WO2021087782A1 - 障碍物检测方法、系统、地面端设备及自主移动平台 - Google Patents
障碍物检测方法、系统、地面端设备及自主移动平台 Download PDFInfo
- Publication number
- WO2021087782A1 WO2021087782A1 PCT/CN2019/115824 CN2019115824W WO2021087782A1 WO 2021087782 A1 WO2021087782 A1 WO 2021087782A1 CN 2019115824 W CN2019115824 W CN 2019115824W WO 2021087782 A1 WO2021087782 A1 WO 2021087782A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- track
- target
- obstacle
- track position
- virtual
- Prior art date
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/04—Systems determining presence of a target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
Definitions
- the invention relates to the field of control technology, in particular to an obstacle detection method, system, ground terminal equipment and autonomous mobile platform.
- Autonomous mobile platforms such as unmanned aerial vehicles, unmanned vehicles, and unmanned submarines
- applications such as shooting, logistics, surveying, inspection, plant protection, and security.
- the autonomous mobile platform can move along a planned path to perform work tasks. While the autonomous mobile platform is moving on the current path, it is likely to detect obstacles ahead. At this time, in order to avoid collision with the obstacle, the autonomous mobile platform needs to bypass the obstacle.
- the present application provides an obstacle detection method, system, ground terminal equipment, and autonomous mobile platform, which can determine whether the front obstacle is within a safe range, reduce the false alarm rate, and improve the obstacle detection capability of the autonomous mobile platform.
- An embodiment of the present application provides an obstacle detection method.
- the method includes:
- the obstacle detection system includes:
- Memory used to store computer programs
- the processor is configured to run a computer program stored in the memory to realize:
- the ground terminal equipment includes an obstacle detection system.
- the obstacle detection system includes:
- Memory used to store computer programs
- the processor is configured to run a computer program stored in the memory to realize:
- the autonomous mobile platform includes an obstacle detection system.
- the obstacle detection system includes:
- Memory used to store computer programs
- the processor is configured to run a computer program stored in the memory to realize:
- the target track corresponding to each of the multiple virtual targets is established; through the evaluation results of the multiple target tracks, it can be judged whether the obstacle is located Within a safe range; this can reduce the false alarm rate and improve the obstacle detection capability of the autonomous mobile platform.
- Figure 1a shows a schematic diagram of the safe distance of an autonomous mobile platform (such as a drone) in the pitch direction;
- FIG. 1b shows a schematic flowchart of an obstacle detection method provided by an embodiment of the present application
- Figure 2 shows a schematic diagram of the coordinates of the obstacle C in the observation coordinate system
- Fig. 3 shows an example diagram where the origin of the reference coordinate system and the observation coordinate system overlap
- FIG. 4 shows a schematic structural diagram of an obstacle detection device provided by an embodiment of the present application
- FIG. 5 shows a schematic structural diagram of an obstacle detection system provided by an embodiment of the present application
- FIG. 6 shows a schematic diagram of a flight control system composed of ground terminal equipment and an autonomous mobile platform provided by an embodiment of the present application
- Fig. 7 shows a schematic diagram of an autonomous mobile platform provided by an embodiment of the present application.
- radar sensors are usually installed on the drones.
- the origin O of the radar local coordinate system is taken at the center of mass of the UAV, and the coordinate system is fixedly connected to the UAV.
- Its first coordinate axis (ie Xb) is the UAV design axis pointing to the direction of the nose, and its third coordinate
- the axis (ie Zb axis) is on the plane of symmetry of the drone and the first coordinate axis is perpendicular to the bottom of the drone, and its second coordinate axis (ie Yb) is perpendicular to the first and third coordinate axes and points to the drone.
- the radars on many UAVs have the ability to measure the angle in the left and right directions of the UAV, but do not have the ability to measure the angle in the pitch direction (that is, the vertical direction of the UAV). Due to the wide beam of the radar antenna in the elevation direction and the influence of the side lobes, when the radar observes a target in front, it is not clear about the true position of the target in the elevation direction, that is, it is impossible to accurately determine the target's local coordinate system.
- the coordinate value on the third coordinate axis For example: when the obstacle on the ground is strong, it may be detected by the radar antenna beam on the drone, and it will be falsely alarmed as an obstacle in front of the drone. At the same time, due to the lack of resolution in the pitch direction, the radar beam can only be used to suppress targets outside the aircraft's route.
- the embodiments of the present application provide an obstacle detection method, which establishes multiple different target tracks for the detected obstacles, thereby judging whether the obstacles are within the safe range of the autonomous mobile platform, and thereby Reduce the false alarm rate and improve the obstacle detection capability of autonomous mobile platforms in complex environments.
- Fig. 1b shows a schematic flowchart of an obstacle detection method provided by an embodiment of the present application.
- the obstacle detection method can be applied to autonomous mobile platforms, such as ground-end equipment and/or autonomous mobile platforms, that is, the execution subject of the obstacle detection method can be ground-end equipment or autonomous mobile platforms, more specifically ground-end equipment Or a processor with data processing capabilities on an autonomous mobile platform.
- the ground-end equipment can be computer equipment;
- the autonomous mobile platform can be: airplanes, vehicles, submarines, etc.
- the aircraft may specifically be a drone; the vehicle may specifically be an unmanned vehicle; and the submarine may specifically be an unmanned submarine.
- the method includes:
- the autonomous mobile platform can detect whether there are obstacles ahead through the radar on it during the movement. After detecting an obstacle in front of the autonomous mobile platform, multiple virtual targets can be generated for the obstacle.
- the radar can be set under the autonomous mobile platform to detect objects moving in front of the autonomous mobile platform in real time.
- the execution subject of the method described in this embodiment can receive the signal sent by the radar, and then generate multiple virtual targets according to the radar signal.
- Radar is a sensor that obtains the distance, angle, and speed of a target.
- the obstacles in the technical solutions provided in the embodiments of the present application are all static obstacles.
- the radar does not have the ability to measure angle in the pitch direction, so when the radar detects an obstacle ahead, the obstacle is in the observation coordinate system of the autonomous mobile platform (that is, the radar local coordinate system, which is related to the autonomous mobile In the coordinate position (xb, yb, zb) under the fixed platform connection), the coordinate value xb and the coordinate value yb are determined, and the coordinate value zb is unknown.
- the coordinate value xb is the coordinate value of the obstacle on the first coordinate axis in the observation coordinate system
- the coordinate yb is the coordinate value of the obstacle on the second coordinate axis in the observation coordinate system
- the coordinate zb is the obstacle in the observation coordinate system.
- the coordinate value on the third coordinate axis in the coordinate system As shown in Figure 2, the coordinate position of the obstacle C in the observation coordinate system OX b Y b Z b of the autonomous mobile platform is (xb1, yb1, zb1), where zb1 is unknown.
- the purpose of the embodiments of the present application is to estimate the coordinate value zb, so that it can be judged whether the obstacle is within a safe range.
- the observation coordinate system is composed of the first coordinate axis, the second coordinate axis, and the third coordinate axis.
- the autonomous mobile platform cannot clearly determine the coordinate value of the obstacle on the third coordinate axis because the radar does not have the ability to measure the pitch angle.
- the initial coordinate value of the obstacle on the first coordinate axis and the second coordinate axis of the observation coordinate system can be determined according to an observation result obtained by the autonomous mobile platform to observe the position of the obstacle, or it can be a comprehensive autonomous movement.
- the platform is confirmed by multiple observation results obtained by repeated position observation of obstacles.
- the observation result includes the coordinate value of the obstacle on the first coordinate axis and the coordinate value of the obstacle on the second coordinate axis.
- the average value of the coordinate values of the obstacles on the first coordinate axis in the results of multiple observations can be used as the initial coordinate values of the obstacles on the first coordinate axis, and the obstacles in the results of the multiple observations can be placed on the second coordinate axis.
- the mean value of the coordinate values on the above is used as the initial coordinate value of the obstacle on the second coordinate axis. Combining the results of multiple observations can effectively reduce observation errors.
- the coordinate value corresponding to the first coordinate axis in the initial observation coordinates of each virtual target may be the initial coordinate value of the obstacle on the first coordinate axis;
- the coordinate value corresponding to the second coordinate axis in the initial observation coordinates of the virtual target may be the initial coordinate value of the obstacle on the second coordinate axis;
- the first coordinate value in the initial observation coordinates of each virtual target The coordinate values corresponding to the three coordinate axes can be set values.
- the coordinate values corresponding to the third coordinate axis in the initial observation coordinates of different virtual targets may be different.
- the above-mentioned observation coordinate system can be defined according to actual needs, which is not specifically limited in the embodiment of the present application.
- the above-mentioned observation coordinate system may be a two-dimensional coordinate system or a three-dimensional coordinate system, which can also be specifically set according to actual needs.
- the distance between any two adjacent virtual targets in the plurality of virtual targets may be equal or unequal.
- the distance between any two adjacent virtual targets can be set to H, and the value of H can be set according to actual needs, which is not specifically limited in the embodiment of the present application.
- the initial coordinate value of the obstacle on the first coordinate axis of the observation coordinate system OX b Y b Z b is xb1
- the obstacle is on the second coordinate axis of the observation coordinate system OX b Y b
- the initial coordinate value on Z b is yb1
- the coordinate value corresponding to the first coordinate axis is xb1
- the coordinate value corresponding to the second coordinate axis is yb1
- the coordinate values corresponding to the third coordinate axis are all set values.
- multiple virtual targets include virtual target A, virtual target B and virtual target C, define the initial observation coordinate of virtual target A, the coordinate value corresponding to the third coordinate axis is set value H1, define the initial observation of virtual target B
- the coordinate value corresponding to the third coordinate axis in the coordinates is the set value H2
- the coordinate value corresponding to the third coordinate axis in the initial observation coordinates of the virtual target C is defined as the set value H3.
- the size of H1, H2, and H3 can be based on It is set according to actual needs, and the embodiment of the present application does not specifically limit this.
- the coordinate information of virtual target A (xb1, yb1, H1)
- the coordinate information of virtual target B are (xb1, yb1, H2)
- the coordinate information of virtual target C is (xb1, yb1, H3).
- the multiple virtual targets are distributed on the same straight line; the obstacles are located on the straight line; the third coordinate axis of the observation coordinate system, the obstacles are observed on the autonomous mobile platform
- the initial coordinate values on the first coordinate axis and the second coordinate axis of the coordinate system are parallel to the straight line.
- the plurality of virtual targets includes a first virtual target, and the first virtual target is any one of the plurality of virtual targets.
- the target track corresponding to the first virtual target records the track positions of the first virtual target at different times during the movement of the autonomous mobile platform.
- the track position may be the coordinates of the first virtual target in the reference coordinate system.
- the reference coordinate system may be a northeast coordinate system, and the definition of the northeast coordinate system can refer to the prior art, which will not be described in detail here.
- the origin of the reference coordinate system is fixed on the above-mentioned autonomous mobile platform and moves with the movement of the autonomous mobile platform. In order to reduce the amount of subsequent calculations, the origin of the aforementioned reference coordinate system and the origin of the aforementioned observation coordinate system may be the same point.
- the origin O of the reference coordinate system OX g Y g Z g coincides with the origin O of the observation coordinate system OX b Y b Z b .
- the Z g axis and Z b axis in FIG. 3 both pass through point O and are perpendicular to the paper plane shown in FIG. 3 inward.
- the roll angle of the drone is usually fixed during aerial operations.
- the roll angle can be 0; because it does not have the ability to measure the pitch angle, it can be The pitch angle is considered to be fixed and 0; only the yaw angle may change.
- the UAV will at most rotate around the third coordinate axis of the observation coordinate system, but will not rotate around the first coordinate axis and the second coordinate axis of the observation coordinate system.
- the autonomous mobile platform rotates at most around the third coordinate axis Z b of the observation coordinate system OX b Y b Z b , but does not rotate around the first coordinate axis and the second coordinate axis of the observation coordinate system. In this way, it can be determined that the coordinate value of each virtual target in the plurality of virtual targets on the third coordinate axis will remain unchanged during the movement of the autonomous mobile platform, that is, it will still be the corresponding set value.
- the coordinate value corresponding to the first coordinate axis is the obstacle observed at any time in the first
- the coordinate value corresponding to the second coordinate axis is the coordinate value of the obstacle observed at any time on the second coordinate axis
- the coordinate value corresponding to the third coordinate axis is the first virtual target
- the measured track position of the first virtual target measured at different times is obtained through coordinate conversion ;
- the target track corresponding to the first virtual target is established.
- the above-mentioned different moments include the second moment, and the attitude information of the autonomous mobile platform at the second moment is acquired; the transformation matrix corresponding to the second moment is determined according to the attitude information; Observation coordinates of the target in the observation coordinate system and the conversion matrix corresponding to the second moment are used to obtain the measured track position of the first virtual target measured at the second moment.
- the attitude information includes the pitch angle, roll angle, and yaw angle of the autonomous mobile platform.
- the attitude information of the autonomous mobile platform can be obtained based on the inertial data measured by the inertial measurement unit on the autonomous mobile platform. From the above analysis, it can be known that under normal circumstances, the pitch angle and roll angle are both 0. Thus, the conversion matrix C is:
- the following formula (1) can be used to obtain the first virtual target measured at the second moment
- the measured track position is [x g y g z g ] T :
- the above content only describes the establishment of the target track of the first virtual target.
- the target track of each virtual target among the target tracks of the multiple virtual targets generated in step 101 above can be established by using the method of establishing the target track of the first virtual target.
- some of the target trajectories of the multiple virtual targets may also have the same method of establishing the target trajectory of the first virtual target, which is not specifically limited in this embodiment.
- the purpose of establishing a target trajectory for each virtual target is for evaluation, so as to judge whether the obstacle is within a safe range based on the evaluation result.
- a predefined evaluation rule may be used to evaluate the target trajectory corresponding to each of the multiple virtual targets, and according to the evaluation result, it is judged whether the obstacle is within a safe range.
- the estimated position of the obstacle can be estimated based on the position of the virtual target corresponding to the target track with a better evaluation result; thus, whether the obstacle is within a safe range can be judged according to the estimated position.
- the estimated position of the obstacle can be determined according to the target track with the best evaluation result.
- the position of the virtual target with the best target track evaluation result can be used as the estimated position of the obstacle.
- a target track corresponding to each of the multiple virtual targets is established. Through the evaluation results of multiple target tracks, it can be judged whether the obstacle is in the safe range. This can reduce the false alarm rate and improve the obstacle detection capability of the autonomous mobile platform.
- the coordinate value corresponding to the third coordinate axis in the initial observation coordinate of the virtual target furthest from the autonomous mobile platform can be specifically selected as (2 ⁇ 3) Hs, where Hs is the safety distance. That is to say, when the obstacle is located outside (2 ⁇ 3)Hs, the multiple virtual targets established are not close to the actual position of the obstacle, so the evaluation results of the target track corresponding to the multiple virtual targets are also uniform. If it is poor, it can be directly determined that the obstacle is outside the safe range.
- the above method may also include:
- a certain second observation result contains the coordinate value of the obstacle on the first coordinate axis and the coordinate value on the second coordinate axis, it is considered that the second observation
- the result is a valid observation result; if a certain second observation result does not include the coordinate value of the obstacle on the above-mentioned first coordinate axis and/or the coordinate value of the above-mentioned second coordinate axis, the second observation is considered The result is an invalid observation result.
- the second preset number of times can be set according to actual needs, which is not specifically limited in this application.
- the obstacle is considered to be real, and the step of generating multiple virtual targets is triggered.
- the above method may also include:
- the number of valid observation results in the multiple second observation results is less than the second preset number, it indicates that the obstacle is false, which may be misidentified due to environmental noise, so it is unnecessary to trigger the generation of multiple virtual targets A step of.
- the above method may also include:
- coordinate conversion can be performed on the initial observation coordinates of each of the multiple virtual targets in the observation coordinate system to obtain the track start of the target track corresponding to each of the multiple virtual targets.
- the time corresponding to the beginning of the track is the beginning of the track
- the attitude information of the autonomous mobile platform at the beginning of the track is obtained, and the conversion matrix at the beginning of the track is obtained according to the attitude information; according to the conversion matrix, Coordinate conversion is performed on the initial observation coordinates of each of the multiple virtual targets in the observation coordinate system to obtain the track start of the target track corresponding to each of the multiple virtual targets.
- the initial coordinates of the obstacle on the first coordinate axis and the second coordinate axis of the observation coordinate system of the autonomous mobile platform can be determined based on the effective observation results of multiple second observation results. value.
- the average value of the coordinate values corresponding to the first coordinate axis in the effective observation results in the multiple second observation results can be used as the initial coordinate value of the obstacle on the first coordinate axis
- the average value of the coordinate values corresponding to the second coordinate axis in the effective observation result is used as the initial coordinate value of the obstacle on the second coordinate axis.
- the first measured track position of the first virtual target measured at the second time is directly used as the second track position of the target track corresponding to the first virtual target at the second time.
- the following steps can be specifically adopted:
- the first track position and the second track position are recorded in the target track corresponding to the first virtual target.
- the first predicted track position is predicted based on the first track position, the moving speed, and the time interval between the first time and the second time.
- v g is the above-mentioned moving speed
- v g [v gx v gy v gz ]
- since the altitude of the aircraft remains almost unchanged during operation, the influence of v gz speed can be ignored, and v gz 0 can be set.
- the steps for obtaining the first measured track position of the first virtual target measured at the second time can be specifically referred to the corresponding content in the foregoing embodiments, and details are not described herein again.
- the predicted first preset track position and the measured first measured track position are comprehensively considered to determine the second track position, which can effectively reduce the measurement error and improve the accuracy of the target track .
- the track position, determining the second track position of the first virtual target at the second moment specifically includes:
- the first preset threshold can be set according to experimental experience, which is not specifically limited in this application.
- the difference between the first predicted track position and the first measured track position may specifically be Euclidean distance. If the absolute value of the difference between the first predicted track position and the first measured track position is less than the first preset threshold, it indicates that the first measured track position is relatively reliable, so the first predicted track position can be
- the track position and the first measured track position are used as the input of the filtering algorithm, and the filtering algorithm is executed to obtain the second track position.
- the filtering algorithm can be selected according to actual needs, which is not specifically limited in the embodiment of the present application.
- the filtering algorithm may specifically be an ⁇ filtering algorithm, and the above-mentioned first predicted track position and the first measured track position may be used as the input of the following ⁇ filtering algorithm function (3) to obtain the second track position .
- the second track position can also specifically include:
- the first predicted track position is directly used as the second track position.
- the above method may also include:
- the preset time period may be located between the first time and the second time, and is shorter than the time interval between the first time and the second time.
- the autonomous mobile platform can quickly perform multiple first observation results obtained by repeatedly performing position observations on the first virtual target within the preset time period at the second moment.
- the first measurement track position is determined according to the valid observation results in the multiple first observation results. Specifically, the average value of the coordinate values corresponding to the first coordinate axis in the effective observation results in the multiple first observation results can be taken as the first coordinate in the observation coordinates of the first virtual target observed at the second moment in the observation coordinate system.
- the coordinate value corresponding to the axis; the average value of the coordinate value corresponding to the second coordinate axis in the valid observation results in the first observation results is used as the observation coordinate of the first virtual target observed at the second moment in the observation coordinate system
- the coordinate value corresponding to the second coordinate axis; the average value of the coordinate value corresponding to the third coordinate axis in the valid observation results of the first observation results for multiple times, as the observation of the first virtual target observed at the second moment in the observation coordinate system The coordinate value corresponding to the third coordinate axis in the coordinate.
- the above method may also include:
- the first predicted track position is used as the second track position.
- the position of the first measurement track still cannot be obtained. Therefore, the first predicted track position is directly used as the second track position.
- the obstacle detection method provided in this embodiment further includes the following steps:
- the above step "combines the difference between the first predicted track position and the first measured track position, and evaluates the evaluation result of the target track corresponding to the first virtual target.”
- the trajectory quality assessment at the second moment is divided into increase and decrease operations.
- the increase or decrease operation may include at least one of the following methods:
- Manner 1 When the difference between the first predicted track position and the first measured track position is large, the track quality evaluation score is reduced by a first set score; the first predicted track position is different from the first measured track position. When the difference of the measured track position is small, the track quality evaluation score remains unchanged or the second set point value is increased;
- Manner 3 Based on the difference between the first predicted track position and the first measured track position, determine the increase or decrease method and the increase or decrease amplitude value; then increase or decrease the track quality evaluation score according to the increase or decrease method The increase or decrease amplitude value.
- the increase and decrease in the above method 1 and method 2 are all fixed scores; the method 3 dynamically determines the increase value based on the degree of difference.
- interval 1 (0, a), interval 2 [a, b], interval 3 (b, c); among them, 0 ⁇ a ⁇ b ⁇ c. If the difference is in interval 1, the increase or decrease method is increase, and the increase or decrease amplitude value is 1 (such as 5, 10, etc.); if the difference is in interval 2, the increase or decrease method is neither increase nor decrease (that is, unchanged), The increase or decrease value is 0; if the difference is in interval 3, the increase or decrease method is decrease, and the increase or decrease value is the value 2 (such as 8, 11, etc.).
- the judgment of the size of the difference can be determined by comparing with a set threshold, assuming that the difference between the first predicted track position and the first measured track position is greater than the set threshold, then the difference is considered to be large; If the difference between the predicted track position and the first measured track position is less than the set threshold, it is considered that the difference is small.
- the inverse correlation between the difference and the track quality evaluation score can be simply understood as: the greater the difference, the lower the track quality evaluation score; the smaller the difference, the higher the track quality evaluation score.
- the evaluation result includes a track quality evaluation score; correspondingly, in this embodiment, in step 103, “according to the evaluation result of the target track corresponding to each of the multiple virtual targets, determine whether the obstacle is located in a safe place.
- “Flight zone” can specifically include:
- the "determine the estimated position information of the obstacle according to the target track corresponding to each of the multiple virtual targets" in the above step 1031 may specifically be:
- a binomial interpolation method is used to determine the estimated position information of the obstacle.
- the binomial interpolation can refer to related content in the prior art, which is not specifically limited in this embodiment.
- step 1032 judging whether the obstacle is within a safe range according to the estimated position information
- the aforementioned preset score value may be an empirical value, and this embodiment does not specifically limit the value of the preset score value, and can be set according to specific conditions in actual application scenarios.
- Fig. 4 shows a schematic structural diagram of an obstacle detection device provided by another embodiment of the present application.
- the obstacle detection device includes:
- the generating module 11 is used to generate multiple virtual targets for obstacles located in front of the autonomous mobile platform to move;
- the establishment module 12 is used to establish a target track corresponding to each of the multiple virtual targets during the movement of the autonomous mobile platform;
- the judging module 13 is configured to judge whether the obstacle is within a safe range according to the evaluation result of the target track corresponding to each of the multiple virtual targets.
- the target track corresponding to each of the multiple virtual targets is established; through the evaluation results of the multiple target tracks, it can be judged whether the obstacle is located safely. Within the range; this can reduce the false alarm rate and improve the obstacle detection capability of the autonomous mobile platform.
- the generating module 11 when the generating module 11 generates multiple virtual targets for obstacles located in front of the movement of the autonomous mobile platform, it is specifically used for:
- the observation coordinate system is composed of the first coordinate axis, the second coordinate axis, and the second coordinate axis.
- the initial observation coordinates of each of the multiple virtual targets in the observation coordinate system are generated.
- the coordinate value corresponding to the first coordinate axis is the initial coordinate value of the obstacle on the first coordinate axis; the initial observation coordinate of each virtual target
- the coordinate value corresponding to the second coordinate axis is the initial coordinate value of the obstacle on the second coordinate axis; the coordinate value corresponding to the third coordinate axis in the initial observation coordinates of each virtual target is Set value.
- the obstacle detection device provided in this embodiment may further include a determination module.
- the determining module is configured to determine the track start of the target track corresponding to each of the multiple virtual targets according to the initial observation coordinates of each of the multiple virtual targets in the observation coordinate system.
- the plurality of virtual targets includes a first virtual target; correspondingly, when the establishment module 12 establishes the target track corresponding to the first virtual target during the movement of the autonomous mobile platform, it specifically uses in:
- the establishing module 12 combines the first predicted track position and the first measured track position of the first virtual target measured at the second moment to determine that the first virtual target is at the When describing the position of the second track at the second moment, it is specifically used for:
- the first predicted track position and the first measured track position are taken as The input of the filtering algorithm is executed to obtain the second track position.
- the establishing module 12 combines the first predicted position and the first measured position of the first virtual target measured at the second time to determine that the first virtual target is at the second time
- the second position is specifically used for:
- the first predicted track position is taken as the second track position. Track location.
- the obstacle detection device provided in this embodiment may further include:
- An acquiring module configured to acquire multiple first observation results obtained by repeatedly performing position observations on the first virtual target within a preset time period at the second moment;
- the determining module is configured to determine the first observation result according to the valid observation result among the multiple first observation results when the number of valid observation results in the multiple first observation results is greater than or equal to the first preset number Measure the position of the track.
- the determining module is further configured to: when the number of valid observation results in the multiple first observation results is less than the first preset number of times, use the first predicted track position as the second flight path. Track location.
- the establishing module 12 predicts the first predicted track position of the first virtual target at the second time in combination with the first track position of the first virtual target at the first time, it is specifically used for:
- the obstacle detection device provided in this embodiment may further include:
- An observation module configured to, after detecting that the obstacle exists in front of the autonomous mobile platform, repeatedly perform position observation on the obstacle during the movement of the autonomous mobile platform to obtain multiple second observation results
- the trigger module is configured to trigger the step of generating multiple virtual targets when the number of valid observation results in the multiple second observation results is greater than or equal to the second preset number of times.
- the obstacle detection device provided in this embodiment may further include:
- the determining module is configured to determine that the obstacle is a false obstacle when the number of valid observation results in the multiple second observation results is less than the second preset number of times.
- the obstacle detection device provided in this embodiment may further include:
- the evaluation module is used to evaluate the evaluation result of the target track corresponding to the first virtual target in combination with the difference between the first predicted track position and the first measured track position.
- the evaluation module combines the difference between the first predicted track position and the first measured track position to evaluate the evaluation result of the target track corresponding to the first virtual target, it is specifically used for:
- the track quality evaluation score is increased or decreased to obtain the updated track quality evaluation score; wherein, the difference is equal to
- the track quality evaluation scores are in an anti-correlation relationship;
- the updated track quality evaluation score is used as the track quality evaluation score of the target track corresponding to the first virtual target at the second moment.
- the evaluation result includes track quality evaluation points.
- the judgment module 13 judges whether the obstacle is located in a safe flight zone according to the evaluation result of the target track corresponding to each of the multiple virtual targets, it is specifically used for:
- the estimated location information it is determined whether the obstacle is within a safe range.
- the judgment module determines the estimated position information of the obstacle according to the target track corresponding to each of the multiple virtual targets, it is specifically used for:
- a binomial interpolation method is used to determine the estimated position information of the obstacle.
- the judgment module judges whether the obstacle is within a safe range according to the evaluation result of the target track corresponding to each of the multiple virtual targets, it is specifically used for:
- the autonomous mobile platform described in this embodiment is a drone.
- Fig. 5 shows a schematic structural diagram of an obstacle detection system provided by an embodiment of the present application.
- the obstacle detection system includes:
- the memory 22 is used to store computer programs
- the processor 21 is configured to run a computer program stored in the memory to realize:
- the target track corresponding to each of the multiple virtual targets is established; through the evaluation results of the multiple target tracks, it can be judged whether the obstacle is located safely. Within the range; this can reduce the false alarm rate and improve the obstacle detection capability of the autonomous mobile platform.
- the processor 21 when the processor 21 generates multiple virtual targets for obstacles located in front of the movement of the autonomous mobile platform, it is specifically used for:
- the observation coordinate system is composed of the first coordinate axis, the second coordinate axis, and the second coordinate axis.
- the initial observation coordinates of each of the multiple virtual targets in the observation coordinate system are generated.
- processor 21 is further configured to:
- the track start of the target track corresponding to each of the multiple virtual targets is determined.
- the plurality of virtual targets includes a first virtual target
- the processor 21 When the processor 21 establishes the target track corresponding to the first virtual target during the movement of the autonomous mobile platform, it is specifically configured to:
- the processor 21 combines the first predicted track position and the first measured track position of the first virtual target measured at the second time to determine that the first virtual target is at the When describing the position of the second track at the second moment, it is specifically used for:
- the first predicted track position and the first measured track position are taken as The input of the filtering algorithm is executed to obtain the second track position.
- the processor 21 combines the first predicted position and the first measured position of the first virtual target measured at the second time to determine that the first virtual target is at the second time
- the second position is specifically used for:
- the first predicted track position is taken as the second track position. Track location.
- processor 21 is further configured to:
- the first measurement track position is determined according to the valid observation results in the multiple first observation results.
- processor 21 is further configured to:
- the first predicted track position is taken as the second track position.
- processor 21 predicts the first predicted track position of the first virtual target at the second time in combination with the first track position of the first virtual target at the first time, it is specifically configured to:
- processor 21 is further configured to:
- the step of generating multiple virtual targets is triggered.
- processor 21 is further configured to:
- processor 21 is further configured to:
- the evaluation result of the target track corresponding to the first virtual target is evaluated.
- the processor 21 evaluates the evaluation result of the target track corresponding to the first virtual target in combination with the difference between the first predicted track position and the first measured track position, it is specifically used for:
- the track quality evaluation score is increased or decreased to obtain the updated track quality evaluation score; wherein, the difference is equal to
- the track quality evaluation scores are in an anti-correlation relationship;
- the updated track quality evaluation score is used as the track quality evaluation score of the target track corresponding to the first virtual target at the second moment.
- the evaluation result includes track quality evaluation points
- the processor 21 determines whether the obstacle is located in a safe flight zone according to the evaluation result of the target trajectory corresponding to each of the multiple virtual targets, it is specifically configured to:
- the estimated location information it is determined whether the obstacle is within a safe range.
- the processor 21 determines the estimated position information of the obstacle according to the target track corresponding to each of the multiple virtual targets, it is specifically configured to:
- a binomial interpolation method is used to determine the estimated position information of the obstacle.
- the processor 21 determines whether the obstacle is within a safe range according to the evaluation result of the target track corresponding to each of the multiple virtual targets, the processor 21 is specifically configured to:
- processor in the foregoing embodiment may also be the technical solution described in the foregoing method embodiments, and for specific implementation principles, please refer to the corresponding content in the foregoing method embodiments, which will not be repeated here.
- the obstacle detection system may further include a display controller and/or display device unit 22, a transceiver 23, an audio input and output unit 25, other input and output units, and so on.
- a display controller and/or display device unit 22 may further include a transceiver 23, an audio input and output unit 25, other input and output units, and so on.
- These components included in the obstacle detection system can be interconnected through a bus or an internal connection.
- the transceiver may be a wired transceiver or a wireless transceiver, such as a WIFI transceiver, a satellite transceiver, a Bluetooth transceiver, a 3G/4G/5G wireless communication signal transceiver, or a combination thereof.
- a wireless transceiver such as a WIFI transceiver, a satellite transceiver, a Bluetooth transceiver, a 3G/4G/5G wireless communication signal transceiver, or a combination thereof.
- the audio input and output unit may include a speaker, a microphone, an earpiece, and the like.
- other input and output devices may include USB ports, serial ports, parallel ports, printers, network interfaces, and so on.
- an embodiment of the present application also provides one or more non-transitory computer-readable storage media having executable instructions stored thereon, and when the executable instructions are executed by one or more processors, Make the computer system at least:
- the embodiments provided in the embodiments of the present application can be applied to equipment that needs to detect obstacles.
- the equipment can be an autonomous mobile platform, such as an autonomous mobile vehicle, an unmanned aircraft, etc., which is not specifically limited in this embodiment.
- the technical solutions provided by the embodiments provided in the embodiments of the present application are applied to ground-end equipment that is communicatively connected with an autonomous mobile platform.
- the flight control signals of the unmanned aerial vehicle are all sent by the ground-end equipment.
- the following ground-end equipment is taken as an example. As shown in FIG. 6, this embodiment provides a ground-end equipment.
- the ground terminal equipment includes an obstacle detection system, which can be communicatively connected with an autonomous mobile platform for sending control signals to the autonomous mobile platform.
- the obstacle detection system is set in the device body of the ground terminal device 200, and the autonomous mobile platform 200 is provided with a radar.
- the obstacle detection system may include:
- Memory used to store computer programs
- the processor is configured to run a computer program stored in the memory to realize:
- the obstacle detection system described in this embodiment also adopts the technical solution provided in the foregoing embodiment.
- the content of the obstacle detection system please refer to the corresponding description above, which will not be repeated here.
- the ground-end equipment may be: a control device that communicates with an autonomous mobile platform, a smart terminal (such as a smart phone, a computer, etc.), a remote control, etc., which is not specifically limited in this embodiment.
- the autonomous mobile platform 800 includes an obstacle detection system 850.
- the obstacle detection system 850 is set on the device body of the autonomous mobile platform 800.
- the device body is also provided with a radar 840; the radar 840 is in communication with the obstacle detection system to facilitate The obstacle detection system obtains the signal output by the radar.
- the obstacle detection system 850 may include:
- Memory used to store computer programs
- the processor is configured to run a computer program stored in the memory to realize:
- the obstacle detection system described in this embodiment also adopts the technical solution provided in the foregoing embodiment.
- the content of the obstacle detection system please refer to the corresponding description above, which will not be repeated here.
- the autonomous mobile platform may further include: a camera 820 and a pan/tilt 810.
- the camera 820 is arranged on the pan/tilt 810; the camera 820 can move relative to the body through the pan/tilt 810.
- An inertial measurement unit (not shown in the figure) may be further provided on the autonomous mobile platform.
- the movable platform may further include: a power system 830.
- the power system may include an electronic governor (referred to as an ESC for short), one or more propellers, and one or more motors corresponding to the one or more propellers.
- the movable platform may also include other elements or devices, which are not listed here.
- the related detection device for example: IMU
- the method disclosed may be implemented in other ways.
- the embodiments of the remote control device described above are only illustrative.
- the division of the modules or units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components. It can be combined or 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, remote control 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 objectives of the solutions of the embodiments.
- the functional units in the various embodiments of the present invention 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 above-mentioned integrated unit can be implemented in the form of hardware or software functional unit.
- the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium.
- the technical solution of the present invention essentially or the part that contributes to the existing technology or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium.
- the aforementioned storage media include: U disk, mobile hard disk, Read-Only Memory (ROM), Random Access Memory (RAM, Random Access Memory), magnetic disks or optical disks and other media that can store program codes.
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
一种障碍物检测方法、系统、地面端设备及自主移动平台。其中,障碍物检测方法包括:针对位于自主移动平台移动前方的障碍物,生成多个虚拟目标;在所述自主移动平台移动过程中,建立所述多个虚拟目标各自对应的目标航迹;根据所述多个虚拟目标各自对应的目标航迹的评估结果,判断所述障碍物是否位于安全范围内。该障碍物检测方法可有效降低障碍物的虚警率,提升自主移动平台的障碍物检测能力。
Description
本发明涉及控制技术领域,尤其涉及一种障碍物检测方法、系统、地面端设备及自主移动平台。
自主移动平台(例如:无人机、无人车、无人潜艇)已经被广泛地应用于执行拍摄、物流、勘测、巡检、植保和安防等应用领域。
自主移动平台可以按照规划好的路径移动以执行工作任务。自主移动平台在当前路径上移动过程中,很可能会检测到前方存在障碍物。这时,为了避免与障碍物相撞,自主移动平台需要绕过该障碍物。
发明内容
本申请提供一种障碍物检测方法、系统、地面端设备及自主移动平台,能够判断出前方障碍物是否位于安全范围内,降低虚警率,提升自主移动平台的障碍物检测能力。
本申请一实施例提供一种障碍物检测方法。该方法包括:
针对位于自主移动平台移动前方的障碍物,生成多个虚拟目标;
在所述自主移动平台移动过程中,建立所述多个虚拟目标各自对应的目标航迹;
根据所述多个虚拟目标各自对应的目标航迹的评估结果,判断所述障碍物是否位于安全范围内。
本申请另一实施例提供了一种障碍物检测系统。该障碍物检测系统包括:
存储器,用于存储计算机程序;
处理器,用于运行所述存储器中存储的计算机程序以实现:
针对位于自主移动平台移动前方的障碍物,生成多个虚拟目标;其中,所述多个虚拟目标分布在同一条垂直于水平面的垂直线上;所述障碍物位于所述垂直线上;
在所述自主移动平台移动过程中,建立所述多个虚拟目标各自对应的目标航迹;
根据所述多个虚拟目标各自对应的目标航迹的评估结果,判断所述障碍物是否位于安全范围内。
本申请又一实施例提供了一种地面端设备。该地面端设备包括障碍物检测系统。该障碍物检测系统包括:
存储器,用于存储计算机程序;
处理器,用于运行所述存储器中存储的计算机程序以实现:
针对位于自主移动平台移动前方的障碍物,生成多个虚拟目标;其中,所述多个虚拟目标分布在同一条垂直于水平面的垂直线上;所述障碍物位于所述垂直线上;
在所述自主移动平台移动过程中,建立所述多个虚拟目标各自对应的目标航迹;
根据所述多个虚拟目标各自对应的目标航迹的评估结果,判断所述障碍物是否位于安全范围内。
本申请又一实施例提供了一种自主移动平台。该自主移动平台包括障碍物检测系统。该障碍物检测系统包括:
存储器,用于存储计算机程序;
处理器,用于运行所述存储器中存储的计算机程序以实现:
针对位于自主移动平台移动前方的障碍物,生成多个虚拟目标;其中,所述多个虚拟目标分布在同一条垂直于水平面的垂直线上;所述障碍物位于所述垂直线上;
在所述自主移动平台移动过程中,建立所述多个虚拟目标各自对应的目标航迹;
根据所述多个虚拟目标各自对应的目标航迹的评估结果,判断所述障碍物是否位于安全范围内。
本申请实施例提供的技术方案中,在检测到自主移动平台前方存在障碍物后,建立多个虚拟目标各自对应的目标航迹;通过多条目标航迹的评估结果能够判断出障碍物是否位于安全范围内;这样可降低虚警率,提升自主移动平台的障碍物检测能力。
此处所说明的附图用来提供对本申请的进一步理解,构成本申请的一部分,本申请的示意性实施例及其说明用于解释本申请,并不构成对本申请的不当限定。在附图中:
图1a示出了自主移动平台(如无人机)在俯仰方向上的安全距离示意图;
图1b示出了本申请一实施例提供的障碍物检测方法的流程示意图;
图2示出了障碍物C在观测坐标系下的坐标示意图;
图3示出了参考坐标系与观测坐标系的原点重叠的示例图;
图4示出了本申请一实施例提供的障碍物检测装置的结构示意图;
图5示出了本申请一实施例提供的障碍物检测系统的结构示意图;
图6示出了本申请一实施例提供的地面端设备与自主移动平台构成的飞控系统的示意图;
图7示出了本申请一实施例提供的自主移动平台的原理性示意图。
为使本发明实施例的目的、技术方案和优点更加清楚,下面将结合本发明实施例中的附图,对本发明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发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。
除非另有定义,本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的,不是旨在于限制本发明。
为了便于理解本申请的技术方案和技术效果,下面对现有技术进行简要说明:
现有技术中,以无人机为例,通常无人机上会安置有雷达传感器(以下简称雷达)。通常,雷达本地坐标系的原点O取在无人机质心处,坐标系与无人机固连,其第一坐标轴(即Xb)取无人机设计轴指向机头方向,其第三坐标轴(即Zb轴)处在无人机对称面且垂直第一坐标轴指向无人机下方,其第二坐标轴(即Yb)垂直第一坐标轴和第三坐标轴所在面指向无人机右侧。目前,很多无人机上的雷达在无人机的左右方向上具有测角能力,在俯仰方向 上(也即是无人机的上下方向)无测角能力。由于雷达天线在俯仰方向上的波束较宽以及副瓣的影响,雷达观测到前方存在目标时,并不清楚目标在俯仰方向上的真实位置,也即无法准确地确定目标在雷达本地坐标系的第三坐标轴上的坐标值。例如:当地面上的障碍物较强时,可能被无人机上的雷达天线波束检测到,会误报警为无人机前方障碍物。同时由于在俯仰方向上没有分辨能力,只能依靠雷达波束来抑制飞机航线以外的目标。
下面将结合图1a对现有技术进行介绍:
设定无人机在俯仰方向上的安全距离为H
s,如图1a所示,障碍物A在安全范围以内,障碍物B位于安全范围以外。由于障碍物A和障碍物B都在雷达波束观测范围内,都会被雷达检测为障碍物。由于雷达在俯仰方向上没有测角能力,障碍物B会引起虚警,从而引起误触发。
传统的方法通过窄波束,实现对无人机正前方目标的探测,但窄波束成本较高。其次还可以通过上翘波束的方法,但上翘波束不能保证无人机下方物体被检测到,并且上翘波束也无法实现对上方物体的位置估计。
为了解决上述技术问题,本申请实施例提供了一种障碍物检测方法,针对检测到的障碍物建立多条不同的目标航迹,从而判断出障碍物是否位于自主移动平台的安全范围内,从而减少虚警率,提升自主移动平台在复杂环境下的障碍物检测能力。
下面结合附图,对本发明的一些实施方式作详细说明。在各实施例之间不冲突的情况下,下述的实施例及实施例中的特征可以相互组合。
图1b示出了本申请一实施例提供的障碍物检测方法的流程示意图。该障碍物检测方法可以应用于自主移动平台,如地面端设备和/或自主移动平台,也即,该障碍物检测方法的执行主体可以为地面端设备或者自主移动平台,更具体为地面端设备或自主移动平台的具有数据处理能力的处理器。其中,地面端设备可以为计算机设备;自主移动平台可以为:飞机、车辆、潜艇等。其中,飞机具体可以为无人机;车辆具体可以为无人车;潜艇具体可以为无人潜艇。如图1b所示,该方法,包括:
101、针对位于自主移动平台移动前方的障碍物,生成多个虚拟目标。
102、在所述自主移动平台移动过程中,建立所述多个虚拟目标各自对应的目标航迹。
103、根据所述多个虚拟目标各自对应的目标航迹的评估结果,判断所述障碍物是否位于安全范围内。
上述101中,自主移动平台在移动过程中,可通过其上的雷达检测前方是否存在障碍物。检测到自主移动平台前方存在障碍物后,可针对该障碍物,生成多个虚拟目标。例如,雷达可设置在自主移动平台的下方,以对自主移动平台移动前方的物体进行实时检测。雷达检测到自主移动平台移动前方有障碍物时,本实施例所述方法执行主体可接收到雷达发出的信号,然后根据雷达信号生成多个虚拟目标。雷达是一种获取目标距离、角度和速度的传感器。本申请实施例提供的技术方案的障碍物皆为静止障碍物。
由上述分析可知,雷达在俯仰方向上无测角能力,故雷达检测到前方存在障碍物时,该障碍物在自主移动平台的观测坐标系(也即雷达本地坐标系,该坐标系与自主移动平台固连)下的坐标位置(xb,yb,zb)中坐标值xb和坐标值yb是确定的,坐标值zb是未知的。其中,坐标值xb为障碍物在观测坐标系下的第一坐标轴上的坐标值;坐标yb为障碍物在观测坐标系下的第二坐标轴上的坐标值;坐标zb为障碍物在观测坐标系下的第三坐标轴上的坐标值。参见图2所示,障碍物C在自主移动平台的观测坐标系OX
bY
bZ
b下的坐标位置为(xb1,yb1,zb1),其中,zb1是未知的。
本申请实施例的目的就是为了将坐标值zb估算出来,这样既可判断出障碍物是否位于安全范围内。
在一种可实现的方案中,上述101中“针对位于自主移动平台移动前方的障碍物,生成多个虚拟目标”,具体可采用如下步骤来实现:
1011、获取所述障碍物在所述自主移动平台的观测坐标系的第一坐标轴和第二坐标轴上的初始坐标值。
其中,所述观测坐标系由所述第一坐标轴、所述第二坐标轴以及第三坐标轴构成。
在实际应用时,由于雷达无俯仰测角能力,导致自主移动平台无法清楚确定障碍物在该第三坐标轴上的坐标值。
1012、根据所述初始坐标值,生成多个虚拟目标各自在所述观测坐标系下的初始观测坐标。
上述1011中,障碍物在观测坐标系的第一坐标轴和第二坐标轴上的初始坐标值可以是根据自主移动平台对障碍物进行位置观测得到的一次观测 结果确定的,或者是综合自主移动平台对障碍物进行重复位置观测得到的多次观测结果确定的。观测结果中包括障碍物在第一坐标轴上的坐标值和在第二坐标轴上的坐标值。具体地,可将多次观测结果中障碍物在第一坐标轴上的坐标值的均值作为障碍物在第一坐标轴上的初始坐标值,将多次观测结果中障碍物在第二坐标轴上的坐标值的均值作为障碍物在第二坐标轴上的初始坐标值。综合多次观测结果,可有效减小观测误差。
在一实例中,上述1012中,各所述虚拟目标的初始观测坐标中所述第一坐标轴对应的坐标值可以为所述障碍物在所述第一坐标轴上的初始坐标值;各所述虚拟目标的初始观测坐标中所述第二坐标轴对应的坐标值可以为所述障碍物在所述第二坐标轴上的初始坐标值;各所述虚拟目标的初始观测坐标中所述第三坐标轴对应的坐标值可以为设定值。不同虚拟目标的初始观测坐标中第三坐标轴对应的坐标值可以不同。
这里需要补充的是:实际应用时,上述观测坐标系可根据实际需要来定义,本申请实施例对此不做具体限定。上述观测坐标系可以为二维坐标系,也可为三维坐标系,具体也可根据实际需要来设定。
为了能够较为准确地估算障碍物的坐标位置,上述多个虚拟目标的数量越多越好,多个虚拟目标中任意相邻两个虚拟目标之间的距离越小越好。多个虚拟目标中任一相邻两个虚拟目标之间的距离可相等或不相等。在一实例中,可将任一相邻两个虚拟目标之间的距离均设为H,H的值可根据实际需要来设定,本申请实施例对此不作具体限定。
举例来说:如图2所示,障碍物在观测坐标系OX
bY
bZ
b的第一坐标轴上的初始坐标值为xb1,障碍物在观测坐标系的第二坐标轴OX
bY
bZ
b上的初始坐标值为yb1,则生成的多个虚拟目标中每一个虚拟目标的初始观测坐标中第一坐标轴对应的坐标值为xb1,第二坐标轴对应的坐标值均为yb1,第三坐标轴对应的坐标值均为设定值。例如:多个虚拟目标中包括虚拟目标A、虚拟目标B和虚拟目标C,定义虚拟目标A的初始观测坐标中第三坐标轴对应的坐标值为设定值H1,定义虚拟目标B的初始观测坐标中第三坐标轴对应的坐标值为设定值H2,定义虚拟目标C的初始观测坐标中第三坐标轴对应的坐标值为设定值H3,其中,H1、H2、H3的大小可根据实际需要来设定,本申请实施例对此不做具体限定。由此可得到:如图2所示,虚拟目标A的坐标信息(xb1、yb1、H1)、虚拟目标B的坐标信息为(xb1、yb1、H2)、虚拟目标C的坐标信息为 (xb1、yb1、H3)。
在本实施例中,所述多个虚拟目标分布在同一条直线上;所述障碍物位于所述直线上;所述观测坐标系的第三坐标轴,在自主移动平台观测到障碍物在观测坐标系的第一坐标轴和第二坐标轴上的初始坐标值时,与所述直线平行。
上述102中,上述多个虚拟目标中包括第一虚拟目标,第一虚拟目标为多个虚拟目标中的任意一个。第一虚拟目标对应的目标航迹中记录有第一虚拟目标在自主移动平台移动过程中不同时刻的航迹位置。该航迹位置可以为第一虚拟目标在参考坐标系下的坐标。该参考坐标系可以为北东地坐标系,北东地坐标系的定义可参见现有技术,在此不再详述。该参考坐标系的原点固定在上述自主移动平台上,随着自主移动平台的移动而移动。为了减少后续计算量,上述参考坐标系的原点与上述观测坐标系的原点可以为同一点。参见图3所示的实例,参考坐标系OX
gY
gZ
g的原点O与观测坐标系OX
bY
bZ
b的原点O重合。图3中Z
g轴与Z
b轴均过O点且垂直于图3所示纸面向内。
以自主移动平台为无人机为例,通常,无人机在空中作业过程中,其翻滚角通常固定不变,例如:翻滚角可为0;由于其不具有俯仰角测角能力,则可认为其俯仰角固定不变且为0;其只有偏航角可能会发生变化。也就是说,无人机在空中作业过程中,其顶多会绕观测坐标系的第三坐标轴旋转,而不会绕观测坐标系的第一坐标轴和第二坐标轴旋转。
即自主移动平台在上述移动过程中,顶多绕观测坐标系OX
bY
bZ
b的第三坐标轴Z
b旋转,而不会绕观测坐标系的第一坐标轴和第二坐标轴旋转,这样,可确定出多个虚拟目标中各虚拟目标在第三坐标轴上的坐标值将在自主移动平台移动过程中保持不变,也就是说,依旧为各自对应的设定值。并且,在自主移动平台移动过程中任意时刻观测得到的第一虚拟目标在观测坐标系下的观测坐标中:第一坐标轴对应的坐标值即为在该任意时刻观测到的障碍物在第一坐标轴上的坐标值,第二坐标轴对应的坐标值即为在该任意时刻观测到的障碍物在第二坐标轴上的坐标值,第三坐标轴对应的坐标值即为第一虚拟目标的初始观测坐标中第三坐标轴对应的坐标值。
在一实例中,根据在自主移动平台移动过程中不同时刻观测到的第一虚拟目标在观测坐标系下的观测坐标,通过坐标转换,得到不同时刻测量到的第一虚拟目标的测量航迹位置;根据在自主移动平台移动过程中不同时刻测 量到的第一虚拟目标的测量航迹位置,建立第一虚拟目标对应的目标航迹。具体地,上述不同时刻中包括第二时刻,获取自主移动平台在所述第二时刻的姿态信息;根据所述姿态信息确定第二时刻对应的转换矩阵;根据第二时刻观测到的第一虚拟目标在观测坐标系下的观测坐标以及第二时刻对应的转换矩阵,得到第二时刻测量得到的第一虚拟目标的测量航迹位置。其中,姿态信息中包括自主移动平台的俯仰角pitch、翻滚角roll和偏航角yaw。具体实施时,自主移动平台的姿态信息可基于自主移动平台上的惯性测量单元测得惯性数据得到。由上述分析可知,通常情况下,俯仰角pitch和翻滚角roll均为0。这样,转换矩阵C为:
假设第二时刻观测到的第一虚拟目标在观测坐标系下的观测坐标为[x
b y
b z
b]
T,则可采用如下公式(1)来获得第二时刻测量得到的第一虚拟目标的测量航迹位置为[x
g y
g z
g]
T:
[x
g y
g z
g]
T=C[x
b y
b z
b]
T (1)
这里需要说明的是:上述内容中仅针对第一虚拟目标的目标航迹的建立进行了说明,实际上,上述步骤101中生成的多个虚拟目标的目标航迹中各虚拟目标的目标航迹均可采用第一虚拟目标的目标航迹的建立方法来建立。当然,多个虚拟目标的目标航迹中也可有部分与第一虚拟目标的目标航迹的建立方法相同,本实施例对此不作具体限定。
为每个虚拟目标建立目标航迹的目的是为了评估,以便根据评估结果来判断障碍物是否位于安全范围内。在一具体实施方式中,上述103中,可采用事先定义的评估规则对多个虚拟目标各自对应的目标航迹进行评估,根据评估结果,来判断障碍物是否位于安全范围内。
目标航迹的评估结果越好,越表明障碍物距离该目标航迹对应的虚拟目标的距离越近。因此,可根据评估结果较好的目标航迹对应的虚拟目标的位置来预估障碍物的预估位置;从而根据预估位置来判断障碍物是否位于安全 范围内。例如,可根据评估结果最好的目标航迹,来确定障碍物的预估位置,例如:可将目标航迹评估结果最好的虚拟目标的位置作为障碍物的预估位置。
本申请实施例提供的技术方案中,在检测到自主移动平台前方存在障碍物后,建立多个虚拟目标各自对应的目标航迹。通过多条目标航迹的评估结果能够判断出障碍物是否位于安全范围内。这样可降低虚警率,提升自主移动平台的障碍物检测能力。
在实际应用时,对于那些远远超出安全范围的那些障碍物是不太需要估算其具体位置的,只要能够判断出这些障碍物位于安全范围之外即可。故多个虚拟目标中距离自主移动平台最远的虚拟目标的初始观测坐标中第三坐标轴对应的坐标值具体可选取(2~3)Hs,其中,Hs为安全距离。也就是说,当障碍物位于(2~3)Hs以外时,则所建立的多个虚拟目标均不靠近障碍物的实际位置,这样多个虚拟目标各自对应的目标航迹的评估结果也均较差,这时可直接判定出障碍物位于安全范围之外。
考虑到自主移动平台在实际作业环境中很可能会存在环境噪声,这就有可能会导致自主移动平台在检测到的环境噪声时,误认为其前方存在障碍物。为了避免不必要的后续处理,上述方法,还可包括:
104、检测到所述自主移动平台前方存在所述障碍物后,在所述自主移动平台移动过程中,对所述障碍物重复进行位置观测,得到多次第二观测结果。
105、所述多次第二观测结果中有效观测结果的次数大于或等于第二预设次数时,触发所述生成多个虚拟目标的步骤。
在一种可实现的方案中,若某次第二观测结果中包含有障碍物在上述第一坐标轴上的坐标值和在上述第二坐标轴上的坐标值,则认为该次第二观测结果为有效观测结果;若某次第二观测结果中不包含有障碍物在上述第一坐标轴上的坐标值和/或在上述第二坐标轴上的坐标值,则认为该次第二观测结果为无效观测结果。
其中,第二预设次数可根据实际需要来设定,本申请对此不作具体限定。
多次第二观测结果中有效观测结果的次数大于或等于第二预设次数时,则认为该障碍物是真实存在的,则触发生成多个虚拟目标的步骤。
上述方法,还可包括:
106、所述多次第二观测结果中有效观测结果的次数小于所述第二预设次 数时,判定所述障碍物为虚假障碍物。
所述多次第二观测结果中有效观测结果的次数小于所述第二预设次数,则说明该障碍物是虚假的,可能是因环境噪声误认的,故不必要触发生成多个虚拟目标的步骤。
此外,在建立目标航迹之前,还需要确定目标航迹的航迹起始。故上述方法,还可包括:
107、根据所述多个虚拟目标各自在所述观测坐标系下的初始观测坐标,确定所述多个虚拟目标各自对应的目标航迹的航迹起始。
具体可对多个虚拟目标各自在所述观测坐标系下的初始观测坐标进行坐标转换,得到多个虚拟目标各自对应的目标航迹的航迹起始。假设航迹起始对应的时刻为航迹起始时刻,则获取自主移动平台在航迹起始时刻的姿态信息,根据该姿态信息得到航迹起始时刻下的转换矩阵;根据该转换矩阵,对多个虚拟目标各自在所述观测坐标系下的初始观测坐标进行坐标转换,得到多个虚拟目标各自对应的目标航迹的航迹起始。
在一种可实现的方案中,可根据多次第二观测结果中的有效观测结果,确定所述障碍物在自主移动平台的观测坐标系的第一坐标轴和第二坐标轴上的初始坐标值。例如:可将多次第二观测结果中有效观测结果中第一坐标轴对应坐标值的平均值作为所述障碍物在第一坐标轴上的初始坐标值;可将多次第二观测结果中有效观测结果中第二坐标轴对应坐标值的平均值作为所述障碍物在第二坐标轴上的初始坐标值。这样,可降低观测误差,提高初始坐标值的准确度,也即提高航迹起始的准确度。
在上述实施例中,直接将第二时刻测量到的第一虚拟目标的第一测量航迹位置作为第一虚拟目标对应的目标航迹中第二时刻的第二航迹位置。为了降低测量误差导致的目标航迹的不准确性,上述102中“在所述自主移动平台移动过程中,建立所述第一虚拟目标对应的目标航迹”,具体可采用如下步骤来实现:
1021、结合所述第一虚拟目标在第一时刻的第一航迹位置,预测所述第一虚拟目标在第二时刻的第一预测航迹位置。
1022、结合所述第一预测航迹位置以及在所述第二时刻测量到的所述第一虚拟目标的第一测量航迹位置,确定所述第一虚拟目标在所述第二时刻的第二航迹位置。
其中,所述第一虚拟目标对应的目标航迹中记录有所述第一航迹位置和所述第二航迹位置。
上述1021中,由于第一时刻和第二时刻之间的时间间隔一般都很小,且由于飞机的机动性较小,故可认为自主移动平台在第一时刻到第二时刻之间作匀速直线运动。具体地,上述1021中“结合所述第一虚拟目标在第一时刻的第一航迹位置,预测所述第一虚拟目标在第二时刻的第一预测航迹位置”,可采用如下步骤来实现:
S11、获取所述自主移动平台在所述第一时刻的移动速度。
S12、根据所述第一虚拟目标在所述第一时刻的第一航迹位置以及所述移动速度,预测所述第一虚拟目标在第二时刻的第一预测航迹位置。
上述S12中,根据第一航迹位置、移动速度以及第一时刻与第二时刻之间的时间间隔来预测第一预测航迹位置。
具体地,可采用如下公式(2)来实现:
其中,v
g为上述移动速度,
为上述第一航迹位置,
为上述第一预测航迹位置。其中,v
g=[v
gx v
gy v
gz],由于飞机的高度在作业时几乎保持不变,因此可忽略v
gz速度的影响,可令v
gz=0。
上述1022中,第二时刻测量到的第一虚拟目标的第一测量航迹位置的获取步骤具体可参见上述各实施例中相应内容,在此不再赘述。
在本实施例中,综合考虑预测得到的第一预设航迹位置和测量得到的第一测量航迹位置,来确定第二航迹位置,可有效降低测量误差,提高目标航迹的准确性。
在一种可实现的方案中,上述1022中“结合所述第一预测航迹位置以及在所述第二时刻测量到的所述第一虚拟目标的第一测量航迹位置,确定所述第一虚拟目标在所述第二时刻的第二航迹位置”,具体为:将第一预测航迹位置和第一测量航迹位置的中间位置作为第二航迹位置。
在本实施例中,默认第一测量航迹位置是可靠的数据。然而,在实际应用中,由于环境噪声的存在,会影响第一测量航迹位置的可靠性,甚至会导致第一测量航迹位置不可信。为了解决这一问题,在另一种可实现的方案中, 上述1022中“结合所述第一预测航迹位置以及在所述第二时刻测量到的所述第一虚拟目标的第一测量航迹位置,确定所述第一虚拟目标在所述第二时刻的第二航迹位置”,具体包括:
S21、当所述第一预测航迹位置与所述第一测量航迹位置的差异的绝对值小于第一预设阈值时,将所述第一预测航迹位置和所述第一测量航迹位置作为滤波算法的输入,执行所述滤波算法,得到所述第二航迹位置。
上述S21中,第一预设阈值可根据实验经验来设定,本申请对此不做具体限定。所述第一预测航迹位置与所述第一测量航迹位置的差异具体可以为欧式距离。所述第一预测航迹位置与所述第一测量航迹位置的差异的绝对值小于第一预设阈值,则说明第一测量航迹位置是较为可靠的,故可将所述第一预测航迹位置和所述第一测量航迹位置作为滤波算法的输入,执行所述滤波算法,得到所述第二航迹位置。其中,滤波算法可根据实际需要来选取,本申请实施例对此不做具体限定。
在一实例中,滤波算法具体可以为αβ滤波算法,则可将上述第一预测航迹位置和第一测量航迹位置作为下述αβ滤波算法函数(3)的输入,得到第二航迹位置。
上述1022中“结合所述第一预测航迹位置以及在所述第二时刻测量到的所述第一虚拟目标的第一测量航迹位置,确定所述第一虚拟目标在所述第二时刻的第二航迹位置”,具体还可包括:
S22、当所述第一预测航迹位置与所述第一测量航迹位置的差异的绝对值大于或等于所述第一预设阈值时,将所述第一预测航迹位置作为所述第二航迹位置。
所述第一预测航迹位置与所述第一测量航迹位置的差异的绝对值大于或等于第一预设阈值,则说明第一测量航迹位置是完全不可靠的。故直接将第一预测航迹位置作为第二航迹位置。
为了提高第一测量航迹位置的可靠性,上述方法,还可包括:
108、获取在所述第二时刻所处的预设时段内,对所述第一虚拟目标重 复进行位置观测得到的多次第一观测结果。
109、当所述多次第一观测结果中有效观测结果的次数大于或等于第一预设次数时,根据所述多次第一观测结果中的有效观测结果,确定所述第一测量航迹位置。
上述108中,所述预设时段可位于第一时刻和第二时刻之间,且短于第一时刻和第二时间之间的时间间隔。
自主移动平台可在第二时刻所处的预设时段内,快速对第一虚拟目标重复进行位置观测得到的多次第一观测结果。
上述109中,某次第一观测结果中包含有所述第一虚拟目标在所述观测坐标系下的观测坐标时,则判定该次第一观测结果为有效观测结果。
当所述多次第一观测结果中有效观测结果的次数大于或等于第一预设次数时,根据所述多次第一观测结果中的有效观测结果,确定所述第一测量航迹位置。具体地,可将多次第一观测结果中有效观测结果中第一坐标轴对应的坐标值的平均值作为第二时刻观测到的第一虚拟目标在观测坐标系下的观测坐标中第一坐标轴对应的坐标值;将多次第一观测结果中有效观测结果中第二坐标轴对应的坐标值的平均值,作为第二时刻观测到的第一虚拟目标在观测坐标系下的观测坐标中第二坐标轴对应的坐标值;多次第一观测结果中有效观测结果中第三坐标轴对应的坐标值的平均值,作为第二时刻观测到的第一虚拟目标在观测坐标系下的观测坐标中第三坐标轴对应的坐标值。
获取自主移动平台在第二时刻的姿态信息;根据自主移动平台在第二时刻的姿态信息,确定第二时刻对应的转换矩阵;根据第二时刻对应的转换矩阵,对第二时刻观测到的第一虚拟目标在观测坐标系下的观测坐标进行坐标转换,得到在第二时刻测量得到的第一测量航迹位置。
上述方法,还可包括:
110、所述多次第一观测结果中有效观测结果的次数小于所述第一预设次数时,将所述第一预测航迹位置作为所述第二航迹位置。
在本实施例中,通过多次观测,依旧无法获取到第一测量航迹位置。故直接将第一预测航迹位置作为所述第二航迹位置。
进一步的,本实施例提供的障碍物检测方法还包括如下步骤:
111、结合所述第一预测航迹位置和所述第一测量航迹位置的差异,评估 所述第一虚拟目标对应的目标航迹的评估结果。
在一可实现的技术方案中,上述步骤“结合所述第一预测航迹位置和所述第一测量航迹位置的差异,评估所述第一虚拟目标对应的目标航迹的评估结果”可包括:
1111、获取所述第一虚拟目标对应的目标航迹在所述第一时刻时的航迹质量评估分;
1112、根据所述第一预测航迹位置与所述第一测量航迹位置的差异,对所述航迹质量评估分进行增减操作,得到更新后的航迹质量评估分;其中,所述差异与所述航迹质量评估分呈反相关关系;
1113、将所述更新后的航迹质量评估分作为所述第一虚拟目标对应的目标航迹在所述第二时刻的航迹质量评估分。
具体实施时,还可继续根据第二预测航迹位置(即第二时刻预测出的航迹位置)与第二测量航迹位置(即第二时刻测量出的航迹位置)的差异,继续对第二时刻的航迹质量评估分进行增减操作。
具体的,增减操作可以包括如下中的至少一种方式:
方式1、所述第一预测航迹位置与所述第一测量航迹位置的差异大时,航迹质量评估分减第一设定分数;所述第一预测航迹位置与所述第一测量航迹位置的差异小时,航迹质量评估分不变或增加第二设定分值;
方式2、所述第一预测航迹位置与所述第一测量航迹位置的差异大时,航迹质量评估分不变或减第一设定分数;所述第一预测航迹位置与所述第一测量航迹位置的差异小时,航迹质量评估分增加第二设定分值;
方式3、基于所述第一预测航迹位置与所述第一测量航迹位置的差异,确定增减方式以及增减幅度值;然后按照增减方式对所述航迹质量评估分增加或减少所述增减幅度值。
上述方式1和方式2中的增减均为固定分数;方式3为基于差异的程度来动态的确定增加幅度值。一种可实现的方案中,假设,设定有三个判定区间,分别为区间1(0、a)、区间2[a、b]、区间3(b、c);其中,0<a<b<c。若差异在区间1,则增减方式为增加,增减幅度值为数值1(如5、10等);若差异在区间2,则增减方式为不增也不减(即不变),增减幅度值为0;若差异在区间3、则增减方式为减,增减幅度值为数值2(如8、11等)。
其中,差异大小的判断可通过与一设定阈值比较来确定,假设,所述 第一预测航迹位置与所述第一测量航迹位置的差异大于该设定阈值,则认为差异大;第一预测航迹位置与所述第一测量航迹位置的差异小于该设定阈值,则认为差异小。
另外,所述差异与所述航迹质量评估分呈反相关关系可简单理解为:差异越大,航迹质量评估分越低;差异越小,航迹质量评估分越高。
进一步的,所述评估结果中包括航迹质量评估分;相应的,本实施例中步骤103“根据所述多个虚拟目标各自对应的目标航迹的评估结果,判断所述障碍物是否位于安全飞行区”,可具体包括:
1031、所述多个虚拟目标各自对应的目标航迹的航迹质量评估分中存在大于或等于预设分数值的航迹质量评估分时,根据所述多个虚拟目标各自对应的目标航迹,确定所述障碍物的预估位置信息;
1032、根据所述预估位置信息,判断所述障碍物是否位于安全范围内。
在一具体实施方案中,上述步骤1031中“根据所述多个虚拟目标各自对应的目标航迹,确定所述障碍物的预估位置信息”,可具体为:
根据所述多个虚拟目标各自对应的目标航迹中最后记录的航迹位置,采用二项式插值的方式,确定出所述障碍物的预估位置信息。
其中,二项式插值可参见现有技术中的相关内容,本实施例对此不作具体限定。
进一步的,上述步骤1032“根据所述预估位置信息,判断所述障碍物是否位于安全范围内”,可具体为:
所述多个虚拟目标各自对应的目标航迹的航迹质量评估分均小于所述预设分数值时,判定所述障碍物位于安全范围以外。
上述预设分数值可为一经验值,本实施例对该预设分数值的取值不作具体限定,可根据实际应用场景中的具体情况设定。
图4示出了本申请另一实施例提供的障碍物检测装置的结构示意图。如图4所示,所述障碍物检测装置包括:
生成模块11,用于针对位于自主移动平台移动前方的障碍物,生成多个虚拟目标;
建立模块12,用于在所述自主移动平台移动过程中,建立所述多个虚拟目标各自对应的目标航迹;
判断模块13,用于根据所述多个虚拟目标各自对应的目标航迹的评估结果,判断所述障碍物是否位于安全范围内。
本实施例提供的技术方案中,在检测到自主移动平台前方存在障碍物后,建立多个虚拟目标各自对应的目标航迹;通过多条目标航迹的评估结果能够判断出障碍物是否位于安全范围内;这样可降低虚警率,提升自主移动平台的障碍物检测能力。
进一步的,所述生成模块11针对位于自主移动平台移动前方的障碍物,生成多个虚拟目标时,具体用于:
获取所述障碍物在自主移动平台的观测坐标系的第一坐标轴和第二坐标轴上的初始坐标值;所述观测坐标系由所述第一坐标轴、所述第二坐标轴以及第三坐标轴构成;
根据所述初始坐标值,生成多个虚拟目标各自在所述观测坐标系下的初始观测坐标。
进一步的,各所述虚拟目标的初始观测坐标中所述第一坐标轴对应的坐标值为所述障碍物在所述第一坐标轴上的初始坐标值;各所述虚拟目标的初始观测坐标中所述第二坐标轴对应的坐标值为所述障碍物在所述第二坐标轴上的初始坐标值;各所述虚拟目标的初始观测坐标中所述第三坐标轴对应的坐标值为设定值。
进一步的,本实施例提供的障碍物检测装置还可包括确定模块。其中,所述确定模块用于根据所述多个虚拟目标各自在所述观测坐标系下的初始观测坐标,确定所述多个虚拟目标各自对应的目标航迹的航迹起始。
进一步的,所述多个虚拟目标中包括第一虚拟目标;相应的,所述建立模块12在所述自主移动平台移动过程中,建立所述第一虚拟目标对应的目标航迹时,具体用于:
结合所述第一虚拟目标在第一时刻的第一航迹位置,预测所述第一虚拟目标在第二时刻的第一预测航迹位置;
结合所述第一预测航迹位置以及在所述第二时刻测量到的所述第一虚拟目标的第一测量航迹位置,确定所述第一虚拟目标在所述第二时刻的第二航迹位置;其中,所述第一虚拟目标对应的目标航迹中记录有所述第一航迹位置和所述第二航迹位置。
进一步的,所述建立模块12结合所述第一预测航迹位置以及在所述第 二时刻测量到的所述第一虚拟目标的第一测量航迹位置,确定所述第一虚拟目标在所述第二时刻的第二航迹位置时,具体用于:
当所述第一预测航迹位置与所述第一测量航迹位置的差异的绝对值小于第一预设阈值时,将所述第一预测航迹位置和所述第一测量航迹位置作为滤波算法的输入,执行所述滤波算法,得到所述第二航迹位置。
进一步的,所述建立模块12结合所述第一预测位置以及在所述第二时刻测量到的所述第一虚拟目标的第一测量位置,确定所述第一虚拟目标在所述第二时刻的第二位置时,具体用于:
当所述第一预测航迹位置与所述第一测量航迹位置的差异的绝对值大于或等于所述第一预设阈值时,将所述第一预测航迹位置作为所述第二航迹位置。
进一步的,本实施例提供的所述障碍物检测装置还可包括:
获取模块,用于获取在所述第二时刻所处的预设时段内,对所述第一虚拟目标重复进行位置观测得到的多次第一观测结果;
确定模块,用于当所述多次第一观测结果中有效观测结果的次数大于或等于第一预设次数时,根据所述多次第一观测结果中的有效观测结果,确定所述第一测量航迹位置。
进一步的,所述确定模块还用于:所述多次第一观测结果中有效观测结果的次数小于所述第一预设次数时,将所述第一预测航迹位置作为所述第二航迹位置。
进一步的,所述建立模块12结合所述第一虚拟目标在第一时刻的第一航迹位置,预测所述第一虚拟目标在第二时刻的第一预测航迹位置时,具体用于:
获取所述自主移动平台在所述第一时刻的移动速度;
根据所述第一虚拟目标在所述第一时刻的第一航迹位置以及所述移动速度,预测所述第一虚拟目标在第二时刻的第一预测航迹位置。
进一步的,本实施例提供的障碍物检测装置还可包括:
观测模块,用于在检测到所述自主移动平台前方存在所述障碍物后,在所述自主移动平台移动过程中,对所述障碍物重复进行位置观测,得到多次第二观测结果;
触发模块,用于在所述多次第二观测结果中有效观测结果的次数大于 或等于第二预设次数时,触发所述生成多个虚拟目标的步骤。
进一步的,本实施例提供的障碍物检测装置还可包括:
判定模块,用于在所述多次第二观测结果中有效观测结果的次数小于所述第二预设次数时,判定所述障碍物为虚假障碍物。
进一步的,本实施例提供的障碍物检测装置还可包括:
评估模块,用于结合所述第一预测航迹位置和所述第一测量航迹位置的差异,评估所述第一虚拟目标对应的目标航迹的评估结果。
进一步的,所述评估模块结合所述第一预测航迹位置和所述第一测量航迹位置的差异,评估所述第一虚拟目标对应的目标航迹的评估结果时,具体用于:
获取所述第一虚拟目标对应的目标航迹在所述第一时刻时的航迹质量评估分;
根据所述第一预测航迹位置与所述第一测量航迹位置的差异,对所述航迹质量评估分进行增减操作,得到更新后的航迹质量评估分;其中,所述差异与所述航迹质量评估分呈反相关关系;
将所述更新后的航迹质量评估分作为所述第一虚拟目标对应的目标航迹在所述第二时刻的航迹质量评估分。
进一步的,所述评估结果中包括航迹质量评估分。相应的,所述判断模块13根据所述多个虚拟目标各自对应的目标航迹的评估结果,判断所述障碍物是否位于安全飞行区时,具体用于:
所述多个虚拟目标各自对应的目标航迹的航迹质量评估分中存在大于或等于预设分数值的航迹质量评估分时,根据所述多个虚拟目标各自对应的目标航迹,确定所述障碍物的预估位置信息;
根据所述预估位置信息,判断所述障碍物是否位于安全范围内。
进一步的,所述判断模块根据所述多个虚拟目标各自对应的目标航迹,确定所述障碍物的预估位置信息时,具体用于:
根据所述多个虚拟目标各自对应的目标航迹中最后记录的航迹位置,采用二项式插值的方式,确定出所述障碍物的预估位置信息。
进一步的,所述判断模块根据所述多个虚拟目标各自对应的目标航迹的评估结果,判断所述障碍物是否位于安全范围内时,具体用于:
所述多个虚拟目标各自对应的目标航迹的航迹质量评估分均小于所述 预设分数值时,判定所述障碍物位于安全范围以外。
进一步的,本实施例中所述的自主移动平台为无人机。
图5示出了本申请一实施例提供的障碍物检测系统的结构示意图。如图5所示,所述障碍物检测系统包括:
存储器22,用于存储计算机程序;
处理器21,用于运行所述存储器中存储的计算机程序以实现:
针对位于自主移动平台移动前方的障碍物,生成多个虚拟目标;其中,所述多个虚拟目标分布在同一条垂直于水平面的垂直线上;所述障碍物位于所述垂直线上;
在所述自主移动平台移动过程中,建立所述多个虚拟目标各自对应的目标航迹;
根据所述多个虚拟目标各自对应的目标航迹的评估结果,判断所述障碍物是否位于安全范围内。
本实施例提供的技术方案中,在检测到自主移动平台前方存在障碍物后,建立多个虚拟目标各自对应的目标航迹;通过多条目标航迹的评估结果能够判断出障碍物是否位于安全范围内;这样可降低虚警率,提升自主移动平台的障碍物检测能力。
进一步的,所述处理器21针对位于自主移动平台移动前方的障碍物,生成多个虚拟目标时,具体用于:
获取所述障碍物在自主移动平台的观测坐标系的第一坐标轴和第二坐标轴上的初始坐标值;所述观测坐标系由所述第一坐标轴、所述第二坐标轴以及第三坐标轴构成;
根据所述初始坐标值,生成多个虚拟目标各自在所述观测坐标系下的初始观测坐标。
进一步的,所述处理器21还用于:
根据所述多个虚拟目标各自在所述观测坐标系下的初始观测坐标,确定所述多个虚拟目标各自对应的目标航迹的航迹起始。
进一步的,所述多个虚拟目标中包括第一虚拟目标;以及
所述处理器21在所述自主移动平台移动过程中,建立所述第一虚拟目标对应的目标航迹时,具体用于:
结合所述第一虚拟目标在第一时刻的第一航迹位置,预测所述第一虚拟目标在第二时刻的第一预测航迹位置;
结合所述第一预测航迹位置以及在所述第二时刻测量到的所述第一虚拟目标的第一测量航迹位置,确定所述第一虚拟目标在所述第二时刻的第二航迹位置;其中,所述第一虚拟目标对应的目标航迹中记录有所述第一航迹位置和所述第二航迹位置。
进一步的,所述处理器21结合所述第一预测航迹位置以及在所述第二时刻测量到的所述第一虚拟目标的第一测量航迹位置,确定所述第一虚拟目标在所述第二时刻的第二航迹位置时,具体用于:
当所述第一预测航迹位置与所述第一测量航迹位置的差异的绝对值小于第一预设阈值时,将所述第一预测航迹位置和所述第一测量航迹位置作为滤波算法的输入,执行所述滤波算法,得到所述第二航迹位置。
进一步的,所述处理器21结合所述第一预测位置以及在所述第二时刻测量到的所述第一虚拟目标的第一测量位置,确定所述第一虚拟目标在所述第二时刻的第二位置时,具体用于:
当所述第一预测航迹位置与所述第一测量航迹位置的差异的绝对值大于或等于所述第一预设阈值时,将所述第一预测航迹位置作为所述第二航迹位置。
进一步的,所述处理器21还用于:
获取在所述第二时刻所处的预设时段内,对所述第一虚拟目标重复进行位置观测得到的多次第一观测结果;
当所述多次第一观测结果中有效观测结果的次数大于或等于第一预设次数时,根据所述多次第一观测结果中的有效观测结果,确定所述第一测量航迹位置。
进一步的,所述处理器21还用于:
所述多次第一观测结果中有效观测结果的次数小于所述第一预设次数时,将所述第一预测航迹位置作为所述第二航迹位置。
进一步的,所述处理器21结合所述第一虚拟目标在第一时刻的第一航迹位置,预测所述第一虚拟目标在第二时刻的第一预测航迹位置时,具体用于:
获取所述自主移动平台在所述第一时刻的移动速度;
根据所述第一虚拟目标在所述第一时刻的第一航迹位置以及所述移动速度,预测所述第一虚拟目标在第二时刻的第一预测航迹位置。
进一步的,所述处理器21还用于:
检测到所述自主移动平台前方存在所述障碍物后,在所述自主移动平台移动过程中,对所述障碍物重复进行位置观测,得到多次第二观测结果;
所述多次第二观测结果中有效观测结果的次数大于或等于第二预设次数时,触发所述生成多个虚拟目标的步骤。
进一步的,所述处理器21还用于:
所述多次第二观测结果中有效观测结果的次数小于所述第二预设次数时,判定所述障碍物为虚假障碍物。
进一步的,所述处理器21还用于:
结合所述第一预测航迹位置和所述第一测量航迹位置的差异,评估所述第一虚拟目标对应的目标航迹的评估结果。
进一步的,所述处理器21结合所述第一预测航迹位置和所述第一测量航迹位置的差异,评估所述第一虚拟目标对应的目标航迹的评估结果时,具体用于:
获取所述第一虚拟目标对应的目标航迹在所述第一时刻时的航迹质量评估分;
根据所述第一预测航迹位置与所述第一测量航迹位置的差异,对所述航迹质量评估分进行增减操作,得到更新后的航迹质量评估分;其中,所述差异与所述航迹质量评估分呈反相关关系;
将所述更新后的航迹质量评估分作为所述第一虚拟目标对应的目标航迹在所述第二时刻的航迹质量评估分。
进一步的,所述评估结果中包括航迹质量评估分;以及
所述处理器21根据所述多个虚拟目标各自对应的目标航迹的评估结果,判断所述障碍物是否位于安全飞行区时,具体用于:
所述多个虚拟目标各自对应的目标航迹的航迹质量评估分中存在大于或等于预设分数值的航迹质量评估分时,根据所述多个虚拟目标各自对应的目标航迹,确定所述障碍物的预估位置信息;
根据所述预估位置信息,判断所述障碍物是否位于安全范围内。
进一步的,所述处理器21根据所述多个虚拟目标各自对应的目标航迹, 确定所述障碍物的预估位置信息时,具体用于:
根据所述多个虚拟目标各自对应的目标航迹中最后记录的航迹位置,采用二项式插值的方式,确定出所述障碍物的预估位置信息。
进一步的,所述处理器21根据所述多个虚拟目标各自对应的目标航迹的评估结果,判断所述障碍物是否位于安全范围内时,具体用于:
所述多个虚拟目标各自对应的目标航迹的航迹质量评估分均小于所述预设分数值时,判定所述障碍物位于安全范围以外。
这里需要说明的是:上述实施例中处理器还可上述各方法实施例中描述的技术方案,具体实现的原理可参见上述各方法实施例中的相应内容,此处不再赘述。
可选地,除了处理器,本申请各实施例提供的障碍物检测系统还可包括显示控制器和/或显示设备单元22,收发器23,音频输入输出单元25,其他输入输出单元等。障碍物检测系统包括的这些部件可以通过总线或内部连接互联。
可选地,收发器可以是有线收发器或无线收发器,诸如,WIFI收发器,卫星收发器,蓝牙收发器,3G/4G/5G无线通信信号收发器或其组合等。
可选地,该音频输入输出单元可以包括扬声器,话筒,听筒等。
可选地,其他输入输出设备可以包括USB端口,串行端口,并行端口,打印机,网络接口等。
进一步的,本申请一实施例还提供了一个或多个非暂时性计算机可读存储介质,其具有储存于其上的可执行指令,所述可执行指令在一个或多个处理器执行时,使所述计算机系统至少:
针对位于自主移动平台移动前方的障碍物,生成多个虚拟目标;
在所述自主移动平台移动过程中,建立所述多个虚拟目标各自对应的目标航迹;
根据所述多个虚拟目标各自对应的目标航迹的评估结果,判断所述障碍物是否位于安全范围内。
本申请实施例提供的各实施例可应用到需检测障碍物的设备上,该设备可为自主移动平台,如自主移动车辆、无人飞机器等,本实施例对此不作具体限定。当然,本申请各实施例提供的各实施例提供的技术方案应用 在与自主移动平台通信连接的地面端设备,比如,无人飞行器的飞控信号均由地面端设备发出。
下面地面端设备为例,如图6所示,本实施例提供一种地面端设备。该地面端设备包括障碍物检测系统,可与一自主移动平台通信连接,用于向自主移动平台发送控制信号。具体的,障碍物检测系统设置在地面端设备200的设备体内上,自主移动平台200上设有雷达。具体的,继续参见图5所示,所述障碍物检测系统可包括:
存储器,用于存储计算机程序;
处理器,用于运行所述存储器中存储的计算机程序以实现:
针对位于地面端设备移动前方的障碍物,生成多个虚拟目标;其中,所述多个虚拟目标分布在同一条垂直于水平面的垂直线上;所述障碍物位于所述垂直线上;
在所述地面端设备移动过程中,建立所述多个虚拟目标各自对应的目标航迹;
根据所述多个虚拟目标各自对应的目标航迹的评估结果,判断所述障碍物是否位于安全范围内。
具体的,本实施例中所述的障碍物检测系统还采用上述实施例中提供的技术方案,有关障碍物检测系统的内容可参见上文中相应描述,此处不作赘述。
具体实施时,所述地面端设备可以是:与自主移动平台通信的控制设备、智能终端(如智能手机、电脑等)、遥控器等等,本实施例对此不作具体限定。
如图7所示,本实施例提供一种自主移动平台。该自主移动平台800包括障碍物检测系统850,障碍物检测系统850设置在自主移动平台800的设备体上,所述设备体上还设有雷达840;雷达840与障碍物检测系统通信连接,以便障碍物检测系统获取雷达输出的信号。具体的,所述障碍物检测系统850可包括:
存储器,用于存储计算机程序;
处理器,用于运行所述存储器中存储的计算机程序以实现:
针对位于地面端设备移动前方的障碍物,生成多个虚拟目标;其中,所述多个虚拟目标分布在同一条垂直于水平面的垂直线上;所述障碍物位 于所述垂直线上;
在所述地面端设备移动过程中,建立所述多个虚拟目标各自对应的目标航迹;
根据所述多个虚拟目标各自对应的目标航迹的评估结果,判断所述障碍物是否位于安全范围内。
具体的,本实施例中所述的障碍物检测系统还采用上述实施例中提供的技术方案,有关障碍物检测系统的内容可参见上文中相应描述,此处不作赘述。
进一步的,如图7所示,所述自主移动平台还可包括:相机820、云台810。相机820设置在所述云台810;相机820通过所述云台810可相对机身移动。所述自主移动平台上可还设有惯性测量单元(图中未示出)。该可移动平台还可包括:动力系统830。该动力系统可以包括电子调速器(简称为电调)、一个或多个螺旋桨以及与一个或多个螺旋桨相对应的一个或多个电机。当然,可移动平台除上述列出装置外,还可包括其他元件或装置,本文不一一例举。
以上各个实施例中的技术方案、技术特征在与本相冲突的情况下均可以单独,或者进行组合,只要未超出本领域技术人员的认知范围,均属于本申请保护范围内的等同实施例。
在本发明所提供的几个实施例中,应该理解到,所揭露的相关检测装置(例如:IMU)和方法,可以通过其它的方式实现。例如,以上所描述的遥控装置实施例仅仅是示意性的,例如,所述模块或单元的划分,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,遥控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,在本发明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。上述集成的单元既可以采用硬件的形式实现,也可以采用软件功能单元的形式实现。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时,可以存储在一个计算机可读取存储介质中。基于这样的理解,本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来,该计算机软件产品存储在一个存储介质中,包括若干指令用以使得计算机处理器(processor)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括:U盘、移动硬盘、只读存储器(ROM,Read-Only Memory)、随机存取存储器(RAM,Random Access Memory)、磁盘或者光盘等各种可以存储程序代码的介质。
以上所述仅为本发明的实施例,并非因此限制本发明的专利范围,凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换,或直接或间接运用在其他相关的技术领域,均同理包括在本发明的专利保护范围内。
最后应说明的是:以上各实施例仅用以说明本发明的技术方案,而非对其限制;尽管参照前述各实施例对本发明进行了详细的说明,本领域的普通技术人员应当理解:其依然可以对前述各实施例所记载的技术方案进行修改,或者对其中部分或者全部技术特征进行等同替换;而这些修改或者替换,并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。
Claims (36)
- 一种障碍物检测方法,其特征在于,包括:针对位于自主移动平台移动前方的障碍物,生成多个虚拟目标;在所述自主移动平台移动过程中,建立所述多个虚拟目标各自对应的目标航迹;根据所述多个虚拟目标各自对应的目标航迹的评估结果,判断所述障碍物是否位于安全范围内。
- 根据权利要求1所述的方法,其特征在于,针对位于自主移动平台移动前方的障碍物,生成多个虚拟目标,包括:获取所述障碍物在自主移动平台的观测坐标系的第一坐标轴和第二坐标轴上的初始坐标值;所述观测坐标系由所述第一坐标轴、所述第二坐标轴以及第三坐标轴构成;根据所述初始坐标值,生成多个虚拟目标各自在所述观测坐标系下的初始观测坐标。
- 根据权利要求2所述的方法,其特征在于,各所述虚拟目标的初始观测坐标中所述第一坐标轴对应的坐标值为所述障碍物在所述第一坐标轴上的初始坐标值;各所述虚拟目标的初始观测坐标中所述第二坐标轴对应的坐标值为所述障碍物在所述第二坐标轴上的初始坐标值;各所述虚拟目标的初始观测坐标中所述第三坐标轴对应的坐标值为设定值。
- 根据权利要求2所述的方法,其特征在于,还包括:根据所述多个虚拟目标各自在所述观测坐标系下的初始观测坐标,确定所述多个虚拟目标各自对应的目标航迹的航迹起始。
- 根据权利要求1至4中任一项所述的方法,其特征在于,所述多个虚拟目标中包括第一虚拟目标;在所述自主移动平台移动过程中,建立所述第一虚拟目标对应的目标航迹,包括:结合所述第一虚拟目标在第一时刻的第一航迹位置,预测所述第一虚拟目标在第二时刻的第一预测航迹位置;结合所述第一预测航迹位置以及在所述第二时刻测量到的所述第一虚拟目标的第一测量航迹位置,确定所述第一虚拟目标在所述第二时刻的第二航迹位置;其中,所述第一虚拟目标对应的目标航迹中记录有所述第一 航迹位置和所述第二航迹位置。
- 根据权利要求5所述的方法,其特征在于,结合所述第一预测航迹位置以及在所述第二时刻测量到的所述第一虚拟目标的第一测量航迹位置,确定所述第一虚拟目标在所述第二时刻的第二航迹位置,包括:当所述第一预测航迹位置与所述第一测量航迹位置的差异的绝对值小于第一预设阈值时,将所述第一预测航迹位置和所述第一测量航迹位置作为滤波算法的输入,执行所述滤波算法,得到所述第二航迹位置。
- 根据权利要求6所述的方法,其特征在于,结合所述第一预测位置以及在所述第二时刻测量到的所述第一虚拟目标的第一测量位置,确定所述第一虚拟目标在所述第二时刻的第二位置,还包括:当所述第一预测航迹位置与所述第一测量航迹位置的差异的绝对值大于或等于所述第一预设阈值时,将所述第一预测航迹位置作为所述第二航迹位置。
- 根据权利要求5所述的方法,其特征在于,还包括:获取在所述第二时刻所处的预设时段内,对所述第一虚拟目标重复进行位置观测得到的多次第一观测结果;当所述多次第一观测结果中有效观测结果的次数大于或等于第一预设次数时,根据所述多次第一观测结果中的有效观测结果,确定所述第一测量航迹位置。
- 根据权利要求8所述的方法,其特征在于,还包括:所述多次第一观测结果中有效观测结果的次数小于所述第一预设次数时,将所述第一预测航迹位置作为所述第二航迹位置。
- 根据权利要求5所述的方法,其特征在于,结合所述第一虚拟目标在第一时刻的第一航迹位置,预测所述第一虚拟目标在第二时刻的第一预测航迹位置,包括:获取所述自主移动平台在所述第一时刻的移动速度;根据所述第一虚拟目标在所述第一时刻的第一航迹位置以及所述移动速度,预测所述第一虚拟目标在第二时刻的第一预测航迹位置。
- 根据权利要求5所述的方法,其特征在于,还包括:检测到所述自主移动平台前方存在所述障碍物后,在所述自主移动平台移动过程中,对所述障碍物重复进行位置观测,得到多次第二观测结果;所述多次第二观测结果中有效观测结果的次数大于或等于第二预设次数时,触发所述生成多个虚拟目标的步骤。
- 根据权利要求11所述的方法,其特征在于,还包括:所述多次第二观测结果中有效观测结果的次数小于所述第二预设次数时,判定所述障碍物为虚假障碍物。
- 根据权利要求5所述的方法,其特征在于,还包括:结合所述第一预测航迹位置和所述第一测量航迹位置的差异,评估所述第一虚拟目标对应的目标航迹的评估结果。
- 根据权利要求13所述的方法,其特征在于,结合所述第一预测航迹位置和所述第一测量航迹位置的差异,评估所述第一虚拟目标对应的目标航迹的评估结果,包括:获取所述第一虚拟目标对应的目标航迹在所述第一时刻时的航迹质量评估分;根据所述第一预测航迹位置与所述第一测量航迹位置的差异,对所述航迹质量评估分进行增减操作,得到更新后的航迹质量评估分;其中,所述差异与所述航迹质量评估分呈反相关关系;将所述更新后的航迹质量评估分作为所述第一虚拟目标对应的目标航迹在所述第二时刻的航迹质量评估分。
- 根据权利要求1至4中任一项所述的方法,其特征在于,所述评估结果中包括航迹质量评估分;根据所述多个虚拟目标各自对应的目标航迹的评估结果,判断所述障碍物是否位于安全飞行区,包括:所述多个虚拟目标各自对应的目标航迹的航迹质量评估分中存在大于或等于预设分数值的航迹质量评估分时,根据所述多个虚拟目标各自对应的目标航迹,确定所述障碍物的预估位置信息;根据所述预估位置信息,判断所述障碍物是否位于安全范围内。
- 根据权利要求15所述的方法,其特征在于,根据所述多个虚拟目标各自对应的目标航迹,确定所述障碍物的预估位置信息,包括:根据所述多个虚拟目标各自对应的目标航迹中最后记录的航迹位置,采用二项式插值的方式,确定出所述障碍物的预估位置信息。
- 根据权利要求15所述的方法,其特征在于,根据所述多个虚拟目 标各自对应的目标航迹的评估结果,判断所述障碍物是否位于安全范围内,还包括:所述多个虚拟目标各自对应的目标航迹的航迹质量评估分均小于所述预设分数值时,判定所述障碍物位于安全范围以外。
- 根据权利要求1至4中任一项所述的方法,其特征在于,所述自主移动平台为无人机。
- 一种障碍物检测系统,其特征在于,包括:存储器,用于存储计算机程序;处理器,用于运行所述存储器中存储的计算机程序以实现:针对位于自主移动平台移动前方的障碍物,生成多个虚拟目标;其中,所述多个虚拟目标分布在同一条垂直于水平面的垂直线上;所述障碍物位于所述垂直线上;在所述自主移动平台移动过程中,建立所述多个虚拟目标各自对应的目标航迹;根据所述多个虚拟目标各自对应的目标航迹的评估结果,判断所述障碍物是否位于安全范围内。
- 根据权利要求19所述的障碍物检测系统,其特征在于,所述处理器针对位于自主移动平台移动前方的障碍物,生成多个虚拟目标时,具体用于:获取所述障碍物在自主移动平台的观测坐标系的第一坐标轴和第二坐标轴上的初始坐标值;所述观测坐标系由所述第一坐标轴、所述第二坐标轴以及第三坐标轴构成;根据所述初始坐标值,生成多个虚拟目标各自在所述观测坐标系下的初始观测坐标。
- 根据权利要求20所述的障碍物检测系统,其特征在于,所述处理器还用于:根据所述多个虚拟目标各自在所述观测坐标系下的初始观测坐标,确定所述多个虚拟目标各自对应的目标航迹的航迹起始。
- 根据权利要求19至21中任一项所述的障碍物检测系统,其特征在于,所述多个虚拟目标中包括第一虚拟目标;以及所述处理器在所述自主移动平台移动过程中,建立所述第一虚拟目标 对应的目标航迹时,具体用于:结合所述第一虚拟目标在第一时刻的第一航迹位置,预测所述第一虚拟目标在第二时刻的第一预测航迹位置;结合所述第一预测航迹位置以及在所述第二时刻测量到的所述第一虚拟目标的第一测量航迹位置,确定所述第一虚拟目标在所述第二时刻的第二航迹位置;其中,所述第一虚拟目标对应的目标航迹中记录有所述第一航迹位置和所述第二航迹位置。
- 根据权利要求22所述的障碍物检测系统,其特征在于,所述处理器结合所述第一预测航迹位置以及在所述第二时刻测量到的所述第一虚拟目标的第一测量航迹位置,确定所述第一虚拟目标在所述第二时刻的第二航迹位置时,具体用于:当所述第一预测航迹位置与所述第一测量航迹位置的差异的绝对值小于第一预设阈值时,将所述第一预测航迹位置和所述第一测量航迹位置作为滤波算法的输入,执行所述滤波算法,得到所述第二航迹位置。
- 根据权利要求23所述的障碍物检测系统,其特征在于,所述处理器结合所述第一预测位置以及在所述第二时刻测量到的所述第一虚拟目标的第一测量位置,确定所述第一虚拟目标在所述第二时刻的第二位置时,具体用于:当所述第一预测航迹位置与所述第一测量航迹位置的差异的绝对值大于或等于所述第一预设阈值时,将所述第一预测航迹位置作为所述第二航迹位置。
- 根据权利要求22所述的障碍物检测系统,其特征在于,所述处理器还用于:获取在所述第二时刻所处的预设时段内,对所述第一虚拟目标重复进行位置观测得到的多次第一观测结果;当所述多次第一观测结果中有效观测结果的次数大于或等于第一预设次数时,根据所述多次第一观测结果中的有效观测结果,确定所述第一测量航迹位置。
- 根据权利要求25所述的障碍物检测系统,其特征在于,所述处理器还用于:所述多次第一观测结果中有效观测结果的次数小于所述第一预设次数 时,将所述第一预测航迹位置作为所述第二航迹位置。
- 根据权利要求22所述的障碍物检测系统,其特征在于,所述处理器结合所述第一虚拟目标在第一时刻的第一航迹位置,预测所述第一虚拟目标在第二时刻的第一预测航迹位置时,具体用于:获取所述自主移动平台在所述第一时刻的移动速度;根据所述第一虚拟目标在所述第一时刻的第一航迹位置以及所述移动速度,预测所述第一虚拟目标在第二时刻的第一预测航迹位置。
- 根据权利要求22所述的障碍物检测系统,其特征在于,所述处理器还用于:检测到所述自主移动平台前方存在所述障碍物后,在所述自主移动平台移动过程中,对所述障碍物重复进行位置观测,得到多次第二观测结果;所述多次第二观测结果中有效观测结果的次数大于或等于第二预设次数时,触发所述生成多个虚拟目标的步骤。
- 根据权利要求28所述的障碍物检测系统,其特征在于,所述处理器还用于:所述多次第二观测结果中有效观测结果的次数小于所述第二预设次数时,判定所述障碍物为虚假障碍物。
- 根据权利要求22所述的障碍物检测系统,其特征在于,所述处理器还用于:结合所述第一预测航迹位置和所述第一测量航迹位置的差异,评估所述第一虚拟目标对应的目标航迹的评估结果。
- 根据权利要求30所述的障碍物检测系统,其特征在于,所述处理器结合所述第一预测航迹位置和所述第一测量航迹位置的差异,评估所述第一虚拟目标对应的目标航迹的评估结果时,具体用于:获取所述第一虚拟目标对应的目标航迹在所述第一时刻时的航迹质量评估分;根据所述第一预测航迹位置与所述第一测量航迹位置的差异,对所述航迹质量评估分进行增减操作,得到更新后的航迹质量评估分;其中,所述差异与所述航迹质量评估分呈反相关关系;将所述更新后的航迹质量评估分作为所述第一虚拟目标对应的目标航迹在所述第二时刻的航迹质量评估分。
- 根据权利要求19至21中任一项所述的障碍物检测系统,其特征在于,所述评估结果中包括航迹质量评估分;以及所述处理器根据所述多个虚拟目标各自对应的目标航迹的评估结果,判断所述障碍物是否位于安全飞行区时,具体用于:所述多个虚拟目标各自对应的目标航迹的航迹质量评估分中存在大于或等于预设分数值的航迹质量评估分时,根据所述多个虚拟目标各自对应的目标航迹,确定所述障碍物的预估位置信息;根据所述预估位置信息,判断所述障碍物是否位于安全范围内。
- 根据权利要求32所述的障碍物检测系统,其特征在于,所述处理器根据所述多个虚拟目标各自对应的目标航迹,确定所述障碍物的预估位置信息时,具体用于:根据所述多个虚拟目标各自对应的目标航迹中最后记录的航迹位置,采用二项式插值的方式,确定出所述障碍物的预估位置信息。
- 根据权利要求32所述的障碍物检测系统,其特征在于,所述处理器根据所述多个虚拟目标各自对应的目标航迹的评估结果,判断所述障碍物是否位于安全范围内时,具体用于:所述多个虚拟目标各自对应的目标航迹的航迹质量评估分均小于所述预设分数值时,判定所述障碍物位于安全范围以外。
- 一种地面端设备,其特征在于,包括:上述权利要求19至34中任一项所述的障碍物检测系统。
- 一种自主移动平台,其特征在于,包括:上述权利要求19至34中任一项所述的障碍物检测系统。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201980034231.5A CN112424635A (zh) | 2019-11-05 | 2019-11-05 | 障碍物检测方法、系统、地面端设备及自主移动平台 |
PCT/CN2019/115824 WO2021087782A1 (zh) | 2019-11-05 | 2019-11-05 | 障碍物检测方法、系统、地面端设备及自主移动平台 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/CN2019/115824 WO2021087782A1 (zh) | 2019-11-05 | 2019-11-05 | 障碍物检测方法、系统、地面端设备及自主移动平台 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2021087782A1 true WO2021087782A1 (zh) | 2021-05-14 |
Family
ID=74844176
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CN2019/115824 WO2021087782A1 (zh) | 2019-11-05 | 2019-11-05 | 障碍物检测方法、系统、地面端设备及自主移动平台 |
Country Status (2)
Country | Link |
---|---|
CN (1) | CN112424635A (zh) |
WO (1) | WO2021087782A1 (zh) |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20070290918A1 (en) * | 2006-06-20 | 2007-12-20 | Eurocopter | System for detecting obstacles in the vicinity of a touchdown point |
CN103116360A (zh) * | 2013-01-31 | 2013-05-22 | 南京航空航天大学 | 一种无人机避障控制方法 |
US9436187B2 (en) * | 2015-01-15 | 2016-09-06 | The United States Of America As Represented By The Secretary Of The Navy | System and method for decentralized, multi-agent unmanned vehicle navigation and formation control |
US20160351060A1 (en) * | 2015-05-29 | 2016-12-01 | Airbus Helicopters | Method and a system for assisting piloting to avoid an obstacle with a rotorcraft |
US20170193830A1 (en) * | 2016-01-05 | 2017-07-06 | California Institute Of Technology | Controlling unmanned aerial vehicles to avoid obstacle collision |
CN107077143A (zh) * | 2015-10-28 | 2017-08-18 | 深圳市大疆创新科技有限公司 | 一种无人机的线缆避障方法和系统及无人机 |
CN107885209A (zh) * | 2017-11-13 | 2018-04-06 | 浙江工业大学 | 一种基于动态窗口与虚拟目标点的避障方法 |
CN108521808A (zh) * | 2017-10-31 | 2018-09-11 | 深圳市大疆创新科技有限公司 | 一种障碍信息显示方法、显示装置、无人机及系统 |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2016085483A (ja) * | 2014-10-22 | 2016-05-19 | 株式会社デンソー | 運転支援装置 |
CN104965202B (zh) * | 2015-06-18 | 2017-10-27 | 奇瑞汽车股份有限公司 | 障碍物探测方法和装置 |
SE538908C2 (sv) * | 2015-10-22 | 2017-02-07 | Uniquesec Ab | Testing method with virtual radar signatures for an automotive safety radar system |
CN107817488B (zh) * | 2017-09-28 | 2021-08-03 | 西安电子科技大学昆山创新研究院 | 基于毫米波雷达与视觉融合的无人机避障装置及避障方法 |
WO2019119243A1 (zh) * | 2017-12-18 | 2019-06-27 | 深圳市大疆创新科技有限公司 | 无人机避障方法及无人机 |
CN108281789B (zh) * | 2018-01-12 | 2020-03-20 | 深圳市道通智能航空技术有限公司 | 定向天线的盲区跟踪方法、其装置及移动跟踪系统 |
CN108594849B (zh) * | 2018-04-10 | 2022-05-13 | 深圳市易飞行科技有限公司 | 一种基于毫米波雷达的无人机避障方法 |
CN108828527B (zh) * | 2018-06-19 | 2021-04-16 | 驭势(上海)汽车科技有限公司 | 一种多传感器数据融合方法、装置、车载设备及存储介质 |
CN109298414B (zh) * | 2018-09-29 | 2020-11-20 | 中国科学院电子学研究所 | 雷达多运动目标实时跟踪方法 |
CN109725650B (zh) * | 2019-03-08 | 2021-10-19 | 哈尔滨工程大学 | 一种密集障碍物环境下的auv避障方法 |
-
2019
- 2019-11-05 WO PCT/CN2019/115824 patent/WO2021087782A1/zh active Application Filing
- 2019-11-05 CN CN201980034231.5A patent/CN112424635A/zh active Pending
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20070290918A1 (en) * | 2006-06-20 | 2007-12-20 | Eurocopter | System for detecting obstacles in the vicinity of a touchdown point |
CN103116360A (zh) * | 2013-01-31 | 2013-05-22 | 南京航空航天大学 | 一种无人机避障控制方法 |
US9436187B2 (en) * | 2015-01-15 | 2016-09-06 | The United States Of America As Represented By The Secretary Of The Navy | System and method for decentralized, multi-agent unmanned vehicle navigation and formation control |
US20160351060A1 (en) * | 2015-05-29 | 2016-12-01 | Airbus Helicopters | Method and a system for assisting piloting to avoid an obstacle with a rotorcraft |
CN107077143A (zh) * | 2015-10-28 | 2017-08-18 | 深圳市大疆创新科技有限公司 | 一种无人机的线缆避障方法和系统及无人机 |
US20170193830A1 (en) * | 2016-01-05 | 2017-07-06 | California Institute Of Technology | Controlling unmanned aerial vehicles to avoid obstacle collision |
CN108521808A (zh) * | 2017-10-31 | 2018-09-11 | 深圳市大疆创新科技有限公司 | 一种障碍信息显示方法、显示装置、无人机及系统 |
CN107885209A (zh) * | 2017-11-13 | 2018-04-06 | 浙江工业大学 | 一种基于动态窗口与虚拟目标点的避障方法 |
Also Published As
Publication number | Publication date |
---|---|
CN112424635A (zh) | 2021-02-26 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US20190196474A1 (en) | Control method, control apparatus, control device, and movable platform | |
JP6029446B2 (ja) | 自律飛行ロボット | |
US20180032042A1 (en) | System And Method Of Dynamically Controlling Parameters For Processing Sensor Output Data | |
EP3531223B1 (en) | Obstacle avoidance method and aircraft | |
JP6195450B2 (ja) | 自律飛行ロボット | |
US20110169943A1 (en) | Utilizing Polarization Differencing Method For Detect, Sense And Avoid Systems | |
JP6235213B2 (ja) | 自律飛行ロボット | |
WO2017033976A1 (ja) | 飛行体制御装置、飛行体制御方法、及びコンピュータ読み取り可能な記録媒体 | |
CN109716157B (zh) | 轴偏移估计装置 | |
JP5990453B2 (ja) | 自律移動ロボット | |
EP3734394A1 (en) | Sensor fusion using inertial and image sensors | |
US11074463B2 (en) | Dynamic sensor operation and data processing based on motion information | |
JP6140458B2 (ja) | 自律移動ロボット | |
WO2021168708A1 (zh) | 用于可移动平台的控制方法、可移动平台、设备和存储介质 | |
JP6014485B2 (ja) | 自律飛行ロボット | |
JP6014484B2 (ja) | 自律移動ロボット | |
US20170345320A1 (en) | Monitoring a Construction Site Using an Unmanned Aerial Vehicle | |
JP2016173709A (ja) | 自律移動ロボット | |
Shakernia et al. | Passive ranging for UAV sense and avoid applications | |
JP6469492B2 (ja) | 自律移動ロボット | |
Vanek et al. | Performance characteristics of a complete vision only sense and avoid system | |
KR20200131081A (ko) | 적대적 드론 대응을 위한 드론 제어 시스템 및 드론 제어 방법 | |
WO2021087782A1 (zh) | 障碍物检测方法、系统、地面端设备及自主移动平台 | |
JP2017182691A (ja) | 自律飛行ロボット | |
WO2017007527A9 (en) | Three dimensional direction finder with one dimensional sensor array |
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: 19951604 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: 19951604 Country of ref document: EP Kind code of ref document: A1 |