO2020001346A1 (zh) 2020-01-02

Family

ID=68986247

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/091941 WO2020001346A1 (zh) 2018-06-29 2019-06-19 探测装置探测角度的调整方法、装置及具有其的车辆

Country Status (2)

Country Link
CN (1) CN110654320A (zh)
WO (1) WO2020001346A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023104764A1 (en) 2021-12-10 2023-06-15 Valeo Schalter Und Sensoren Gmbh Method for operating a vehicle, computer program, control system and vehicle

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113745797B (zh) * 2020-05-27 2024-01-05 比亚迪汽车工业有限公司 天线高度调节系统及车辆
CN111999720B (zh) 2020-07-08 2022-08-16 深圳市速腾聚创科技有限公司 激光雷达参数调整方法、激光雷达系统和计算机存储介质

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002154383A (ja) * 2000-11-24 2002-05-28 Furukawa Co Ltd カメラの旋回制御装置
CN105083283A (zh) * 2015-08-04 2015-11-25 北汽福田汽车股份有限公司 用于车载雷达的控制方法、控制装置和系统
CN106772334A (zh) * 2015-11-24 2017-05-31 同济大学 一种车用雷达的姿态控制方法
CN106814354A (zh) * 2017-03-28 2017-06-09 驭势科技（北京）有限公司 车载激光雷达及车辆
CN108072880A (zh) * 2018-01-17 2018-05-25 上海禾赛光电科技有限公司 激光雷达视场中心指向的调整方法、介质、激光雷达系统

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2910377B2 (ja) * 1992-01-20 1999-06-23 日産自動車株式会社 車両用レーダ装置
DE102010054066A1 (de) * 2010-12-10 2012-06-14 GM Global Technology Operations LLC Verfahren zum Betreiben eines Sensors eines Fahrzeugs und Fahrerassistenzsystem für ein Fahrzeug
CN102745138B (zh) * 2012-07-23 2014-12-03 北京智华驭新汽车电子技术开发有限公司 一种双视场动态轨迹倒车影像系统
CN106407893B (zh) * 2016-08-29 2019-11-22 东软集团股份有限公司 一种检测车道线的方法、装置和设备
CN108189838B (zh) * 2017-12-30 2019-10-22 吉利汽车研究院（宁波）有限公司 一种融合型自适应巡航弯道控制方法及装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002154383A (ja) * 2000-11-24 2002-05-28 Furukawa Co Ltd カメラの旋回制御装置
CN105083283A (zh) * 2015-08-04 2015-11-25 北汽福田汽车股份有限公司 用于车载雷达的控制方法、控制装置和系统
CN106772334A (zh) * 2015-11-24 2017-05-31 同济大学 一种车用雷达的姿态控制方法
CN106814354A (zh) * 2017-03-28 2017-06-09 驭势科技（北京）有限公司 车载激光雷达及车辆
CN108072880A (zh) * 2018-01-17 2018-05-25 上海禾赛光电科技有限公司 激光雷达视场中心指向的调整方法、介质、激光雷达系统

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023104764A1 (en) 2021-12-10 2023-06-15 Valeo Schalter Und Sensoren Gmbh Method for operating a vehicle, computer program, control system and vehicle

Also Published As

Publication number Publication date
CN110654320A (zh) 2020-01-07

Similar Documents

Publication Publication Date Title
JP6583252B2 (ja) 運転支援装置
US10345443B2 (en) Vehicle cruise control apparatus and vehicle cruise control method
JP6438516B2 (ja) 車両の走行制御装置
WO2020001346A1 (zh) 探测装置探测角度的调整方法、装置及具有其的车辆
US9499169B2 (en) Driving assistance device
US11092442B2 (en) Host vehicle position estimation device
US7659835B2 (en) Method and apparatus for recognizing parking slot by using bird's eye view and parking assist system using the same
JP6363518B2 (ja) 区画線認識装置
US20180286095A1 (en) Display Assistance Device and Display Assistance Method
US11526173B2 (en) Traveling trajectory correction method, traveling control method, and traveling trajectory correction device
WO2021056841A1 (zh) 定位方法、路径确定方法、装置、机器人及存储介质
US20200189584A1 (en) Traveling track determination processing and automated drive device
JP2017165309A (ja) 車両の走行制御装置
JP2016103224A (ja) 車両の走行制御装置
US11042759B2 (en) Roadside object recognition apparatus
BR112019004631B1 (pt) Aparelho e método de assistência de estacionamento
JP2017061279A (ja) 操舵支援制御装置
US20190202459A1 (en) Method for Controlling Travel and Device for Controlling Travel of Vehicle
JP2017003395A (ja) 車両の測位システム
JP2014093018A (ja) 車線認識装置、運転支援装置、車線認識方法、および、車線認識プログラム
JP7149082B2 (ja) 走行支援装置の走行支援方法及び走行支援装置
JP2008189055A (ja) 追従制御装置
US20150232089A1 (en) Apparatus and program for setting assistance region
JP2020047210A (ja) 物体検出装置
JP2019148889A (ja) 道路境界検出装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19826205

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19826205

Country of ref document: EP

Kind code of ref document: A1