WO2020147518A1 - 一种超声波雷达阵列、障碍物检测方法及系统 - Google Patents

一种超声波雷达阵列、障碍物检测方法及系统 Download PDF

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Publication number
WO2020147518A1
WO2020147518A1 PCT/CN2019/127358 CN2019127358W WO2020147518A1 WO 2020147518 A1 WO2020147518 A1 WO 2020147518A1 CN 2019127358 W CN2019127358 W CN 2019127358W WO 2020147518 A1 WO2020147518 A1 WO 2020147518A1
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WIPO (PCT)
Prior art keywords
ultrasonic radar
ultrasonic
obstacle
radar
determined
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PCT/CN2019/127358
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English (en)
French (fr)
Inventor
朱晓星
刘祥
杨凡
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北京百度网讯科技有限公司
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Application filed by 北京百度网讯科技有限公司 filed Critical 北京百度网讯科技有限公司
Priority to JP2020570048A priority Critical patent/JP2021526649A/ja
Priority to EP19910464.7A priority patent/EP3842834A4/en
Priority to US17/278,646 priority patent/US11933893B2/en
Publication of WO2020147518A1 publication Critical patent/WO2020147518A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/87—Combinations of sonar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/52004—Means for monitoring or calibrating
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/521—Constructional features
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/523—Details of pulse systems
    • G01S7/526—Receivers
    • G01S7/53—Means for transforming coordinates or for evaluating data, e.g. using computers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/937—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details
    • G01S2015/938—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details in the bumper area

Definitions

  • This application relates to the field of automatic control, and in particular to an ultrasonic radar array, an obstacle detection method and system.
  • An unmanned vehicle is a kind of intelligent car, which can also be called a wheeled mobile robot, which mainly relies on the intelligent driving instrument based on the computer system in the vehicle to realize unmanned driving.
  • Unmanned vehicles integrate many technologies such as automatic control, architecture, artificial intelligence, and visual computing. It is a product of the highly developed computer science, pattern recognition and intelligent control technology. It is also an important indicator of a country’s scientific research strength and industrial level. , Has broad application prospects in the fields of national defense and national economy.
  • Ultrasound has the characteristics of good directionality, strong adaptability and strong penetrating ability, so it is often loaded on unmanned vehicles to achieve obstacle avoidance function.
  • the traditional ultrasonic radar array currently used in unmanned vehicles is generally installed on the front/rear bumper of the car, and the number is four. Obstacle measurement is not stable, and it is accompanied by false detection and missed detection; it cannot accurately describe the location of the obstacle; the horizontal detection blind area is often large, and there is a safety risk; it is difficult to achieve in areas with high accuracy requirements such as unmanned vehicles Perceived requirements, which reduces the safety of driverless vehicles.
  • Various aspects of the present application provide an ultrasonic radar array, an obstacle detection method and system, which are used to improve the accuracy and reliability of ultrasonic obstacle detection, cover the lateral blind area of unmanned vehicles, and improve driving safety.
  • an ultrasonic radar array which includes: N ultrasonic radars uniformly installed on the bumper of an unmanned vehicle, the N ultrasonic radars gradually increase in the outward rotation angle from the center to the outside; Among them, N is a positive integer.
  • N is an even number
  • the first ultrasonic radar is installed horizontally on the left side of the center of the bumper
  • the second ultrasonic radar is installed horizontally on the right side of the center of the bumper.
  • Side; (N-2)/2 ultrasonic radars are installed on the left side of the first ultrasonic radar, from the center to the outside, with the previous ultrasonic radar as the reference, rotate ⁇ counterclockwise in turn; (N-2)/2 ultrasonic radars are installed On the right side of the second ultrasonic radar, from the center to the outside, with the previous ultrasonic radar as the reference, rotate ⁇ clockwise in turn;
  • the first ultrasonic radar is installed horizontally in the center of the bumper, (N-1)/2 ultrasonic radars are installed on the left side of the first ultrasonic radar, from the center to the outside, the previous ultrasonic radar is the reference, and the reverse Clockwise rotation ⁇ ; (N-1)/2 ultrasonic radars are installed on the right side of the first ultrasonic radar, from the center to the outside, with the previous ultrasonic radar as the reference, rotate ⁇ clockwise in turn.
  • the above aspects and any possible implementation manners further provide an implementation manner.
  • the number N and the rotation angle ⁇ of the ultrasonic radar are determined to ensure the ultrasonic The coverage of the radar has triple redundancy.
  • the present invention provides an obstacle detection method according to the above ultrasonic radar array, which is characterized in that it includes:
  • the preset rule is to determine whether the ultrasonic radar to be determined exists according to whether the neighboring ultrasonic radar of the ultrasonic radar to be determined returns to the obstacle coordinates. False detection and missed detection.
  • the adjacent ultrasonic radar is an ultrasonic radar on both sides of the ultrasonic radar to be determined and an ultrasonic radar separated by one.
  • the preset rules for performing false detection judgment include:
  • the adjacent ultrasonic radar of the ultrasonic radar to be determined does not return the obstacle coordinates, if the coverage of the ultrasonic radar to be determined has a single ultrasonic radar coverage or two ultrasonic radars overlap, there is no false detection ; If the coverage of the ultrasonic radar to be judged only has three overlapping ultrasonic radars, there is a false detection;
  • the preset rules for performing miss-detection judgment include:
  • the adjacent ultrasonic radar of the ultrasonic radar to be determined does not return the obstacle coordinates, there is no missing detection of the ultrasonic radar to be determined;
  • the two adjacent ultrasonic radars of the ultrasonic radar to be determined return to the obstacle coordinates, if the coverage of the ultrasonic radar to be determined and the adjacent ultrasonic radar returning to the obstacle coordinates have three ultrasonic radar coverage areas , There is a missed detection; if there is no overlapping coverage of three ultrasonic radars, there is no missed detection;
  • the processing of obstacle information collected by each ultrasonic radar according to the judgment result includes:
  • the obstacle information collected by the misdetected ultrasonic radar is deleted.
  • the obstacle information collected by the ultrasonic radar is obtained according to the obstacle information returned by its neighboring ultrasonic radar.
  • determining the location of the obstacle includes:
  • the present invention provides an obstacle detection system based on the above ultrasonic radar array, including:
  • An acquiring module configured to acquire obstacle information collected by each ultrasonic radar in the ultrasonic radar array in an obstacle scene
  • the judgment module is used to judge the misdetection and missed detection of obstacle information collected by each ultrasonic radar according to preset rules
  • the determining module is used to determine the position of the obstacle according to the obstacle information collected by each ultrasonic radar after processing.
  • the preset rule is to determine whether the ultrasonic radar to be determined exists according to whether the neighboring ultrasonic radar of the ultrasonic radar to be determined returns to the obstacle coordinates. False detection and missed detection.
  • the adjacent ultrasonic radar is an ultrasonic radar on both sides of the ultrasonic radar to be determined and an ultrasonic radar separated by one.
  • the preset rules for performing false detection judgment include:
  • the adjacent ultrasonic radar of the ultrasonic radar to be determined does not return the obstacle coordinates, if the coverage of the ultrasonic radar to be determined has a single ultrasonic radar coverage or two ultrasonic radars overlap, there is no false detection ; If the coverage of the ultrasonic radar to be judged only has three overlapping ultrasonic radars, there is a false detection;
  • the preset rules for performing miss-detection judgment include:
  • the adjacent ultrasonic radar of the ultrasonic radar to be determined does not return the obstacle coordinates, there is no missing detection of the ultrasonic radar to be determined;
  • the two adjacent ultrasonic radars of the ultrasonic radar to be determined return to the obstacle coordinates, if the coverage of the ultrasonic radar to be determined and the adjacent ultrasonic radar returning to the obstacle coordinates have three ultrasonic radar coverage areas , There is a missed detection; if there is no overlapping coverage of three ultrasonic radars, there is no missed detection;
  • processing module is specifically configured to:
  • the obstacle information collected by the misdetected ultrasonic radar is deleted.
  • the obstacle information collected by the ultrasonic radar is obtained according to the obstacle information returned by its neighboring ultrasonic radar.
  • an implementation manner is further provided, and the determining module is specifically configured to:
  • a computer device including a memory, a processor, and a computer program stored on the memory and capable of running on the processor.
  • the processor executes the program as described above. The method described.
  • Another aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, and when the program is executed by a processor, the method as described above is implemented.
  • the embodiment of the present application can effectively determine the misdetection and missed detection of each ultrasonic radar in the ultrasonic radar array, accurately determine the location of the obstacle, and improve the driving safety of the unmanned vehicle.
  • FIG. 1 is a schematic structural diagram of an ultrasonic radar array provided in Embodiment 1 of the application;
  • FIG. 2 is a schematic flowchart of a method for detecting obstacles in an ultrasonic radar array according to Embodiment 2 of the application;
  • FIG. 3 is a schematic structural diagram of an ultrasonic radar array obstacle detection system provided by Embodiment 3 of the application;
  • Figure 4 shows a block diagram of an exemplary computer system/server 012 suitable for implementing embodiments of the present invention.
  • Fig. 1 is a schematic structural diagram of an ultrasonic radar array provided in Embodiment 1 of the application, as shown in Fig. 1, including:
  • the ultrasonic radar array includes 10 ultrasonic radars, and each ultrasonic radar is composed of an ultrasonic transmitting circuit and an ultrasonic receiving circuit.
  • Ultrasonic radars nine, seven, five, three, one, two, four, six, eight, and ten are installed evenly on the front bumper of unmanned vehicles.
  • the installation angle of the ultrasonic radar nine, seven, five, three, one, two, four, six, eight, and ten is installed horizontally from the far left.
  • the state starts by rotating 4 ⁇ counterclockwise, and each ultrasonic radar rotates clockwise by ⁇ , until the ultrasonic radar installed on the far right side rotates 4 ⁇ clockwise based on the horizontal installation state.
  • ultrasonic radars are evenly installed on the front bumper of unmanned vehicles, ultrasonic radar one is installed horizontally on the left side of the center of the front bumper; two ultrasonic radars are installed horizontally on the right side of the front bumper; three ultrasonic radars are installed On the left side of ultrasonic radar 1, it rotates ⁇ counterclockwise based on the horizontal installation state; ultrasonic radar 4 is installed on the right side of ultrasonic radar 2, and rotates ⁇ clockwise based on the horizontal installation state; ultrasonic radar 5 is installed On the left side of Ultrasonic Radar 3, it rotates 2 ⁇ counterclockwise based on the horizontal installation state; Ultrasonic Radar 6 is installed on the right side of Ultrasonic Radar 4, and rotates clockwise 2 ⁇ based on the horizontal installation state; Ultrasonic Radar 7 is installed On the left side of Ultrasonic Radar No.
  • Ultrasonic Radar No. 8 is installed on the right side of Ultrasonic Radar No. 6 and rotates 3 ⁇ clockwise based on the horizontal installation state
  • Ultrasonic radar 9 is installed On the left side of Ultrasonic Radar No. 5, it rotates 4 ⁇ counterclockwise based on the horizontal installation state
  • Ultrasonic Radar 10 is installed on the right side of Ultrasonic Radar No. 8 and rotates 4 ⁇ clockwise based on the horizontal installation state;
  • ⁇ is preferably 5°.
  • the horizontal beam angle of the ultrasonic radar is 45°, and the coverage range of the ultrasonic radar is 0-3.5 m.
  • the coverage areas of the ten ultrasonic radars are superimposed on each other, they have certain fault tolerance. It is necessary to determine the overlapping coverage area of the ultrasonic radar so as to perform error detection and correction in the subsequent obstacle detection process.
  • the coverage area of each ultrasonic radar in its own coordinate system is determined according to the mathematical model of the detection distance and detection shape of each ultrasonic radar.
  • each ultrasonic radar coordinate system into the reference coordinate system.
  • the reference coordinate system is a vehicle coordinate system.
  • Matrix conversion is performed through the relationship between the initial spatial configuration of each ultrasonic radar on the unmanned vehicle and the vehicle coordinate system.
  • the initial spatial configuration of the ultrasonic radar is known in advance and can be obtained based on the measurement data of the multiple ultrasonic radars on the body of the unmanned vehicle.
  • the coverage areas of the ultrasonic radars unified to the reference coordinate system are superimposed in the preset detection area.
  • the rasterized preset detection area is within a range of 15-350 cm in front and side front of the vehicle body.
  • the coverage of the ultrasonic radar array and the overlap of the coverage of each ultrasonic radar can be obtained, for example, the coverage of a single ultrasonic radar, the coverage of two ultrasonic radars overlap, and the coverage of three ultrasonic radars overlap.
  • the ultrasonic radar It is necessary to determine the overlap of the coverage of the ultrasonic radar. For example, if an obstacle appears in the coverage of the ultrasonic radar 9, there may be many situations. The obstacle is located in the coverage of the ultrasonic radar 9. There are three cases where the coverage of two ultrasonic radars overlap and the coverage of three ultrasonic radars overlap. In this embodiment, since the function of the ultrasonic radar is to measure obstacles, the tolerance for false detection is higher than that of missed detection. Therefore, even if only the ultrasonic radar returns obstacle information, it is considered that the obstacle is located in the ultrasonic radar. The coverage area of a single ultrasonic radar, but not its neighboring ultrasonic radar seven or ultrasonic radar five, has missed detection.
  • the coverage of 3 ultrasonic radars can be overlapped, so that the decision-making system can vote based on the obstacle information returned by the 3 ultrasonic radars.
  • the fault tolerance of obstacle detection is realized by superimposing the coverage of multiple ultrasonic radars.
  • Fig. 2 is a schematic flow chart of the ultrasonic radar array obstacle detection method provided in the second embodiment of the application, as shown in Fig. 2, including:
  • Step S21 Obtain obstacle information collected by each ultrasonic radar in the obstacle scene in the ultrasonic radar array as described in the first embodiment, and convert each coordinate to the vehicle body coordinate system;
  • the initial spatial configuration of the ultrasonic radar is known in advance and can be obtained based on the measurement data of the multiple ultrasonic radars on the body of the unmanned vehicle. Convert the coordinates of the target in each radar coordinate system to the vehicle body coordinate system.
  • step S22 the obstacle information collected by each ultrasonic radar in the ultrasonic radar array is judged for misdetection and missed detection according to a preset rule.
  • the basic principle of the preset rule is that when an ultrasonic radar is detected by mistake, if its neighboring ultrasonic radar does not make a false detection, it will not return to the obstacle coordinates; when an ultrasonic radar fails to detect, if its neighboring ultrasonic radar If no missed detection occurs, the obstacle coordinates will be returned.
  • the neighboring ultrasonic radar of the ultrasonic radar to be determined does not return the obstacle coordinates, determine whether the ultrasonic radar to be determined has a single ultrasonic radar coverage, such as ultrasonic radar 9 and ultrasonic radar 10 located at the edge of the ultrasonic radar array;
  • the coverage of the ultrasonic radar to be determined has a coverage of a single ultrasonic radar, it is considered that an obstacle has appeared within the coverage of a single ultrasonic radar of the ultrasonic radar to be determined; the ultrasonic radar to be determined does not have a false detection;
  • the coverage area of the ultrasonic radar has two ultrasonic radar coverage areas, such as ultrasonic radar seven and ultrasonic radar eight, its detection range overlaps with at least one adjacent ultrasonic radar coverage area.
  • ultrasonic radar seven returns to obstacle coordinates
  • the adjacent ultrasonic radar 9 did not return the obstacle coordinates
  • the adjacent ultrasonic radar 5 did not return the obstacle coordinates; there are many possibilities, for example, the obstacle is located in the coverage of the two ultrasonic radars in the coverage of the ultrasonic radar 7, namely In the coverage area that overlaps with the ultrasonic radar nine, it may be the ultrasonic radar nine missed the detection, or the ultrasonic radar seven false detection.
  • the obstacle is located in the coverage area of three ultrasonic radars in the coverage area of ultrasonic radar 7, that is, the coverage area overlapping with ultrasonic radar 9 and ultrasonic radar 5, then because ultrasonic radar 9 and ultrasonic radar 5 do not return the obstacle coordinates, then It may be a false detection of ultrasonic radar seven.
  • the obstacle is located in the coverage of the two ultrasonic radars in the coverage of the ultrasonic radar, that is, the coverage area that overlaps with the ultrasonic radar, and the ultrasonic radar is missed. Because if the detection is wrong, the driverless vehicle can only stop and wait for the next detection result. If the detection is missed, it is likely to cause a collision.
  • the coverage of the ultrasonic radar only overlaps with the coverage of three ultrasonic radars, such as ultrasonic radar five, ultrasonic radar three, ultrasonic radar one, ultrasonic radar two, ultrasonic radar four, and ultrasonic radar six, its detection range is the same as that of two.
  • the coverage areas of adjacent ultrasonic radars overlap, and if two adjacent ultrasonic radars do not return obstacle detection results, it is considered that the ultrasonic radar to be determined has a false detection.
  • the coverage of the ultrasonic radar 1 is that the coverage of three ultrasonic radars overlap. If only one adjacent ultrasonic radar 2 returns to the obstacle coordinates; Ultrasonic radar 3 or ultrasonic radar 4 should return to the obstacle coordinates. If it does not return, the adjacent ultrasonic radar 3 or ultrasonic radar 4 has missed detection;
  • the ultrasonic radar array has missed detection.
  • the ultrasonic radar 7 to be judged returns to the obstacle coordinates
  • the adjacent ultrasonic radar 5 returns to the obstacle coordinates
  • the ultrasonic radar 7 and the ultrasonic radar 5 only have three ultrasonic waves. If the radar coverage overlaps, it proves that the adjacent ultrasonic radar nine or ultrasonic radar three has missed detection.
  • the adjacent ultrasonic radar of the ultrasonic radar to be determined does not return the obstacle coordinates, it is determined that the ultrasonic radar to be determined does not have missed detection
  • the ultrasonic radar to be judged has missed detection. For example, if the obstacle is located in the coverage area of the ultrasonic radar in the two ultrasonic radar coverage areas, that is, the coverage area overlapping the ultrasonic radar nine Inside, the ultrasonic radar nine did not return the obstacle coordinates, and the adjacent ultrasonic radar seven returned the obstacle coordinates. For safety reasons, it is considered that the ultrasonic radar nine missed the inspection. Because if the detection is wrong, the driverless vehicle can only stop and wait for the next detection result. If the detection is missed, it is likely to cause a collision.
  • ultrasonic radar 1 did not return the obstacle coordinates, but its neighboring ultrasonic radar 3 and ultrasonic radar 2 all returned obstacle coordinates, ultrasonic radar 1 and ultrasonic radar 3, ultrasonic radar 2 existed If the ultrasonic radar covers the coverage area, the ultrasonic radar one is missed.
  • the number of adjacent ultrasonic radars returning to the obstacle coordinates is two, determine whether there are three ultrasonic radar coverage areas in the coverage areas of the ultrasonic wave to be detected and the two adjacent ultrasonic radars returning to the obstacle coordinates; if If there are three ultrasonic radar coverage areas, it is considered that the ultrasonic radar to be determined has missed detection; if there are no three ultrasonic radar coverage areas, it is not considered that the ultrasonic radar to be determined has missed detection.
  • the number of adjacent ultrasonic radars returning to the obstacle coordinates is three or more, it is considered that the ultrasonic radar to be determined has missed detection.
  • the misdetection or missed detection of the ultrasonic radar to be judged is judged according to the overlap of the coverage of the ultrasonic radar to be judged and the adjacent ultrasonic radar and the obstacle coordinates returned by each ultrasonic radar in the ultrasonic radar array.
  • Step S23 processing the obstacle information collected by each ultrasonic radar in the ultrasonic radar array according to the judgment result.
  • the obstacle information collected by the falsely detected ultrasonic radar is deleted.
  • the obstacle information collected by the missed ultrasonic radar can be obtained according to the obstacle information returned by the neighboring ultrasonic radar.
  • the obstacle coordinates returned by the adjacent ultrasonic radar are used as the obstacle coordinates of the ultrasonic radar to be determined.
  • the fusion method based on triangulation is used to fuse the distance data returned by the two ultrasonic radars as the obstacle of the ultrasonic radar to be determined Object coordinates.
  • the ultrasonic radar is determined according to the obstacle coordinates returned by the ultrasonic radar 3 and ultrasonic radar 2 The coordinates of the obstacle corresponding to the radar.
  • the obstacle information collected by each ultrasonic radar in the ultrasonic radar array is not processed.
  • Step S24 Determine the position of the obstacle in the vehicle body coordinate system according to the processed obstacle information collected by each ultrasonic radar, and make an unmanned vehicle decision based on the position of the obstacle.
  • the obstacle is located at the origin with the single ultrasonic radar as the origin, and the arc with the obstacle distance as the radius is located in the part of the coverage of the single ultrasonic radar of the ultrasonic radar on.
  • a fusion method based on triangulation is used to fuse the distance data returned by the two ultrasonic radars to obtain the edge fixed point information of the obstacle.
  • the circumscribed circle method can be used for fusion processing.
  • the arcs with the ultrasonic radar as the origin and the obstacle distance as the radius of multiple ultrasonic radars should intersect at one point, but in reality, the multiple arcs do not intersect at one point due to measurement errors and noise interference.
  • each group has three arcs intersecting at three points, and the center of the circumscribed circle of the three points is taken as the final measurement result of the three ultrasonic radars, and finally the final measurement of each group of ultrasonic radars The average of the results is used as the final fusion result.
  • Fig. 3 is a schematic structural diagram of the ultrasonic radar array obstacle detection system provided by the second embodiment of the application, as shown in Fig. 3, including:
  • the obtaining module 31 is configured to obtain obstacle information collected by each ultrasonic radar in the obstacle scene in the ultrasonic radar array as described in the first embodiment, and convert each coordinate to the vehicle body coordinate system;
  • the initial spatial configuration of the ultrasonic radar is known in advance and can be obtained based on the measurement data of the multiple ultrasonic radars on the body of the unmanned vehicle. Convert the coordinates of the target in each radar coordinate system to the vehicle body coordinate system.
  • the judging module 32 is configured to perform misdetection and miss-detection judgments on the obstacle information collected by each ultrasonic radar in the ultrasonic radar array according to preset rules.
  • the basic principle of the preset rule is that when an ultrasonic radar detects a mistake, if its neighboring ultrasonic radar does not make a false detection, it will not return to the obstacle coordinates; when an ultrasonic radar misses the detection, if its neighboring ultrasonic radar fails to detect If no missed detection occurs, the obstacle coordinates will be returned.
  • the adjacent ultrasonic radar of the ultrasonic radar to be determined does not return the obstacle coordinates, determine whether the ultrasonic radar to be determined has a single ultrasonic radar coverage, such as ultrasonic radar 9 and ultrasonic radar 10 located at the edge of the ultrasonic radar array;
  • the coverage of the ultrasonic radar to be determined has a coverage of a single ultrasonic radar, it is considered that an obstacle has appeared within the coverage of a single ultrasonic radar of the ultrasonic radar to be determined; the ultrasonic radar to be determined does not have a false detection;
  • the coverage area of the ultrasonic radar has two ultrasonic radar coverage areas, such as ultrasonic radar seven and ultrasonic radar eight, its detection range overlaps with at least one adjacent ultrasonic radar coverage area.
  • ultrasonic radar seven returns to obstacle coordinates
  • the adjacent ultrasonic radar 9 did not return the obstacle coordinates
  • the adjacent ultrasonic radar 5 did not return the obstacle coordinates; there are many possibilities, for example, the obstacle is located in the coverage of the two ultrasonic radars in the coverage of the ultrasonic radar 7, namely In the coverage area that overlaps with the ultrasonic radar nine, it may be the ultrasonic radar nine missed the detection, or the ultrasonic radar seven false detection.
  • the obstacle is located in the coverage area of three ultrasonic radars in the coverage area of ultrasonic radar 7, that is, the coverage area overlapping with ultrasonic radar 9 and ultrasonic radar 5, then because ultrasonic radar 9 and ultrasonic radar 5 do not return the obstacle coordinates, then It may be a false detection of ultrasonic radar seven.
  • the obstacle is located in the coverage of the two ultrasonic radars in the coverage of the ultrasonic radar, that is, in the coverage area that overlaps with the ultrasonic radar, and it is the failure of the ultrasonic radar to detect it. Because if the detection is wrong, the driverless vehicle can only stop and wait for the next detection result. If the detection is missed, it is likely to cause a collision.
  • the coverage of the ultrasonic radar only overlaps with the coverage of three ultrasonic radars, such as ultrasonic radar five, ultrasonic radar three, ultrasonic radar one, ultrasonic radar two, ultrasonic radar four, and ultrasonic radar six, its detection range is the same as that of two.
  • the coverage areas of adjacent ultrasonic radars overlap, and if two adjacent ultrasonic radars do not return obstacle detection results, it is considered that the ultrasonic radar to be determined has a false detection.
  • the coverage of the ultrasonic radar 1 is that the coverage of three ultrasonic radars overlap. If only one adjacent ultrasonic radar 2 returns to the obstacle coordinates; Ultrasonic radar 3 or ultrasonic radar 4 should return to the obstacle coordinates. If it does not return, the adjacent ultrasonic radar 3 or ultrasonic radar 4 has missed detection;
  • the ultrasonic radar array has missed detection.
  • the ultrasonic radar 7 to be judged returns to the obstacle coordinates
  • the adjacent ultrasonic radar 5 returns to the obstacle coordinates
  • the ultrasonic radar 7 and the ultrasonic radar 5 only have three ultrasonic waves. If the radar coverage overlaps, it proves that the adjacent ultrasonic radar nine or ultrasonic radar three has missed detection.
  • the adjacent ultrasonic radar of the ultrasonic radar to be determined does not return the obstacle coordinates, it is determined that the ultrasonic radar to be determined does not have missed detection
  • the ultrasonic radar to be judged has missed detection. For example, if the obstacle is located in the coverage area of the ultrasonic radar in the two ultrasonic radar coverage areas, that is, the coverage area overlapping the ultrasonic radar nine Inside, the ultrasonic radar nine did not return the obstacle coordinates, and the adjacent ultrasonic radar seven returned the obstacle coordinates. For safety reasons, it is considered that the ultrasonic radar nine missed the inspection. Because if the detection is wrong, the driverless vehicle can only stop and wait for the next detection result. If the detection is missed, it is likely to cause a collision.
  • ultrasonic radar If there are no two ultrasonic radar coverage areas, there are only three ultrasonic radar coverage areas. Since only one ultrasonic radar of the three ultrasonic radars returns the obstacle coordinates, it is considered that the ultrasonic radar returning to the obstacle coordinates is falsely detected. And the ultrasonic radar to be judged does not have missed detection. For example, the ultrasonic radar 1 did not return the obstacle coordinates, and the adjacent ultrasonic radar 3 and ultrasonic radar 2 all returned the obstacle coordinates, ultrasonic radar 1 and ultrasonic radar 3. Ultrasonic radar Second, if there are three coverage areas of ultrasonic radar, the first ultrasonic radar is missed.
  • the number of adjacent ultrasonic radars returning to the obstacle coordinates is two, determine whether there are three ultrasonic radar coverage areas in the coverage areas of the ultrasonic wave to be detected and the two adjacent ultrasonic radars returning to the obstacle coordinates; if If there are three ultrasonic radar coverage areas, it is considered that the ultrasonic radar to be determined has missed detection; if there are no three ultrasonic radar coverage areas, it is not considered that the ultrasonic radar to be determined has missed detection.
  • the number of adjacent ultrasonic radars returning to the obstacle coordinates is three or more, it is considered that the ultrasonic radar to be determined has missed detection.
  • the misdetection or missed detection of the ultrasonic radar to be judged is judged according to the overlap of the coverage of the ultrasonic radar to be judged and the adjacent ultrasonic radar and the obstacle coordinates returned by each ultrasonic radar in the ultrasonic radar array.
  • the processing module 33 is configured to process obstacle information collected by each ultrasonic radar in the ultrasonic radar array according to the judgment result.
  • the obstacle information collected by the falsely detected ultrasonic radar is deleted.
  • the obstacle information collected by the missed ultrasonic radar can be obtained according to the obstacle information returned by the neighboring ultrasonic radar.
  • the obstacle coordinates returned by the adjacent ultrasonic radar are used as the obstacle coordinates of the ultrasonic radar to be determined.
  • the fusion method based on triangulation is used to fuse the distance data returned by the two ultrasonic radars as the obstacle of the ultrasonic radar to be determined Object coordinates.
  • the ultrasonic radar is determined according to the obstacle coordinates returned by the ultrasonic radar 3 and ultrasonic radar 2 The coordinates of the obstacle corresponding to the radar.
  • the obstacle information collected by each ultrasonic radar in the ultrasonic radar array is not processed.
  • the determining module 34 is configured to determine the position of the obstacle in the vehicle body coordinate system according to the processed obstacle information collected by each ultrasonic radar, and make an unmanned vehicle decision based on the position of the obstacle.
  • the obstacle is located at the origin with the single ultrasonic radar as the origin, and the arc with the obstacle distance as the radius is located in the part of the coverage of the single ultrasonic radar of the ultrasonic radar Previous.
  • a fusion method based on triangulation is used to fuse the distance data returned by the two ultrasonic radars to obtain the edge fixed point information of the obstacle.
  • the circumscribed circle method can be used for fusion processing.
  • the arcs with the ultrasonic radar as the origin and the obstacle distance as the radius of multiple ultrasonic radars should intersect at one point, but in reality, the multiple arcs do not intersect at one point due to measurement errors and noise interference.
  • each group has three arcs intersecting at three points, and the center of the circumscribed circle of the three points is taken as the final measurement result of the three ultrasonic radars, and finally the final measurement of each group of ultrasonic radars The average of the results is used as the final fusion result.
  • the disclosed method and device can be implemented in other ways.
  • the device embodiments described above are only schematic.
  • the division of the unit is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical, or other forms.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the integrated unit may be implemented in the form of hardware, or may be implemented in the form of hardware plus software functional units.
  • FIG. 4 shows a block diagram of an exemplary computer system/server 012 suitable for implementing embodiments of the present invention.
  • the computer system/server 012 shown in FIG. 4 is only an example, and should not bring any limitation to the function and application scope of the embodiment of the present invention.
  • the computer system/server 012 is represented in the form of a general-purpose computing device.
  • the components of the computer system/server 012 may include, but are not limited to: one or more processors or processing units 016, a system memory 028, and a bus 018 connecting different system components (including the system memory 028 and the processing unit 016).
  • the bus 018 represents one or more of several types of bus structures, including a memory bus or a memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any bus structure among multiple bus structures.
  • these architectures include, but are not limited to, industry standard architecture (ISA) bus, micro channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and peripheral component interconnection ( PCI) bus.
  • ISA industry standard architecture
  • MAC micro channel architecture
  • VESA Video Electronics Standards Association
  • PCI peripheral component interconnection
  • the computer system/server 012 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the computer system/server 012, including volatile and nonvolatile media, removable and non-removable media.
  • the system memory 028 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 030 and/or cache memory 032.
  • the computer system/server 012 may further include other removable/non-removable, volatile/nonvolatile computer system storage media.
  • the storage system 034 may be used to read and write non-removable, non-volatile magnetic media (not shown in FIG. 4, usually referred to as "hard drives").
  • a disk drive for reading and writing to removable non-volatile disks such as "floppy disks”
  • a removable non-volatile disk such as CD-ROM, DVD-ROM
  • other optical media read and write optical disc drives.
  • each drive can be connected to the bus 018 through one or more data media interfaces.
  • the memory 028 may include at least one program product, and the program product has a set (for example, at least one) program modules, which are configured to perform the functions of the embodiments of the present invention.
  • a program/utility tool 040 with a set of (at least one) program module 042 can be stored in, for example, the memory 028.
  • Such program module 042 includes, but is not limited to, an operating system, one or more application programs, and other programs Modules and program data, each of these examples or some combination may include the realization of a network environment.
  • the program module 042 generally executes the functions and/or methods in the described embodiments of the present invention.
  • the computer system/server 012 can also communicate with one or more external devices 014 (such as a keyboard, pointing device, display 024, etc.).
  • the computer system/server 012 communicates with an external radar device, and can also communicate with one or Multiple devices that enable users to interact with the computer system/server 012, and/or communicate with any devices that enable the computer system/server 012 to communicate with one or more other computing devices (such as network cards, modems, etc.) Communication. This communication can be performed through an input/output (I/O) interface 022.
  • I/O input/output
  • the computer system/server 012 can also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and/or a public network, such as the Internet) through the network adapter 020.
  • networks such as a local area network (LAN), a wide area network (WAN), and/or a public network, such as the Internet
  • the network adapter 020 communicates with other modules of the computer system/server 012 through the bus 018.
  • other hardware and/or software modules can be used in conjunction with the computer system/server 012, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems , Tape drives and data backup storage systems.
  • the processing unit 016 executes the functions and/or methods in the described embodiments of the present invention by running a program stored in the system memory 028.
  • the above-mentioned computer program may be set in a computer storage medium, that is, the computer storage medium is encoded with a computer program.
  • the program When the program is executed by one or more computers, one or more computers can execute the operations shown in the above embodiments of the present invention. Method flow and/or device operation.
  • the computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium.
  • the computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination of the above.
  • computer-readable storage media include: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), Erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disk read only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above.
  • the computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, apparatus, or device.
  • the computer-readable signal medium may include a data signal propagated in baseband or as a part of a carrier wave, and computer-readable program code is carried therein. This propagated data signal can take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above.
  • the computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, and the computer-readable medium may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. .
  • the program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wire, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
  • the computer program code for performing the operations of the present invention can be written in one or more programming languages or a combination thereof.
  • the programming languages include object-oriented programming languages such as Java, Smalltalk, C++, as well as conventional Procedural programming language-such as "C" language or similar programming language.
  • the program code can be executed entirely on the user's computer, partly on the user's computer, executed as an independent software package, partly on the user's computer and partly executed on a remote computer, or entirely executed on the remote computer or server.
  • the remote computer can be connected to the user's computer through any kind of network-including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (for example, using an Internet service provider to pass the Internet) connection).
  • LAN local area network
  • WAN wide area network

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Abstract

一种超声波雷达阵列及其障碍物检测方法及系统，方法包括：获取超声波雷达阵列中各超声波雷达在障碍物场景中采集的障碍物信息（S21）；根据预设规则对各超声波雷达采集的障碍物信息进行误检及漏检判断（S22）；根据判断结果对各超声波雷达采集的障碍物信息进行处理（S23）；根据处理后的各超声波雷达采集的障碍物信息，确定障碍物位置（S24）。超声波雷达阵列及其障碍物检测方法及系统可以有效判断超声波雷达阵列中各超声波雷达出现的误检和漏检，精确确定障碍物位置，提高了无人驾驶车辆的行驶安全性。

Description

一种超声波雷达阵列、障碍物检测方法及系统
本申请要求了申请日为2019年01月15日，申请号为201910036318.8发明名称为“一种超声波雷达阵列、障碍物检测方法及系统”的中国专利申请的优先权。
技术领域
本申请涉及自动控制领域，尤其涉及一种超声波雷达阵列、障碍物检测方法及系统。
背景技术
无人驾驶车辆是一种智能汽车，也可以称之为轮式移动机器人，主要依靠车辆内的以计算机系统为主的智能驾驶仪来实现无人驾驶。无人驾驶汽车集自动控制、体系结构、人工智能、视觉计算等众多技术于一体，是计算机科学、模式识别和智能控制技术高度发展的产物，也是衡量一个国家科研实力和工业水平的一个重要标志，在国防和国民经济领域具有广阔的应用前景。
超声波具有较好的方向性、较强的适应性以及穿透能力强等特点，因此往往被加载在无人驾驶车辆上实现避障功能。目前应用于无人驾驶车辆的传统超声波雷达阵列，一般是安装在汽车前/后保险杠上，个数为4个。其测量障碍物并不稳定，且伴随着误检漏检；无法精确描述障碍物位置；横向检测盲区往往较大，存在安全隐患；在无人驾驶车辆等精度要求较高的领域，很难达到感知要求，这降低了无人驾驶车辆行驶的安全性。
发明内容
本申请的多个方面提供一种超声波雷达阵列、障碍物检测方法及系 统，用以提高超声波障碍物检测的准确性和可靠性，覆盖无人驾驶车辆横向盲区，提高行驶安全性。
本申请的一方面，提供一种超声波雷达阵列，包括：均匀安装在无人驾驶车辆保险杠上的N个超声波雷达，所述N个超声波雷达从中央到外侧，向外旋转角度逐渐增大；其中，N为正整数。
如上所述的方面和任一可能的实现方式，进一步提供一种实现方式，若N为偶数，则第一超声波雷达水平安装于保险杠中央左侧，第二超声波雷达水平安装于保险杠中央右侧；(N-2)/2个超声波雷达安装于第一超声波雷达左侧,从中央到外侧，以上一个超声波雷达为基准，依次逆时针旋转α；(N-2)/2个超声波雷达安装于第二超声波雷达右侧,从中央到外侧，以上一个超声波雷达为基准，依次顺时针旋转α；
若N为奇数，则第一超声波雷达水平安装于保险杠中央，(N-1)/2个超声波雷达安装于第一超声波雷达左侧,从中央到外侧，以上一个超声波雷达为基准，依次逆时针旋转α；(N-1)/2个超声波雷达安装于第一超声波雷达右侧,从中央到外侧，以上一个超声波雷达为基准，依次顺时针旋转α。
如上所述的方面和任一可能的实现方式，进一步提供一种实现方式，根据每个超声波雷达的探测距离及探测形状的数学模型，确定超声波雷达的个数N及旋转角度α，以保证超声波雷达的覆盖范围存在三重冗余。
本发明提供了一种根据上述超声波雷达阵列的障碍物检测方法，其特征在于，包括：
获取所述超声波雷达阵列中各超声波雷达在障碍物场景中采集的障碍物信息；
根据预设规则对各超声波雷达采集的障碍物信息进行误检及漏检判断；
根据所述判断结果对各超声波雷达采集的障碍物信息进行处理；
根据处理后的各超声波雷达采集的障碍物信息，确定障碍物位置。
如上所述的方面和任一可能的实现方式，进一步提供一种实现方式，所述预设规则为根据待判断超声波雷达的相邻超声波雷达是否返回障碍物坐标判断所述待判断超声波雷达是否存在误检及漏检。
如上所述的方面和任一可能的实现方式，进一步提供一种实现方式，所述相邻超声波雷达为与所述待判断超声波雷达两侧的超声波雷达和间隔一个的超声波雷达。
如上所述的方面和任一可能的实现方式，进一步提供一种实现方式，进行误检判断的预设规则包括：
所述待判断超声波雷达的相邻超声波雷达未返回障碍物坐标的情况下，若所述待判断超声波雷达的覆盖范围存在单个超声波雷达覆盖范围或两个超声波雷达覆盖范围重叠，则不存在误检；若所述待判断超声波雷达的覆盖范围仅存在三个超声波雷达覆盖范围重叠，则存在误检；
所述待判断超声波雷达的一个相邻超声波雷达返回障碍物坐标的情况下，不存在误检；
所述待判断超声波雷达的两个相邻超声波雷达返回障碍物坐标的情况下，不存在误检。
如上所述的方面和任一可能的实现方式，进一步提供一种实现方式，进行漏检判断的预设规则包括：
所述待判断超声波雷达的相邻超声波雷达未返回障碍物坐标的情况 下，所述待判断超声波雷达不存在漏检；
所述待判断超声波雷达的一个相邻超声波雷达返回障碍物坐标的情况下，若所述待判断超声波雷达与所述返回障碍物坐标的相邻超声波雷达的覆盖范围存在两个超声波雷达覆盖范围重叠，则存在漏检；若所述待判断超声波雷达与所述返回障碍物坐标的相邻超声波雷达的覆盖范围仅存在三个超声波雷达覆盖范围重叠，则不存在漏检；
所述待判断超声波雷达的两个相邻超声波雷达返回障碍物坐标的情况下，若所述待判断超声波雷达与所述返回障碍物坐标的相邻超声波雷达的覆盖范围存在三个超声波雷达覆盖范围，则存在漏检；若不存在三个超声波雷达覆盖范围重叠，则不存在漏检；
所述待判断超声波雷达的三个及以上相邻超声波雷达返回障碍物坐标的情况下，存在漏检。
如上所述的方面和任一可能的实现方式，进一步提供一种实现方式，根据所述判断结果对各超声波雷达采集的障碍物信息进行处理包括：
若所述超声波雷达采集的障碍物信息存在误检，则删除所述误检的超声波雷达采集的障碍物信息。
若所述超声波雷达采集的障碍物信息存在漏检，根据其相邻超声波雷达返回的障碍物信息得到所述漏检的超声波雷达采集的障碍物信息。
如上所述的方面和任一可能的实现方式，进一步提供一种实现方式，根据处理后的各超声波雷达采集的障碍物信息，确定障碍物位置包括：
融合多个超声波雷达返回的距离数据，获取障碍物的坐标。
本发明提供了一种根据上述超声波雷达阵列的障碍物检测系统，包括：
获取模块，用于获取所述超声波雷达阵列中各超声波雷达在障碍物场景中采集的障碍物信息；
判断模块，用于根据预设规则对各超声波雷达采集的障碍物信息进行误检及漏检判断；
处理模块，用于根据所述判断结果对各超声波雷达采集的障碍物信息进行处理；
确定模块，用于根据处理后的各超声波雷达采集的障碍物信息，确定障碍物位置。
如上所述的方面和任一可能的实现方式，进一步提供一种实现方式，所述预设规则为根据待判断超声波雷达的相邻超声波雷达是否返回障碍物坐标判断所述待判断超声波雷达是否存在误检及漏检。
如上所述的方面和任一可能的实现方式，进一步提供一种实现方式，所述相邻超声波雷达为与所述待判断超声波雷达两侧的超声波雷达和间隔一个的超声波雷达。
如上所述的方面和任一可能的实现方式，进一步提供一种实现方式，进行误检判断的预设规则包括：
所述待判断超声波雷达的相邻超声波雷达未返回障碍物坐标的情况下，若所述待判断超声波雷达的覆盖范围存在单个超声波雷达覆盖范围或两个超声波雷达覆盖范围重叠，则不存在误检；若所述待判断超声波雷达的覆盖范围仅存在三个超声波雷达覆盖范围重叠，则存在误检；
所述待判断超声波雷达的一个相邻超声波雷达返回障碍物坐标的情况下，不存在误检；
所述待判断超声波雷达的两个相邻超声波雷达返回障碍物坐标的情 况下，不存在误检。
如上所述的方面和任一可能的实现方式，进一步提供一种实现方式，进行漏检判断的预设规则包括：
所述待判断超声波雷达的相邻超声波雷达未返回障碍物坐标的情况下，所述待判断超声波雷达不存在漏检；
所述待判断超声波雷达的一个相邻超声波雷达返回障碍物坐标的情况下，若所述待判断超声波雷达与所述返回障碍物坐标的相邻超声波雷达的覆盖范围存在两个超声波雷达覆盖范围重叠，则存在漏检；若所述待判断超声波雷达与所述返回障碍物坐标的相邻超声波雷达的覆盖范围仅存在三个超声波雷达覆盖范围重叠，则不存在漏检；
所述待判断超声波雷达的两个相邻超声波雷达返回障碍物坐标的情况下，若所述待判断超声波雷达与所述返回障碍物坐标的相邻超声波雷达的覆盖范围存在三个超声波雷达覆盖范围，则存在漏检；若不存在三个超声波雷达覆盖范围重叠，则不存在漏检；
所述待判断超声波雷达的三个及以上相邻超声波雷达返回障碍物坐标的情况下，存在漏检。
如上所述的方面和任一可能的实现方式，进一步提供一种实现方式，所述处理模块具体用于：
若所述超声波雷达采集的障碍物信息存在误检，则删除所述误检的超声波雷达采集的障碍物信息。
若所述超声波雷达采集的障碍物信息存在漏检，根据其相邻超声波雷达返回的障碍物信息得到所述漏检的超声波雷达采集的障碍物信息。
如上所述的方面和任一可能的实现方式，进一步提供一种实现方式， 所述确定模块具体用于：
融合多个超声波雷达返回的距离数据，获取障碍物的坐标。
本发明的另一方面，提供一种计算机设备，包括存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器执行所述程序时实现如以上所述的方法。
本发明的另一方面，提供一种计算机可读存储介质，其上存储有计算机程序，所述程序被处理器执行时实现如以上所述的方法。
由所述技术方案可知，本申请实施例可以有效判断超声波雷达阵列中各超声波雷达出现的误检和漏检，精确确定障碍物位置，提高了无人驾驶车辆的行驶安全性。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本申请实施例一提供的超声波雷达阵列的结构示意图；
图2为本申请实施例二提供的超声波雷达阵列障碍物检测方法的流程示意图；
图3为本申请实施例三提供的超声波雷达阵列障碍物检测系统的结构示意图；
图4示出了适于用来实现本发明实施方式的示例性计算机系统/服务器012的框图。
具体实施方式
为了使本发明的目的、技术方案和优点更加清楚，下面结合附图和具体实施例对本发明进行详细描述。
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的全部其他实施例，都属于本申请保护的范围。
图1为本申请实施例一提供的超声波雷达阵列的结构示意图，如图1所示，包括：
所述超声波雷达阵列包括10个超声波雷达，每个超声波雷达均由超声波发射电路以及超声波接收电路构成。
超声波雷达九、七、五、三、一、二、四、六、八、十均匀安装在无人驾驶车辆的前保险杠上，其安装角度从最左侧安装的超声波雷达九的以水平安装时的状态为基准逆时针旋转4α开始，每个超声波雷达依次顺时针旋转α，直到最右侧安装的超声波雷达十，其以水平安装时的状态为基准顺时针旋转4α。
具体如下：十个超声波雷达均匀安装在无人驾驶车辆的前保险杠上，超声波雷达一水平安装于前保险杆中央左侧；超声波雷达二水平安装于前保险杠中央右侧；超声波雷达三安装于超声波雷达一左侧，以水平安装时的状态为基准，逆时针旋转α；超声波雷达四安装于超声波雷达二右侧，以水平安装时的状态为基准，顺时针旋转α；超声波雷达五安装于超声波雷达三左侧，以水平安装时的状态为基准，逆时针旋转2α；超声波雷达六安装于超声波雷达四右侧，以水平安装时的状态为基准， 顺时针旋转2α；超声波雷达七安装于超声波雷达五左侧，以水平安装时的状态为基准，逆时针旋转3α；超声波雷达八安装于超声波雷达六右侧，以水平安装时的状态为基准，顺时针旋转3α；超声波雷达九安装于超声波雷达五左侧，以水平安装时的状态为基准，逆时针旋转4α；超声波雷达十安装于超声波雷达八右侧，以水平安装时的状态为基准，顺时针旋转4α；
其中，α优选为5°。所述超声波雷达的水平波束角为45°，超声波雷达的覆盖范围为0-3.5m。
由于所述十个超声波雷达的覆盖范围相互叠加，具有一定的容错能力。需要确定所述超声波雷达相互叠加的覆盖范围，以便在后续的障碍物检测过程中进行检错纠错。
优选地，根据每个超声波雷达的探测距离及探测形状的数学模型，确定各超声波雷达在自身坐标系中的覆盖范围。
将各超声波雷达坐标系统一到参考坐标系中。本实施例中，所述参考坐标系为车辆坐标系。通过各超声波雷达在无人驾驶车辆上的初始空间配置与车辆坐标系的关系进行矩阵转换。所述超声波雷达的初始空间配置是事先已知的，可以根据所述多个超声波雷达在无人驾驶车辆车体上的测量数据得到。
将统一到参考坐标系后的各超声波雷达覆盖范围在预设检测区域中进行叠加。优选地，所述栅格化的预设检测区域为车体前方及侧前方15-350cm范围内。
通过上述步骤，可以获得所述超声波雷达阵列的覆盖范围，以及各超声波雷达覆盖范围的重叠情况，例如，是单个超声波雷达覆盖范围， 两个超声波雷达覆盖范围重叠，三个超声波雷达覆盖范围重叠等。
确定超声波雷达覆盖范围的重叠情况是很有必要的，例如，障碍物出现在超声波雷达九的覆盖范围中，可能存在多种情况，障碍物位于超声波雷达九的覆盖范围中单个超声波雷达覆盖范围，两个超声波雷达覆盖范围重叠，三个超声波雷达覆盖范围重叠三种情况。在本实施例中，由于超声波雷达的作用是测量障碍物，对误检的容忍度高于漏检，因此，即使仅有超声波雷达九返回障碍物信息，也认为所述障碍物位于超声波雷达九的覆盖范围中单个超声波雷达覆盖范围，而非其相邻的超声波雷达七或超声波雷达五出现漏检。
其中，在无人驾驶车辆前方2m的范围内，可以做到3个超声波雷达的覆盖范围重叠，以便决策系统根据3个超声波雷达返回的障碍物信息进行投票。
通过本实施例提供的超声波雷达阵列，通过多超声波雷达覆盖范围叠加，实现了障碍物检测的容错能力。
图2为本申请实施例二提供的超声波雷达阵列障碍物检测方法的流程示意图，如图2所示，包括：
步骤S21、获取如实施例一中所述超声波雷达阵列中各超声波雷达在障碍物场景中采集的障碍物信息，并将各坐标转换到车体坐标系；
所述超声波雷达的初始空间配置是事先已知的，可以根据所述多个超声波雷达在无人驾驶车辆车体上的测量数据得到。将目标在各雷达坐标系中的坐标转换到车体坐标系中。
步骤S22、根据预设规则对所述超声波雷达阵列中的各超声波雷达采集的障碍物信息进行误检及漏检判断。
所述预设规则的基本原理是，当一个超声波雷达误检时，若其相邻超声波雷达未发生误检，将不返回障碍物坐标；当一个超声波雷达漏检时，若其相邻超声波雷达未发生漏检，将返回障碍物坐标。
进行误检判断的规则如下：
若接收到超声波雷达返回的障碍物坐标，判断待判断超声波雷达的相邻超声波雷达是否返回障碍物坐标；
若所述待判断超声波雷达的相邻超声波雷达未返回障碍物坐标，则判断所述待判断超声波雷达是否存在单个超声波雷达覆盖范围，例如位于超声波雷达阵列边缘的超声波雷达九、超声波雷达十；
若所述待判断超声波雷达的覆盖范围存在单个超声波雷达覆盖范围，则认为障碍物出现在了所述待判断超声波雷达的单个超声波雷达覆盖范围内；所述待判断超声波雷达未出现误检；
若所述超声波雷达的覆盖范围存在两个超声波雷达覆盖范围，例如超声波雷达七、超声波雷达八，其检测范围至少与一个相邻超声波雷达覆盖范围重叠，如超声波雷达七返回障碍物坐标，而相邻的超声波雷达九未返回障碍物坐标、相邻的超声波雷达五也未返回障碍物坐标；这就存在多种可能，如障碍物位于超声波雷达七覆盖范围中的两个超声波雷达覆盖范围，即与超声波雷达九重叠的覆盖范围内，则可能是超声波雷达九漏检，也可能是超声波雷达七误检。如果障碍物位于超声波雷达七覆盖范围中的三个超声波雷达覆盖范围，即与超声波雷达九、超声波雷达五重叠的覆盖范围内，则由于超声波雷达九、超声波雷达五都未返回障碍物坐标，则可能是超声波雷达七误检。为了安全起见，认为障碍物位于超声波雷达七覆盖范围中的两个超声波雷达覆盖范围，即与超声波 雷达九重叠的覆盖范围内，是超声波雷达九漏检。因为，如果误检，只可能造成无人驾驶车辆停车，等待下一时刻检测结果，如果是漏检，则很可能造成碰撞。
若所述超声波雷达的覆盖范围仅存在三个超声波雷达覆盖范围重叠，例如超声波雷达五、超声波雷达三、超声波雷达一、超声波雷达二、超声波雷达四、超声波雷达六，其检测范围与两个相邻超声波雷达覆盖范围重叠，在两个相邻超声波雷达都未返回障碍物检测结果的情况下，则认为所述待判断超声波雷达存在误检。
若返回障碍物坐标的相邻超声波雷达的个数为一个，判断所述待判断超声波雷达的覆盖范围是否存在两个超声波雷达覆盖范围；
如果否，则认为所述超声波雷达阵列存在漏检，例如，超声波雷达一的覆盖范围为三个超声波雷达覆盖范围重叠，若仅有一个相邻超声波雷达二返回障碍物坐标；则其相邻的超声波雷达三或超声波雷达四应该返回障碍物坐标，若未返回，则其相邻的超声波雷达三或超声波雷达四存在漏检；
如果是，则进一步判断返回障碍物坐标的相邻超声波雷达的覆盖范围是否与所述待判断超声波雷达存在两个超声波雷达覆盖范围；
如果是，则不存在误检；例如，待判断超声波雷达九与相邻的超声波雷达七存在两个超声波雷达覆盖范围重叠，则障碍物位于该重叠区域；
如果否，则认为所述超声波雷达阵列存在漏检，例如，待判断超声波雷达七返回障碍物坐标，相邻的超声波雷达五返回障碍物坐标，而超声波雷达七与超声波雷达五仅存在三个超声波雷达覆盖范围重叠，则证明相邻的超声波雷达九或超声波雷达三存在漏检。
若返回障碍物坐标的相邻超声波雷达的个数为两个，则不认为所述待检测雷达存在误检。
进行漏检判断的规则如下：
若未接收到超声波雷达返回的障碍物坐标，判断待判断超声波雷达的相邻超声波雷达是否返回障碍物坐标；
若所述待判断超声波雷达的相邻超声波雷达未返回障碍物坐标，则判断所述待判断超声波雷达不存在漏检；
若所述待判断超声波雷达的相邻超声波雷达返回障碍物坐标，
判断返回障碍物坐标的相邻超声波雷达的个数；
若返回障碍物坐标的相邻超声波雷达的个数为一个，判断所述待判断超声波雷达与所述返回障碍物坐标的相邻超声波雷达的覆盖范围是否存在两个超声波雷达覆盖范围；
如果存在两个超声波雷达覆盖范围，则认为所述待判断超声波雷达存在漏检，例如，如障碍物位于超声波雷达七覆盖范围中的两个超声波雷达覆盖范围，即与超声波雷达九重叠的覆盖范围内，超声波雷达九未返回障碍物坐标，相邻的超声波雷达七返回障碍物坐标。为了安全起见，认为是超声波雷达九漏检。因为，如果误检，只可能造成无人驾驶车辆停车，等待下一时刻检测结果，如果是漏检，则很可能造成碰撞。
如果不存在两个超声波雷达覆盖范围，仅存在三个超声波雷达覆盖范围，由于三个超声波雷达中仅一个超声波雷达返回障碍物坐标，则认为返回障碍物坐标的超声波雷达存在误检，而待判断超声波雷达不存在漏检，例如，超声波雷达一未返回障碍物坐标，而其相邻的超声波雷达三、超声波雷达二都返回了障碍物坐标，超声波雷达一与超声波雷达三、 超声波雷达二存在三个超声波雷达覆盖范围，则超声波雷达一为漏检。
若返回障碍物坐标的相邻超声波雷达的个数为两个，判断所述待检测超声波与所述返回障碍物坐标的两个相邻超声波雷达的覆盖范围是否存在三个超声波雷达覆盖范围；如果存在三个超声波雷达覆盖范围，则认为所述待判断超声波雷达存在漏检；如果不存在三个超声波雷达覆盖范围，则不认为所述待判断超声波雷达存在漏检。
若返回障碍物坐标的相邻超声波雷达的个数为三个或三个以上，则认为所述待判断超声波雷达存在漏检。
通过上述步骤，根据待判断超声波雷达与相邻超声波雷达覆盖范围的相互重叠情况以及超声波雷达阵列中各超声波雷达返回的障碍物坐标，对待判断超声波雷达的误检或漏检情况进行了判断。
步骤S23、根据所述判断结果所述超声波雷达阵列中的各超声波雷达采集的障碍物信息进行处理。
优选地，若所述检测结果存在误检，则删除所述误检的超声波雷达采集的障碍物信息。
优选地，若所述检测结果存在漏检，则可以根据其相邻超声波雷达返回的障碍物信息得到所述漏检的超声波雷达采集的障碍物信息。所述待判断超声波雷达的一个相邻超声波雷达返回障碍物坐标的情况下，以相邻超声波雷达返回的障碍物坐标作为所述待判断超声波雷达的障碍物坐标。所述待判断超声波雷达的两个及以上相邻超声波雷达返回障碍物坐标的情况下，采用基于三角测量的融合方法融合这两个超声波雷达返回的距离数据，作为所述待判断超声波雷达的障碍物坐标。
例如，若超声波雷达一未返回障碍物坐标，而其相邻的超声波雷达 三、超声波雷达二都返回了障碍物坐标，则根据其超声波雷达三、超声波雷达二返回的障碍物坐标确定所述超声波雷达一对应的障碍物坐标。
若所述检测结果不存在误检或漏检，则不对所述超声波雷达阵列中的各超声波雷达采集的障碍物信息进行处理。
步骤S24、根据处理后的各超声波雷达采集的障碍物信息，确定障碍物在车体坐标系中的位置，根据所述障碍物的位置进行无人驾驶车辆决策。
优选地，若仅有单个超声波雷达返回障碍物坐标，则确定障碍物位于以所述单个超声波雷达为原点，以障碍物距离为半径的圆弧位于所述超声波雷达的单个超声波雷达覆盖范围的部分上。
优选地，若有两个或两个以上相邻超声波雷达返回障碍物坐标，则采用基于三角测量的融合方法融合这两个超声波雷达返回的距离数据，获取障碍物的边缘定点信息。
优选地，若有三个或三个以上相邻超声波雷达返回障碍物坐标，由于采用三角测量的融合方法时融合次数较多，可以采用外接圆法进行融合处理，对于障碍物的同一个边缘点，理论上多个超声波雷达的以超声波雷达为原点，以障碍物距离为半径的圆弧应该相交于一点，但实际上由于测量误差、噪声干扰等原始使得多段圆弧并不交于一点。因此，以三个超声波雷达为一组，每组有三段圆弧相交于三点，取所述三点的外接圆圆心作为这三个超声波雷达的最终测量结果，最后求各组超声波雷达最终测量结果的平均值作为最终融合结果。
通过本申请所述实施例，可以有效判断超声波雷达阵列中各超声波雷达出现的误检和漏检，精确确定障碍物位置，提高了无人驾驶车辆的 行驶安全性。
需要说明的是，对于前述的各方法实施例，为了简单描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本申请并不受所描述的动作顺序的限制，因为依据本申请，某些步骤可以采用其他顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作和模块并不一定是本申请所必须的。
以上是关于方法实施例的介绍，以下通过装置实施例，对本发明所述方案进行进一步说明。
图3为本申请实施例二提供的超声波雷达阵列障碍物检测系统的结构示意图，如图3所示，包括：
获取模块31，用于获取如实施例一中所述超声波雷达阵列中各超声波雷达在障碍物场景中采集的障碍物信息，并将各坐标转换到车体坐标系；
所述超声波雷达的初始空间配置是事先已知的，可以根据所述多个超声波雷达在无人驾驶车辆车体上的测量数据得到。将目标在各雷达坐标系中的坐标转换到车体坐标系中。
判断模块32，用于根据预设规则对所述超声波雷达阵列中的各超声波雷达采集的障碍物信息进行误检及漏检判断。
所述预设规则的基本原理是，当一个超声波雷达误检时，若其相邻超声波雷达未发生误检，将不返回障碍物坐标；当一个超声波雷达漏检时，若其相邻超声波雷达未发生漏检，将返回障碍物坐标。
进行误检判断的规则如下：
若接收到超声波雷达返回的障碍物坐标，判断待判断超声波雷达的相邻超声波雷达是否返回障碍物坐标；
若所述待判断超声波雷达的相邻超声波雷达未返回障碍物坐标，则判断所述待判断超声波雷达是否存在单个超声波雷达覆盖范围，例如位于超声波雷达阵列边缘的超声波雷达九、超声波雷达十；
若所述待判断超声波雷达的覆盖范围存在单个超声波雷达覆盖范围，则认为障碍物出现在了所述待判断超声波雷达的单个超声波雷达覆盖范围内；所述待判断超声波雷达未出现误检；
若所述超声波雷达的覆盖范围存在两个超声波雷达覆盖范围，例如超声波雷达七、超声波雷达八，其检测范围至少与一个相邻超声波雷达覆盖范围重叠，如超声波雷达七返回障碍物坐标，而相邻的超声波雷达九未返回障碍物坐标、相邻的超声波雷达五也未返回障碍物坐标；这就存在多种可能，如障碍物位于超声波雷达七覆盖范围中的两个超声波雷达覆盖范围，即与超声波雷达九重叠的覆盖范围内，则可能是超声波雷达九漏检，也可能是超声波雷达七误检。如果障碍物位于超声波雷达七覆盖范围中的三个超声波雷达覆盖范围，即与超声波雷达九、超声波雷达五重叠的覆盖范围内，则由于超声波雷达九、超声波雷达五都未返回障碍物坐标，则可能是超声波雷达七误检。为了安全起见，认为障碍物位于超声波雷达七覆盖范围中的两个超声波雷达覆盖范围，即与超声波雷达九重叠的覆盖范围内，是超声波雷达九漏检。因为，如果误检，只可能造成无人驾驶车辆停车，等待下一时刻检测结果，如果是漏检，则很可能造成碰撞。
若所述超声波雷达的覆盖范围仅存在三个超声波雷达覆盖范围重 叠，例如超声波雷达五、超声波雷达三、超声波雷达一、超声波雷达二、超声波雷达四、超声波雷达六，其检测范围与两个相邻超声波雷达覆盖范围重叠，在两个相邻超声波雷达都未返回障碍物检测结果的情况下，则认为所述待判断超声波雷达存在误检。
若返回障碍物坐标的相邻超声波雷达的个数为一个，判断所述待判断超声波雷达的覆盖范围是否存在两个超声波雷达覆盖范围；
如果否，则认为所述超声波雷达阵列存在漏检，例如，超声波雷达一的覆盖范围为三个超声波雷达覆盖范围重叠，若仅有一个相邻超声波雷达二返回障碍物坐标；则其相邻的超声波雷达三或超声波雷达四应该返回障碍物坐标，若未返回，则其相邻的超声波雷达三或超声波雷达四存在漏检；
如果是，则进一步判断返回障碍物坐标的相邻超声波雷达的覆盖范围是否与所述待判断超声波雷达存在两个超声波雷达覆盖范围；
如果是，则不存在误检；例如，待判断超声波雷达九与相邻的超声波雷达七存在两个超声波雷达覆盖范围重叠，则障碍物位于该重叠区域；
如果否，则认为所述超声波雷达阵列存在漏检，例如，待判断超声波雷达七返回障碍物坐标，相邻的超声波雷达五返回障碍物坐标，而超声波雷达七与超声波雷达五仅存在三个超声波雷达覆盖范围重叠，则证明相邻的超声波雷达九或超声波雷达三存在漏检。
若返回障碍物坐标的相邻超声波雷达的个数为两个，则不认为所述待检测雷达存在误检。
进行漏检判断的规则如下：
若未接收到超声波雷达返回的障碍物坐标，判断待判断超声波雷达 的相邻超声波雷达是否返回障碍物坐标；
若所述待判断超声波雷达的相邻超声波雷达未返回障碍物坐标，则判断所述待判断超声波雷达不存在漏检；
若所述待判断超声波雷达的相邻超声波雷达返回障碍物坐标，
判断返回障碍物坐标的相邻超声波雷达的个数；
若返回障碍物坐标的相邻超声波雷达的个数为一个，判断所述待判断超声波雷达与所述返回障碍物坐标的相邻超声波雷达的覆盖范围是否存在两个超声波雷达覆盖范围；
如果存在两个超声波雷达覆盖范围，则认为所述待判断超声波雷达存在漏检，例如，如障碍物位于超声波雷达七覆盖范围中的两个超声波雷达覆盖范围，即与超声波雷达九重叠的覆盖范围内，超声波雷达九未返回障碍物坐标，相邻的超声波雷达七返回障碍物坐标。为了安全起见，认为是超声波雷达九漏检。因为，如果误检，只可能造成无人驾驶车辆停车，等待下一时刻检测结果，如果是漏检，则很可能造成碰撞。
如果不存在两个超声波雷达覆盖范围，仅存在三个超声波雷达覆盖范围，由于三个超声波雷达中仅一个超声波雷达返回障碍物坐标，则认为所说实话返回障碍物坐标的超声波雷达存在误检，而待判断超声波雷达不存在漏检，例如，超声波雷达一未返回障碍物坐标，而其相邻的超声波雷达三、超声波雷达二都返回了障碍物坐标，超声波雷达一与超声波雷达三、超声波雷达二存在三个超声波雷达覆盖范围，则超声波雷达一为漏检。
若返回障碍物坐标的相邻超声波雷达的个数为两个，判断所述待检测超声波与所述返回障碍物坐标的两个相邻超声波雷达的覆盖范围是否 存在三个超声波雷达覆盖范围；如果存在三个超声波雷达覆盖范围，则认为所述待判断超声波雷达存在漏检；如果不存在三个超声波雷达覆盖范围，则不认为所述待判断超声波雷达存在漏检。
若返回障碍物坐标的相邻超声波雷达的个数为三个或三个以上，则认为所述待判断超声波雷达存在漏检。
通过上述步骤，根据待判断超声波雷达与相邻超声波雷达覆盖范围的相互重叠情况以及超声波雷达阵列中各超声波雷达返回的障碍物坐标，对待判断超声波雷达的误检或漏检情况进行了判断。
处理模块33，用于根据所述判断结果所述超声波雷达阵列中的各超声波雷达采集的障碍物信息进行处理。
优选地，若所述检测结果存在误检，则删除所述误检的超声波雷达采集的障碍物信息。
优选地，若所述检测结果存在漏检，则可以根据其相邻超声波雷达返回的障碍物信息得到所述漏检的超声波雷达采集的障碍物信息。所述待判断超声波雷达的一个相邻超声波雷达返回障碍物坐标的情况下，以相邻超声波雷达返回的障碍物坐标作为所述待判断超声波雷达的障碍物坐标。所述待判断超声波雷达的两个及以上相邻超声波雷达返回障碍物坐标的情况下，采用基于三角测量的融合方法融合这两个超声波雷达返回的距离数据，作为所述待判断超声波雷达的障碍物坐标。
例如，若超声波雷达一未返回障碍物坐标，而其相邻的超声波雷达三、超声波雷达二都返回了障碍物坐标，则根据其超声波雷达三、超声波雷达二返回的障碍物坐标确定所述超声波雷达一对应的障碍物坐标。
若所述检测结果不存在误检或漏检，则不对所述超声波雷达阵列中 的各超声波雷达采集的障碍物信息进行处理。
确定模块34，用于根据处理后的各超声波雷达采集的障碍物信息，确定障碍物在车体坐标系中的位置，根据所述障碍物的位置进行无人驾驶车辆决策。
优选地，若仅有单个超声波雷达返回障碍物坐标，则确定障碍物位于以所述单个超声波雷达为原点，以障碍物距离为半径的圆弧位于所述超声波雷达的单个超声波雷达覆盖范围的部分上个。
优选地，若有两个或两个以上相邻超声波雷达返回障碍物坐标，则采用基于三角测量的融合方法融合这两个超声波雷达返回的距离数据，获取障碍物的边缘定点信息。
优选地，若有三个或三个以上相邻超声波雷达返回障碍物坐标，由于采用三角测量的融合方法时融合次数较多，可以采用外接圆法进行融合处理，对于障碍物的同一个边缘点，理论上多个超声波雷达的以超声波雷达为原点，以障碍物距离为半径的圆弧应该相交于一点，但实际上由于测量误差、噪声干扰等原始使得多段圆弧并不交于一点。因此，以三个超声波雷达为一组，每组有三段圆弧相交于三点，取所述三点的外接圆圆心作为这三个超声波雷达的最终测量结果，最后求各组超声波雷达最终测量结果的平均值作为最终融合结果。
通过本申请所述实施例，可以有效判断超声波雷达阵列中各超声波雷达出现的误检和漏检，精确确定障碍物位置，提高了无人驾驶车辆的行驶安全性。
在所述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其他实施例的相关描述。
在本申请所提供的几个实施例中，应该理解到，所揭露的方法和装置，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。所述集成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。
图4示出了适于用来实现本发明实施方式的示例性计算机系统/服务器012的框图。图4显示的计算机系统/服务器012仅仅是一个示例，不应对本发明实施例的功能和使用范围带来任何限制。
如图4所示，计算机系统/服务器012以通用计算设备的形式表现。计算机系统/服务器012的组件可以包括但不限于：一个或者多个处理器或者处理单元016，系统存储器028，连接不同系统组件(包括系统存储器028和处理单元016)的总线018。
总线018表示几类总线结构中的一种或多种，包括存储器总线或者 存储器控制器，外围总线，图形加速端口，处理器或者使用多种总线结构中的任意总线结构的局域总线。举例来说，这些体系结构包括但不限于工业标准体系结构(ISA)总线，微通道体系结构(MAC)总线，增强型ISA总线、视频电子标准协会(VESA)局域总线以及外围组件互连(PCI)总线。
计算机系统/服务器012典型地包括多种计算机系统可读介质。这些介质可以是任何能够被计算机系统/服务器012访问的可用介质，包括易失性和非易失性介质，可移动的和不可移动的介质。
系统存储器028可以包括易失性存储器形式的计算机系统可读介质，例如随机存取存储器(RAM)030和/或高速缓存存储器032。计算机系统/服务器012可以进一步包括其它可移动/不可移动的、易失性/非易失性计算机系统存储介质。仅作为举例，存储系统034可以用于读写不可移动的、非易失性磁介质(图4未显示，通常称为“硬盘驱动器”)。尽管图4中未示出，可以提供用于对可移动非易失性磁盘(例如“软盘”)读写的磁盘驱动器，以及对可移动非易失性光盘(例如CD-ROM,DVD-ROM或者其它光介质)读写的光盘驱动器。在这些情况下，每个驱动器可以通过一个或者多个数据介质接口与总线018相连。存储器028可以包括至少一个程序产品，该程序产品具有一组(例如至少一个)程序模块，这些程序模块被配置以执行本发明各实施例的功能。
具有一组(至少一个)程序模块042的程序/实用工具040，可以存储在例如存储器028中，这样的程序模块042包括——但不限于——操作系统、一个或者多个应用程序、其它程序模块以及程序数据，这些示例中的每一个或某种组合中可能包括网络环境的实现。程序模块042通 常执行本发明所描述的实施例中的功能和/或方法。
计算机系统/服务器012也可以与一个或多个外部设备014(例如键盘、指向设备、显示器024等)通信，在本发明中，计算机系统/服务器012与外部雷达设备进行通信，还可与一个或者多个使得用户能与该计算机系统/服务器012交互的设备通信，和/或与使得该计算机系统/服务器012能与一个或多个其它计算设备进行通信的任何设备(例如网卡，调制解调器等等)通信。这种通信可以通过输入/输出(I/O)接口022进行。并且，计算机系统/服务器012还可以通过网络适配器020与一个或者多个网络(例如局域网(LAN)，广域网(WAN)和/或公共网络，例如因特网)通信。如图4所示，网络适配器020通过总线018与计算机系统/服务器012的其它模块通信。应当明白，尽管图4中未示出，可以结合计算机系统/服务器012使用其它硬件和/或软件模块，包括但不限于：微代码、设备驱动器、冗余处理单元、外部磁盘驱动阵列、RAID系统、磁带驱动器以及数据备份存储系统等。
处理单元016通过运行存储在系统存储器028中的程序，从而执行本发明所描述的实施例中的功能和/或方法。
上述的计算机程序可以设置于计算机存储介质中，即该计算机存储介质被编码有计算机程序，该程序在被一个或多个计算机执行时，使得一个或多个计算机执行本发明上述实施例中所示的方法流程和/或装置操作。
随着时间、技术的发展，介质含义越来越广泛，计算机程序的传播途径不再受限于有形介质，还可以直接从网络下载等。可以采用一个或多个计算机可读的介质的任意组合。计算机可读介质可以是计算机可读 信号介质或者计算机可读存储介质。计算机可读存储介质例如可以是——但不限于——电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。计算机可读存储介质的更具体的例子(非穷举的列表)包括：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑磁盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。在本文件中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。
计算机可读的信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括——但不限于——电磁信号、光信号或上述的任意合适的组合。计算机可读的信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。
计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括——但不限于——无线、电线、光缆、RF等等，或者上述的任意合适的组合。
可以以一种或多种程序设计语言或其组合来编写用于执行本发明操作的计算机程序代码，所述程序设计语言包括面向对象的程序设计语言—诸如Java、Smalltalk、C++，还包括常规的过程式程序设计语言—诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部 分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络——包括局域网(LAN)或广域网(WAN)连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本发明保护的范围之内。

Claims (19)

  1. 一种超声波雷达阵列，其特征在于，包括：
    均匀安装在无人驾驶车辆保险杠上的N个超声波雷达；其中，N为正整数；
    所述N个超声波雷达从中央到外侧，向外旋转角度逐渐增大。
  2. 根据权利要求1所述的超声波雷达阵列，其特征在于，
    若N为偶数，则第一超声波雷达水平安装于保险杠中央左侧，第二超声波雷达水平安装于保险杠中央右侧；(N-2)/2个超声波雷达安装于第一超声波雷达左侧,从中央到外侧，以上一个超声波雷达为基准，依次逆时针旋转α；(N-2)/2个超声波雷达安装于第二超声波雷达右侧,从中央到外侧，以上一个超声波雷达为基准，依次顺时针旋转α；
    若N为奇数，则第一超声波雷达水平安装于保险杠中央，(N-1)/2个超声波雷达安装于第一超声波雷达左侧,从中央到外侧，以上一个超声波雷达为基准，依次逆时针旋转α；(N-1)/2个超声波雷达安装于第一超声波雷达右侧,从中央到外侧，以上一个超声波雷达为基准，依次顺时针旋转α。
  3. 根据权利要求1或2所述的超声波雷达阵列，其特征在于，
    根据每个超声波雷达的探测距离及探测形状的数学模型，确定超声波雷达的个数N及旋转角度α，以保证超声波雷达的覆盖范围存在三重冗余。
  4. 一种根据权利要求1-3所述超声波雷达阵列的障碍物检测方法，其特征在于，包括：
    获取所述超声波雷达阵列中各超声波雷达在障碍物场景中采集的障 碍物信息；
    根据预设规则对各超声波雷达采集的障碍物信息进行误检及漏检判断；
    根据所述判断结果对各超声波雷达采集的障碍物信息进行处理；
    根据处理后的各超声波雷达采集的障碍物信息，确定障碍物位置。
  5. 根据权利要求4所述的方法，其特征在于，所述预设规则为根据待判断超声波雷达的相邻超声波雷达是否返回障碍物坐标判断所述待判断超声波雷达是否存在误检及漏检。
  6. 根据权利要求5所述的方法，其特征在于，所述相邻超声波雷达为与所述待判断超声波雷达两侧的超声波雷达和间隔一个的超声波雷达。
  7. 根据权利要求6所述的方法，其特征在于，进行误检判断的预设规则包括：
    所述待判断超声波雷达的相邻超声波雷达未返回障碍物坐标的情况下，若所述待判断超声波雷达的覆盖范围存在单个超声波雷达覆盖范围或两个超声波雷达覆盖范围重叠，则不存在误检；若所述待判断超声波雷达的覆盖范围仅存在三个超声波雷达覆盖范围重叠，则存在误检；
    所述待判断超声波雷达的一个相邻超声波雷达返回障碍物坐标的情况下，不存在误检；
    所述待判断超声波雷达的两个相邻超声波雷达返回障碍物坐标的情况下，不存在误检。
  8. 根据权利要求6所述的方法，其特征在于，进行漏检判断的预设规则包括：
    所述待判断超声波雷达的相邻超声波雷达未返回障碍物坐标的情况下，所述待判断超声波雷达不存在漏检；
    所述待判断超声波雷达的一个相邻超声波雷达返回障碍物坐标的情况下，若所述待判断超声波雷达与所述返回障碍物坐标的相邻超声波雷达的覆盖范围存在两个超声波雷达覆盖范围重叠，则存在漏检；若所述待判断超声波雷达与所述返回障碍物坐标的相邻超声波雷达的覆盖范围仅存在三个超声波雷达覆盖范围重叠，则不存在漏检；
    所述待判断超声波雷达的两个相邻超声波雷达返回障碍物坐标的情况下，若所述待判断超声波雷达与所述返回障碍物坐标的相邻超声波雷达的覆盖范围存在三个超声波雷达覆盖范围，则存在漏检；若不存在三个超声波雷达覆盖范围重叠，则不存在漏检；
    所述待判断超声波雷达的三个及以上相邻超声波雷达返回障碍物坐标的情况下，存在漏检。
  9. 根据权利要求4至8任一项所述的方法，其特征在于，根据所述判断结果对各超声波雷达采集的障碍物信息进行处理包括：
    若所述超声波雷达采集的障碍物信息存在误检，则删除所述误检的超声波雷达采集的障碍物信息；
    若所述超声波雷达采集的障碍物信息存在漏检，根据其相邻超声波雷达返回的障碍物信息得到所述漏检的超声波雷达采集的障碍物信息。
  10. 根据权利要求9所述的方法，其特征在于，根据处理后的各超声波雷达采集的障碍物信息，确定障碍物位置包括：
    融合多个超声波雷达返回的距离数据，获取障碍物的坐标。
  11. 一种根据权利要求1-3所述超声波雷达阵列的障碍物检测系统， 其特征在于，包括：
    获取模块，用于获取所述超声波雷达阵列中各超声波雷达在障碍物场景中采集的障碍物信息；
    判断模块，用于根据预设规则对各超声波雷达采集的障碍物信息进行误检及漏检判断；
    处理模块，用于根据所述判断结果对各超声波雷达采集的障碍物信息进行处理；
    确定模块，用于根据处理后的各超声波雷达采集的障碍物信息，确定障碍物位置。
  12. 根据权利要求11所述的系统，其特征在于，所述预设规则为根据待判断超声波雷达的相邻超声波雷达是否返回障碍物坐标判断所述待判断超声波雷达是否存在误检及漏检。
  13. 根据权利要求12所述的系统，其特征在于，所述相邻超声波雷达为与所述待判断超声波雷达两侧的超声波雷达和间隔一个的超声波雷达。
  14. 根据权利要求13所述的系统，其特征在于，进行误检判断的预设规则包括：
    所述待判断超声波雷达的相邻超声波雷达未返回障碍物坐标的情况下，若所述待判断超声波雷达的覆盖范围存在单个超声波雷达覆盖范围或两个超声波雷达覆盖范围重叠，则不存在误检；若所述待判断超声波雷达的覆盖范围仅存在三个超声波雷达覆盖范围重叠，则存在误检；
    所述待判断超声波雷达的一个相邻超声波雷达返回障碍物坐标的情况下，不存在误检；
    所述待判断超声波雷达的两个相邻超声波雷达返回障碍物坐标的情况下，不存在误检。
  15. 根据权利要求13所述的系统，其特征在于，进行漏检判断的预设规则包括：
    所述待判断超声波雷达的相邻超声波雷达未返回障碍物坐标的情况下，所述待判断超声波雷达不存在漏检；
    所述待判断超声波雷达的一个相邻超声波雷达返回障碍物坐标的情况下，若所述待判断超声波雷达与所述返回障碍物坐标的相邻超声波雷达的覆盖范围存在两个超声波雷达覆盖范围重叠，则存在漏检；若所述待判断超声波雷达与所述返回障碍物坐标的相邻超声波雷达的覆盖范围仅存在三个超声波雷达覆盖范围重叠，则不存在漏检；
    所述待判断超声波雷达的两个相邻超声波雷达返回障碍物坐标的情况下，若所述待判断超声波雷达与所述返回障碍物坐标的相邻超声波雷达的覆盖范围存在三个超声波雷达覆盖范围，则存在漏检；若不存在三个超声波雷达覆盖范围重叠，则不存在漏检；
    所述待判断超声波雷达的三个及以上相邻超声波雷达返回障碍物坐标的情况下，存在漏检。
  16. 根据权利要求11至15任一项所述的系统，其特征在于，所述处理模块具体用于：
    若所述超声波雷达采集的障碍物信息存在误检，则删除所述误检的超声波雷达采集的障碍物信息。
    若所述超声波雷达采集的障碍物信息存在漏检，根据其相邻超声波雷达返回的障碍物信息得到所述漏检的超声波雷达采集的障碍物信息。
  17. 根据权利要求16所述的系统，其特征在于，所述确定模块具体用于：
    融合多个超声波雷达返回的距离数据，获取障碍物的坐标。
  18. 一种计算机设备，包括存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，其特征在于，所述处理器执行所述程序时实现如权利要求4～10中任一项所述的方法。
  19. 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，所述程序被处理器执行时实现如权利要求4～10中任一项所述的方法。
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