WO2021121105A1 - 高度的确定方法和装置 - Google Patents
高度的确定方法和装置 Download PDFInfo
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- WO2021121105A1 WO2021121105A1 PCT/CN2020/135002 CN2020135002W WO2021121105A1 WO 2021121105 A1 WO2021121105 A1 WO 2021121105A1 CN 2020135002 W CN2020135002 W CN 2020135002W WO 2021121105 A1 WO2021121105 A1 WO 2021121105A1
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- road
- height
- lane
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- total width
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- 238000000034 method Methods 0.000 title claims abstract description 60
- 238000004891 communication Methods 0.000 claims description 5
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Definitions
- This application relates to the field of vehicle driving technology, and in particular to a method and device for determining height.
- the vehicle In assisted driving and autonomous driving scenarios, the vehicle needs to perceive the surrounding environment to provide a basis for the normal driving of the vehicle. Especially with the development of cities and the construction of roads, numerous overpasses and tunnels have appeared, and the driving sections of overpasses and tunnels will limit the height of vehicles. Therefore, in order to ensure the normal driving of vehicles, the When driving the surrounding environment, it is necessary to perceive the highest passing height of the road to obtain the highest passing height of the road.
- millimeter-wave radar when the highest passing height of the road is obtained, millimeter-wave radar is usually installed on the vehicle, so that when the vehicle passes through the height-limiting pole, bridge hole and tunnel, the reflection point data can be collected by the millimeter-wave radar.
- the point data includes valid reflection point data and invalid reflection point data, and the highest pass height of the road is determined through these reflection point data.
- the effective reflection point data can be understood as data that helps to calculate the highest passing height of the road
- the invalid reflection point data can be understood as data that has no effect on calculating the highest passing height of the road.
- the accuracy of the calculated maximum passage height of the road will be low, and, Even if the data used to calculate the maximum passage height of the road are all valid reflection point data, the detection accuracy of the millimeter wave radar is limited, which will also cause the accuracy of the calculated maximum passage height of the road to be low.
- the embodiment of the present application provides a method and device for determining a height, which improves the accuracy of the obtained highest passage height when determining the highest passage height of a road.
- an embodiment of the present application provides a method for determining a height, and the method for determining a height may include:
- the height threshold of the road is determined, and the height threshold is used to indicate the highest passing height of the road.
- the target object can be understood as an object used to determine road clearance, for example, a height-limiting rod, or a rectangular bridge hole, or a rectangular tunnel entrance; the target object can also be understood as Some objects whose road clearance cannot be determined, for example, arched bridge holes, or arched tunnel entrances, etc.
- the embodiment of the present application only takes the target object to include at least one of height-limiting rods, bridge holes, tunnel entrances, and parking rods. This is described as an example, but it does not mean that the embodiments of the present application are limited thereto.
- the target object on the road is first determined, and the height threshold of the road is determined according to the target object to obtain the highest passing height of the road, which is different from the prior art.
- the highest pass height of the road is automatically determined, so that timely and correct decision-making and control can be made based on the determined highest pass height of the road, which effectively improves the safety of road driving.
- the target object includes at least one of a height-limiting rod, a bridge hole, and a tunnel entrance, and a parking rod.
- the embodiment of the present application only assumes that the target object includes a height-limiting rod, a bridge hole, and a tunnel.
- At least one of the port and the parking rod is described as an example, but it does not mean that the embodiment of the present application is limited to this.
- determining the height threshold of the road according to the target object may include:
- the height threshold of the road determined based on the height information is also an accurate height threshold. The accuracy of the highest passing height obtained is improved.
- determining the height threshold of the road according to the target object may include:
- the height threshold of the road is determined.
- the lane information includes the number of lanes and the width of each lane. According to the target object and the lane information of the road, determining the height threshold of the road may include:
- the total width of the road is determined; the total width of the lane is determined according to the number of lanes and the width of each lane; and the height threshold of the road is determined according to the total width of the road.
- determining the height threshold of the road according to the total width of the road may include:
- the space parameter is used to indicate the road space aspect ratio.
- the spatial parameter can be represented by a bounding box of road clearance. It is understandable that the bounding box of the road clearance is only a possible realization of the spatial parameter used to indicate the road space aspect ratio. Form, but not limited to the bounding box of road clearance.
- the height threshold of the road When determining the height threshold of the road, first determine the total width of the road according to the total width of the target object and the lane, and determine the height threshold of the road according to the total width of the road and the space parameters used to indicate the road space aspect ratio.
- the calculated total width of the road is more accurate, and the spatial parameters are also accurate. Therefore, the height threshold for determining the height threshold of the road according to the total width of the road and the spatial parameter used to indicate the road's spatial aspect ratio is also accurate , Thereby improving the accuracy of the highest passing height obtained.
- determining the total width of the road according to the total width of the target object and the lane may include:
- the total width of the road is determined according to the first positional relationship and the total width of the lane; where the first positional relationship is used to indicate the positional relationship between the support portion of the target object and the lane lines on both sides of the most edge of the road.
- determining the total width of the road according to the first positional relationship and the total width of the lane may include:
- the total width of the lane is determined as the road The total width; if the first positional relationship indicates that the support part of the target object is set at a position outside the lane line on both sides of the edge, it means that the width area occupied by the lane in the horizontal direction is a partial area of the entire width area of the road in the horizontal direction.
- the total width of is determined according to the total width of the lane and the width between the support part of the target object and the lane line on both sides of the extreme edge. For example, the total width of the road is the total width of the lane and the support part and the extreme edge of the target object The sum of the widths between the lane lines on both sides to get the total width of the road.
- the method for determining the height may further include:
- the first prompt information is output, the first prompt information is used to indicate that the vehicle can drive normally; if the current height of the vehicle is greater than the height threshold of the road, the second prompt information is output, and the second prompt information is output.
- the prompt information is used to instruct the vehicle to stop and continue driving, so as to provide a driving basis for the vehicle to travel, thereby improving the safety of the vehicle.
- an embodiment of the present application also provides a height determining device, and the height determining device may include:
- the processing unit is used to determine the target object on the road; and according to the target object, determine the height threshold of the road, and the height threshold is used to indicate the highest passing height of the road.
- the target object includes at least one of a height-limiting pole, a bridge hole, a tunnel entrance, and a parking pole.
- the processing unit is specifically configured to determine that the height information displayed on the target object is the height threshold.
- the processing unit is specifically configured to determine the height threshold of the road according to the target object and the lane information of the road.
- the lane information includes the number of lanes and the width of each lane.
- the processing unit is specifically used to determine the total width of the road according to the target object and the total width of the lane; and to determine the total width of the road according to the total width of the road.
- the height threshold of the road where the total width of the lane is determined according to the number of lanes and the width of each lane.
- the processing unit is specifically configured to determine the height threshold of the road according to the total width of the road and the space parameters; wherein, the space parameter is used to indicate the road space aspect ratio.
- the processing unit is specifically configured to determine the total width of the road according to the first positional relationship and the total width of the lane; where the first positional relationship is used to indicate that the supporting part of the target object is The positional relationship between lane lines on both sides of the extreme edge.
- the processing unit is specifically configured to: if the first positional relationship indicates that the supporting part of the target object is set at the position of the lane line on both sides of the edge, the total width of the lane is the total width of the road; The position relationship indicates that the support part of the target object is set outside the lane line on both sides of the edge. The total width of the road is determined according to the total width of the lane and the width between the support part of the target object and the lane line on both sides of the edge .
- the total width of the road is the sum of the total width of the lane and the width between the support portion of the target object and the lane lines on both sides of the edge.
- the device for determining the height may further include an output unit.
- the output unit is configured to output first prompt information if the current vehicle height is less than the road height threshold, the first prompt information is used to indicate that the vehicle can drive normally; if the current vehicle height is greater than the road height threshold, output second Prompt information, the second prompt information is used to instruct the vehicle to stop and continue driving.
- an embodiment of the present application also provides a height determining device.
- the height determining device may include at least one processor and at least one memory, where:
- the memory is used to store program instructions
- the processor is configured to execute program instructions in the memory, so that the device executes the height determination method described in any one of the possible implementation manners of the first aspect.
- an embodiment of the present application further provides a computer storage medium, including instructions, when the instructions are run by one or more processors, cause the communication device to execute the foregoing one of the possible implementations of the first aspect.
- the method of determining the height is not limited to, but not limited to, but not limited to, but not limited to, but not limited to, but not limited to, but not limited to, but not limited to, but not limited to, but not limited to, but not limited to, a computer storage medium, including instructions, when the instructions are run by one or more processors, cause the communication device to execute the foregoing one of the possible implementations of the first aspect. The method of determining the height.
- an embodiment of the present application also provides a chip on which a computer program is stored.
- the computer program is executed by a processor, the method for determining the height described in any one of the possible implementations of the first aspect is executed.
- an embodiment of the present application further provides a vehicle.
- the vehicle includes a vehicle body and the height determining device according to any one of the possible implementations of the second aspect, wherein the height determining device is independently provided in the vehicle.
- the vehicle may also include a camera, a control module, or a fusion module; correspondingly, the height determination device may also be integrated on the camera, or the height determination device may also be integrated in the control module, or the height determination device
- the determination device can also be integrated in the fusion module.
- the control module may be a central controller or a multi-domain controller (MDC).
- the method and device for determining the height include: first determining the target object on the road, and determining the height threshold of the road according to the target object, so as to obtain the highest passing height of the road, which is different from that in the prior art.
- first determining the target object on the road and determining the height threshold of the road according to the target object, so as to obtain the highest passing height of the road, which is different from that in the prior art.
- it effectively improves the accuracy of the obtained highest pass height which is convenient to improve the driving performance, especially when it is used in intelligent driving or automatic driving.
- the highest passing height of the road is automatically determined, so that timely and correct decision-making and control can be made based on the determined highest passing height of the road, which effectively improves the safety of road driving.
- FIG. 1 is a schematic diagram of an application scenario provided by an embodiment of the application
- FIG. 2 is a schematic flowchart of a method for determining a height provided by an embodiment of this application;
- FIG. 3 is a schematic flowchart of a method for determining a height according to an embodiment of the application
- FIG. 4 is a schematic diagram of a road section with limited height poles provided by an embodiment of the application.
- FIG. 5 is a schematic flowchart of a method for determining a height provided by an embodiment of this application.
- FIG. 6 is a schematic diagram of a height-limiting rod provided by an embodiment of the application.
- FIG. 7 is a schematic diagram of a rectangular bridge hole provided by an embodiment of the application.
- FIG. 8 is a schematic diagram of an arched bridge tunnel provided by an embodiment of the application.
- FIG. 9 is a schematic diagram of the total width of the road and the height threshold of the road provided by an embodiment of the application.
- FIG. 10 is a schematic diagram of another road total width and road height threshold provided by an embodiment of this application.
- FIG. 11 is a schematic diagram of yet another height determination method provided by an embodiment of this application.
- FIG. 12 is a schematic structural diagram of a height determining device provided by an embodiment of this application.
- FIG. 13 is a schematic structural diagram of another height determining device provided by an embodiment of the application.
- the embodiments of the present application may be applied to manual driving, assisted driving systems, automatic driving systems, or driving systems that may appear in the future, and the embodiments of the present application do not limit this.
- Figure 1 is a schematic diagram of an application scenario provided by an embodiment of the application.
- a vehicle if a vehicle needs to pass through special road sections such as height limit rods, bridge holes, and tunnel entrances, it is usually necessary to determine the highest passing height of the road to pass the highest The passage height provides a basis for vehicles to travel.
- the reflection point data is collected by the millimeter wave radar installed in the vehicle.
- the data used to calculate the maximum passage height of the road includes invalid reflection point data, it will cause the calculated road The accuracy of the highest pass height is low, and even if the data used to calculate the highest pass height of the road is valid reflection point data, the detection accuracy of the millimeter wave radar is limited, which will also lead to the calculated highest pass height of the road The accuracy is low.
- the embodiment of the present application provides a method for determining the height.
- the difference from the prior art is that the vehicle is no longer used.
- the millimeter-wave radar in TM collects reflection point data, but collects image data of the road through a camera installed in the vehicle, and determines the height threshold of the road based on the image data.
- the height threshold is used to indicate the highest passing height of the road. It is understandable that when collecting road image data, one frame of road image data can be collected, or multiple frames of road image data can be collected, and the number of image frames is not limited here. For example, please refer to FIG. 2. FIG.
- FIG. 2 is a schematic flowchart of a method for determining height according to an embodiment of the application, which is applied to a camera, and the camera may include a camera and a sensing module, and the method for determining height may include At least one of the following steps.
- the following description takes the interaction between the perception module and the control module as an example, but those skilled in the art will know that the perception module and the control module can be a logical functional division to facilitate the understanding of the solution. .
- the corresponding steps and functions can be completed by any type or number of functional units or hardware physical units, and are not limited to the logical division of the perception module and the control module.
- the target object includes at least one of a height-limiting pole, a bridge hole, a tunnel entrance, and a parking pole.
- the target object can be understood as an object used to determine road clearance, for example, a height-limiting rod, or a rectangular bridge hole, or a rectangular tunnel entrance, parking rod, etc.; the target object can also be It is understood that some objects whose road clearance cannot be determined, for example, arched bridge holes, or arched tunnel openings, etc.
- the embodiment of the present application only takes the target objects to include height-limiting rods, bridge holes, tunnel openings, and parking rods. At least one is described as an example, but it does not mean that the embodiments of the present application are limited thereto.
- the camera in the camera can first collect the image data of the road, and send the collected image data of the road to the perception module in the camera, so that the perception module can use the acquired image data of the road.
- the target object is detected in the image data to determine whether the target object is included in the image data of the road.
- the sensing module may be a sensing chip.
- the target object is not included in the image data of the road, it means that the current road is a normal section and the vehicle can continue driving without further determining the height threshold of the road; on the contrary, if it is determined that the image data of the road includes the target object, It indicates that the current road is a special road section, and the height threshold of this special road section may affect the continued driving of vehicles. Therefore, it is necessary to further determine the road height threshold, that is, perform the following S202:
- S202 Determine the height threshold of the road according to the target object.
- the height threshold is used to indicate the highest passing height of the road. It is understandable that in the embodiments of the present application, the highest passing height can be understood as the highest height allowed for vehicles to pass on the road. If the height of the vehicle is lower than the highest height, it means that the vehicle continues to drive on the road. The height will not affect the normal driving of the vehicle; on the contrary, if the height of the vehicle is higher than the maximum height, it means that the vehicle cannot continue to drive on the road, and the maximum height will have a serious impact on the normal driving of the vehicle.
- the target object on the road is first determined, and the height threshold of the road is determined according to the target object to obtain the highest passing height of the road, which is different from the prior art.
- the accuracy of the obtained highest pass height is effectively improved.
- the height threshold of the road when determining the height threshold of the road according to the target object in S202, the height threshold of the road may be determined through at least two possible implementation manners. In one possible implementation manner, it may be directly The height threshold of the road is determined according to the height information displayed on the target object; in another possible implementation manner, the height threshold of the road can be determined according to the target object and the lane information of the road. It is understandable that the embodiments of the present application only take the two possible implementation manners as examples for description, but it does not mean that the embodiments of the present application are limited to these. In the following, the technical solutions of the height determination method provided in the embodiments of the present application will be described in detail in combination with these two possible implementation manners.
- the height threshold of the road is determined directly according to the height information displayed on the target object.
- FIG. 3 is an example of a method for determining height provided by an embodiment of this application. Schematic diagram of the process, the method for determining the height can include:
- the target object includes at least one of a height-limiting pole, a bridge hole, a tunnel entrance, and a parking pole.
- the height threshold is used to indicate the highest passing height of the road.
- FIG. 4 is a schematic diagram of a road section with a height-limiting pole provided in an embodiment of the application. If it is detected that the image data collected by the camera includes the target
- the object height limit bar means that a limit height bar is set on the road ahead, that is, the vehicle is about to pass the road section where the limit height bar is set, and the height threshold of the road with the limit height bar can be obtained first, because the height limit bar is usually set with a limited height A sign, the height limit sign is marked with height information, which can be combined with Figure 4, the height limit sign on the height limit pole indicates the height information of 3m, and the height information is used to indicate the highest allowable pass on the road Therefore, the height information displayed on the height limit bar can be directly determined as the height threshold of the road, that is, the height threshold of the road is 3m, so as to obtain the highest passing height of the road.
- the height threshold value of the road determined based on the height information is also an accurate height threshold value, thereby improving the accuracy of the obtained highest passing height.
- the embodiment shown in FIG. 3 above describes in detail a technical solution that in a possible implementation manner, the height information displayed on the target object can be directly used as the height threshold to determine the highest passing height of the road.
- the technical solution of how to determine the height threshold of the road according to the target object and the lane information of the road will be described in detail.
- the height threshold of the road is determined according to the target object and the lane information of the road.
- the lane information includes the number of lanes and the width of each lane. For an example, see Figure 5.
- This is a schematic flow chart of a method for determining a height provided in an embodiment of this application, and the method for determining a height may include:
- the target object includes at least one of a height-limiting pole, a bridge hole, a tunnel entrance, and a parking pole.
- the height information of the marked road can be directly determined as the height threshold of the road, as shown in Figure 2 above.
- the technical solution in the illustrated embodiment if it is detected that the image data collected by the camera includes the target object, and the height information of the road is not marked on the target object, the total width of the road needs to be determined according to the total width of the target object and the lane, and according to the total width of the road Determine the height threshold of the road, that is, execute the following S502-S503:
- S502 Determine the total width of the road according to the target object and the total width of the lane.
- the total width of the lane is determined according to the number of lanes and the width of each lane. As shown in Figure 4, the area occupied by the lane is the area between the lane lines on both sides of the road.
- the total width of the lane determines the total width of the road, it is related to the positional relationship between the support part of the target object and the lane lines on both sides of the most edge of the road, that is, it can be based on the first positional relationship and the total width of the road , Determine the height threshold of the road; wherein, the first position relationship is used to indicate the position relationship between the support part of the target object and the lane lines on both sides of the most edge on the road.
- FIG. 6 is a schematic diagram of a height-limiting rod provided by an embodiment of the application
- the supporting part of the height-limiting rod is the height-limiting rod.
- FIG. 7 is a schematic diagram of a rectangular bridge hole provided by an embodiment of the application.
- the supporting parts of the rectangular bridge hole are the two vertical columns of the rectangular bridge hole.
- FIG. 8. FIG.
- the supporting part of the arched bridge hole is the vertical direction of the arched bridge hole. , Used to support the arched bridge hole, and the support part closer to the ground. It is understandable that when the target object is a rectangular tunnel entrance, the support part of the rectangular tunnel entrance is the two vertical columns of the rectangular tunnel entrance, which is similar to the support part of a rectangular bridge tunnel, as shown in Figure 7 ; When the target object is an arch tunnel entrance, the support part of the arch tunnel entrance is the support part of the arch tunnel entrance in the vertical direction, which is used to support the arch tunnel entrance and is close to the ground. It is similar to the supporting part of the arched bridge hole, as shown in Figure 8.
- the total width of the lane needs to be determined according to the lane information. For example, when calculating the total width of the lanes based on the lane information, if the width of each lane is the same, you can calculate the product of the width of the lane and the number of lanes to get the total width of the lane; if the width of each lane is not the same , Then calculate the sum of the width of each lane, and the total width of the lane can also be obtained.
- the total width of the road can be determined according to the first positional relationship indicating the positional relationship between the support part of the target object and the lane lines on both sides of the road and the total width of the lane.
- the width can include two possible scenes. In one possible scene, if the first positional relationship indicates that the support part of the target object is set at the position of the lane line on both sides of the edge, the total width of the lane is the total width of the road, For example, as shown in Figure 7, it can be seen that the width area occupied by the lane in the transverse direction is the entire width area of the road in the transverse direction.
- the total width of the lane can be directly determined as the total width of the road, thereby Get the total width of the road.
- the first positional relationship indicates that the supporting part of the target object is set at a position outside the lane line on both sides of the extreme edge, it can be based on the total width of the lane and the supporting part and the extreme edge of the target object.
- the width between the lane lines on both sides determines the total width of the road.
- Figure 8. It can be seen that the width area occupied by the lane in the lateral direction is part of the entire width area of the road in the lateral direction.
- the total width of the lane and the width between the support part of the target object and the lane lines on both sides of the most edge can be calculated, and the sum can be determined as the total width of the road to obtain the total width of the road.
- the height threshold used to indicate the highest passing height of the road can be further determined according to the total width of the road, that is, the following S503 is executed:
- S503 Determine the height threshold of the road according to the total width of the road.
- the height threshold of the road when determining the height threshold of the road according to the total width of the road, can be determined according to the total width of the road and the space parameters; among them, the space parameter is used to indicate the road space aspect ratio, that is, the road space is in the horizontal direction.
- the spatial parameter can be represented by a bounding box of road clearance. It is understandable that the bounding box of the road clearance is only a possible realization of the spatial parameter used to indicate the road space aspect ratio. Form, but not limited to the bounding box of road clearance.
- FIG. 9 is a schematic diagram of the total width of the road and the height threshold of the road provided by an embodiment of the application. According to the total width of the road in the horizontal direction and the bounding box of the road clearance, the height threshold of the road in the vertical direction can be obtained.
- FIG. 10 which is the total width of another road and the height threshold of the road provided by an embodiment of the application.
- the vertical height threshold of the road can also be obtained according to the total width of the road in the horizontal direction and the bounding box of the road clearance.
- determining the height threshold of the road according to the total width of the road refers to the highest passable height of the road, not the outermost layer of the target object. The height of the bounding box.
- the total width of the road is first determined according to the total width of the target object and the lane, and the total width of the road is used to indicate the road space width according to the total width of the road.
- the spatial parameter of the height ratio determines the height threshold of the road. Since the calculated total width of the road is more accurate and the spatial parameters are also accurate, the total width of the road and the space used to indicate the road’s spatial aspect ratio are also accurate.
- the height threshold value of the height threshold value of the parameter to determine the road height threshold value is also accurate, thereby improving the accuracy of the obtained highest passing height.
- the vehicle may also be provided with a driving basis based on the height threshold.
- the camera may further include a control module, so that after the sensing module determines the height threshold of the road, the height threshold is sent to the control module.
- the control module may provide a driving basis for the vehicle according to the height threshold.
- the control module may be a control chip.
- FIG. 11 is a schematic diagram of another height determination method provided by an embodiment of the application. The height determination method may further include:
- the sensing module sends the height threshold to the control module of the camera.
- the perception module when it sends the road height threshold to the camera control module, it can add a signal to describe the road height threshold without changing the current standard interface. It is understandable that the current standard Adding a symbol to the interface to describe the height threshold of the road also falls within the protection scope of this application.
- a symbol can be added to the general landmark object bounding box in the current standard interface ISO 23150 to describe the height threshold of the road.
- the symbol may be a general landmark object bounding box clearance, as shown in Table 1 below.
- the height threshold field of the road is added to send the height threshold of the road to the control module.
- the bounding box clearance of the added universal landmark object can be represented by name, description, and value type.
- name, description, and value type For an example, see Table 2 below:
- the sensing module can send the calculated height threshold of the road to the control module by increasing the clear space of the bounding box of the symbol general landmark object, so that the control module can further perform the current vehicle height and height threshold.
- the control module can further perform the current vehicle height and height threshold.
- the control module outputs prompt information to the vehicle according to the current vehicle height and the height threshold, so as to provide a driving basis for the vehicle to travel.
- the prompt information may be voice prompt information, or text prompt information, of course, it may also be image prompt information, which can be specifically set according to actual needs. It is understandable that, in order to avoid affecting the driving behavior of the user, the prompt information can be voice prompt information, that is, the prompt information is output to the user by voice, so as to prevent the user from viewing the text information and affecting the user's driving behavior. Thereby improving the user experience.
- control module is only the control module in the camera as an example for description.
- control module can also be the control module in the vehicle, which can be specifically set according to actual needs.
- the height of the vehicle can be compared with the height threshold first. If the current vehicle height is less than the height threshold of the road, the first prompt information is output. Information is used to indicate that the vehicle can drive normally; on the contrary, if the current height of the vehicle is greater than the height threshold of the road, the second prompt information is output, and the second prompt information is used to instruct the vehicle to stop and continue driving, so as to provide a driving basis for the vehicle to travel. Improve the safety of vehicle driving.
- FIG. 12 is a schematic structural diagram of a height determining apparatus 120 provided by an embodiment of the application.
- the height determining apparatus 120 may include:
- the processing unit 1201 is used to determine the target object on the road; and according to the target object, determine the height threshold of the road, and the height threshold is used to indicate the highest passing height of the road.
- the target object includes at least one of a height-limiting pole, a bridge hole, a tunnel entrance, and a parking pole.
- the processing unit 1201 is specifically configured to determine that the height information displayed on the target object is a height threshold.
- the processing unit 1201 is specifically configured to determine the height threshold of the road according to the target object and the lane information of the road.
- the lane information includes the number of lanes and the width of each lane.
- the processing unit 1201 is specifically configured to determine the total width of the road according to the target object and the total width of the lane; and determine the height threshold of the road according to the total width of the road ; Among them, the total width of the lane is determined according to the number of lanes and the width of each lane.
- the processing unit 1201 is specifically configured to determine the height threshold of the road according to the total width of the road and the space parameters; wherein, the space parameter is used to indicate the road space aspect ratio.
- the processing unit 1201 is specifically configured to determine the total width of the road according to the first positional relationship and the total width of the lane; wherein, the first positional relationship is used to indicate that the supporting part of the target object and the two sides of the most edge on the road The positional relationship between lane lines.
- the processing unit 1201 is specifically configured to: if the first positional relationship indicates that the support part of the target object is set at the position of the lane line on both sides of the edge, the total width of the lane is the total width of the road; if the first positional relationship indicates the target The support part of the object is set outside the lane line on both sides of the edge.
- the total width of the road is determined according to the total width of the lane and the width between the support part of the target object and the lane line on both sides of the edge.
- the total width of the road is the sum of the total width of the lane and the width between the support part of the target object and the lane lines on both sides of the edge.
- the height determining device 120 may further include an output unit 1202.
- the output unit 1202 is configured to output first prompt information if the current vehicle height is less than the road height threshold, the first prompt information is used to indicate that the vehicle can drive normally; if the current vehicle height is greater than the road height threshold, output the first Two prompt information, the second prompt information is used to instruct the vehicle to stop and continue driving.
- the vehicle may also include a camera, a control module, or a fusion module.
- the height determining device can also be integrated on the camera in the vehicle, or the height determining device can also be integrated in the control module in the vehicle, or the height determining device can also be integrated in the vehicle.
- the control module may be a central controller or MDC. It can be understood that the height determining device is provided in the vehicle.
- the height determination device 120 shown in the embodiment of the present application can execute the height determination method in the embodiment shown in any of the above figures, and its implementation principle and beneficial effects are similar to those of the height determination method. , I won’t repeat it here.
- FIG. 13 is a schematic structural diagram of another height determining apparatus 130 provided by an embodiment of the application.
- the height determining apparatus 130 may include at least one processor 1301 and at least one memory 1302, among them,
- the memory 1302 is used to store program instructions
- the processor 1031 is configured to execute the program instructions in the memory 1302, so that the height determining device 130 executes the height determining method in the embodiment shown in any one of the above figures, and its implementation principle and beneficial effects are similar to those in the embodiment shown in any of the above figures. The implementation principles and beneficial effects of the height determination method are similar, and will not be repeated here.
- the embodiment of the present application also provides a chip on which a computer program is stored.
- the computer program is executed by the processor, the method for determining the height in the embodiment shown in any of the above figures is executed, its implementation principle and beneficial effects It is similar to the implementation principle and beneficial effects of the height determination method, and will not be repeated here.
- the embodiment of the present application also provides a computer storage medium, including instructions, when the instructions are executed by one or more processors, cause the communication device to execute the height determination method in the embodiment shown in any of the above figures, Its implementation principle and beneficial effects are similar to those of the height determination method, and will not be repeated here.
- An embodiment of the present application also provides a vehicle, which includes a vehicle body and the height determining device described in the above embodiments, wherein the height determining device is independently provided in the vehicle body.
- the vehicle may also include a camera, a control module, or a fusion module; correspondingly, the height determination device may also be integrated on the camera, or the height determination device may also be integrated in the control module, or the height determination device
- the determination device can also be integrated in the fusion module.
- the control module may be a central controller or MDC.
- the processor in each of the foregoing embodiments may be a general-purpose processor, a digital signal processor (digital signal processor, DSP), an application specific integrated circuit (ASIC), and a field programmable gate array (FPGA). Or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.
- DSP digital signal processor
- ASIC application specific integrated circuit
- FPGA field programmable gate array
- Other programmable logic devices discrete gates or transistor logic devices, discrete hardware components.
- the methods, steps, and logical block diagrams disclosed in the embodiments of the present application can be implemented or executed.
- the general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like.
- the steps of the method disclosed in the embodiments of the present application may be directly embodied as being executed and completed by a hardware decoding processor, or executed and completed by a combination of hardware and software modules in the decoding processor.
- the software module can be located in random access memory (RAM), flash memory, read-only memory (read-only memory, ROM), programmable read-only memory, or electrically erasable programmable memory, registers, etc. mature in the field Storage medium.
- RAM random access memory
- flash memory read-only memory
- read-only memory read-only memory
- ROM programmable read-only memory
- electrically erasable programmable memory registers, etc. mature in the field Storage medium.
- the storage medium is located in the memory, and the processor reads the instructions in the memory and completes the steps of the above method in combination with its hardware.
- the disclosed device and method may be implemented in other ways.
- the device embodiments described above are merely illustrative, for example, the division of the units 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 It 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 objectives of the solutions of the embodiments.
- the functional units in the various embodiments 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 above-mentioned integrated unit may be implemented in the form of hardware, or may be implemented in the form of hardware plus software functional units.
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Abstract
一种行驶过程中确定道路目标高度的方法和装置,应用于自动驾驶或者智能驾驶领域。该方法包括:先确定道路上的目标对象,并根据该目标对象确定道路的高度阈值,以获取到道路的最高通行高度,有效地提高了获取到的最高通行高度的准确度,便于提高驾驶性能,尤其是涉及行驶过程中,有效监测道路目标高度并做出决策控制,提高了道路行驶的安全性。
Description
本申请要求于2019年12月19日提交中国专利局、申请号为201911319109.0、申请名称为“高度的确定方法和装置”的中国专利申请的优先权,其全部内容通过引用结合在本申请中。
本申请涉及车辆驾驶技术领域,尤其涉及一种高度的确定方法和装置。
在辅助驾驶和自动驾驶场景中,车辆需要对驾驶周边的环境进行感知,以为车辆的正常行驶提供依据。尤其是随着城市的发展和道路的修建,出现了众多的立交桥和隧道等,且存在立交桥和隧道的行驶路段会对车辆的高度进行限高处理,因此,为了保证车辆的正常行驶,在对驾驶周边的环境进行感知时,需要对道路的最高通行高度进行感知,以获取到道路的最高通行高度。
现有技术中,在获取到道路的最高通行高度时,通常是在车辆上安装毫米波雷达,使得车辆在经过限高杆、桥洞及隧道时,可以通过毫米波雷达采集反射点数据,该反射点数据包括有效反射点数据和无效反射点数据,并通过这些反射点数据确定道路的最高通行高度。其中,有效反射点数据可以理解为有助于计算道路的最高通行高度的数据,无效反射点数据可以理解为对计算道路的最高通行高度没有作用的数据。在通过这些反射点数据确定道路的最高通行高度时,若用于计算道路的最高通行高度的数据包括无效反射点数据,则会导致计算得到的道路的最高通行高度的准确度较低,并且,即使用于计算道路的最高通行高度的数据均为有效反射点数据,但由于毫米波雷达的检测精度有限,同样会导致计算得到的道路的最高通行高度的准确度较低。
因此,在确定道路的最高通行高度时,如何提高获取到的最高通行高度的准确度,是本领域技术人员亟待解决的问题。
发明内容
本申请实施例提供一种高度的确定方法和装置,在确定道路的最高通行高度时,提高了获取到的最高通行高度的准确度。
第一方面,本申请实施例提供一种高度的确定方法,该高度的确定方法可以包括:
确定道路上的目标对象。
根据目标对象,确定道路的高度阈值,高度阈值用于指示道路的最高通行高度。
可以理解的是,在本申请实施例中,目标对象可以理解为用于确定道路净空 (clearance)的对象,例如,限高杆,或者矩形桥洞,或者矩形隧道口等;目标对象也可以理解为一些不能确定道路净空的对象,例如,拱形桥洞、或者拱形隧道口等,在此,本申请实施例只是以目标对象可以包括限高杆、桥洞、和隧道口、停车杆中的至少一种为例进行说明,但并不代表本申请实施例仅局限于此。
由此可见,本申请实施例中在确定道路的高度阈值时,是先确定道路上的目标对象,并根据该目标对象确定道路的高度阈值,以获取到道路的最高通行高度,与现有技术中采用检测精度有限的毫米波雷达,且无法准确的获取到最高通行高度相比,有效地提高了获取到的最高通行高度的准确度,便于提高驾驶性能,尤其是当其应用在智能驾驶或者自动驾驶行驶过程中,通过自动确定道路的最高通行高度,这样可以基于确定的道路的最高通行高度做出及时正确的决策控制,有效地提高了道路行驶的安全性。
在一种可能的实现方式中,目标对象包括限高杆、桥洞、和隧道口、停车杆中的至少一种,在此,本申请实施例只是以目标对象包括限高杆、桥洞、和隧道口、停车杆中的至少一种为例进行说明,但并不代表本申请实施例仅局限于此。
在一种可能的实现方式中,根据目标对象,确定道路的高度阈值,可以包括:
确定目标对象上显示的高度信息为高度阈值,由于该目标对象上显示的高度信息是专业人员测量的准确的高度阈值,因此,基于该高度信息确定的道路的高度阈值也是准确的高度阈值,从而提高了获取到的最高通行高度的准确度。
在一种可能的实现方式中,根据目标对象,确定道路的高度阈值,可以包括:
根据目标对象和道路的车道信息,确定道路的高度阈值。
在一种可能的实现方式中,车道信息包括车道个数和每个车道的宽度,根据目标对象和道路的车道信息,确定道路的高度阈值,可以包括:
根据目标对象和车道的总宽度,确定道路的总宽度;其中,车道的总宽度是根据车道个数和每个车道的宽度确定的;并根据道路的总宽度确定道路的高度阈值。
在一种可能的实现方式中,根据道路的总宽度确定道路的高度阈值可以包括:
根据道路的总宽度和空间参数,确定道路的高度阈值;其中,空间参数用于指示道路空间宽高比。示例的,空间参数可以用道路净空(clearance)的边界框(bounding box)表示,可以理解的是,该道路净空的边界框只是用于指示道路空间宽高比的空间参数的一种可能的变现形式,但并不局限于道路净空的边界框。
在确定道路的高度阈值时,是先根据目标对象和车道的总宽度,确定道路的总宽度,并根据道路的总宽度和用于指示道路空间宽高比的空间参数确定道路的高度阈值,由于计算得到的道路的总宽度是准确较高的,且空间参数也是准确的,因此,根据道路的总宽度和用于指示道路空间宽高比的空间参数确定道路的高度阈值的高度阈值也是准确的,从而提高了获取到的最高通行高度的准确度。
在一种可能的实现方式中,根据目标对象和车道的总宽度,确定道路的总宽度,可以包括:
根据第一位置关系和车道的总宽度,确定道路的总宽度;其中,第一位置关系用于指示目标对象的支撑部分与道路上的最边缘两侧车道线之间的位置关系。
在一种可能的实现方式中,根据第一位置关系和车道的总宽度,确定道路的总宽 度,可以包括:
若第一位置关系指示目标对象的支撑部分设置在最边缘两侧车道线位置,说明车道在横向上所占的宽度区域为道路在横向上整个宽度区域,则将车道的总宽度确定为道路的总宽度;若第一位置关系指示目标对象的支撑部分设置在最边缘两侧车道线之外的位置,说明车道在横向上所占的宽度区域为道路在横向上整个宽度区域的部分区域,道路的总宽度是根据车道的总宽度和目标对象的支撑部分与最边缘两侧车道线之间的宽度确定的,示例的,道路的总宽度为车道的总宽度和目标对象的支撑部分与最边缘两侧车道线之间的宽度之和,从而得到道路的总宽度。
在一种可能的实现方式中,该高度的确定方法还可以包括:
若当前车辆的高度小于道路的高度阈值,则输出第一提示信息,第一提示信息用于指示车辆可正常行驶;若当前车辆的高度大于道路的高度阈值,则输出第二提示信息,第二提示信息用于指示车辆停止继续行驶,以为车辆行驶提供行驶依据,从而提高了车辆行驶的安全性。
第二方面,本申请实施例还提供一种高度的确定装置,该高度的确定装置可以包括:
处理单元,用于确定道路上的目标对象;并根据目标对象,确定道路的高度阈值,高度阈值用于指示道路的最高通行高度。
在一种可能的实现方式中,目标对象包括限高杆、桥洞、和隧道口、停车杆中的至少一种。
在一种可能的实现方式中,处理单元,具体用于确定目标对象上显示的高度信息为高度阈值。
在一种可能的实现方式中,处理单元,具体用于根据目标对象和道路的车道信息,确定道路的高度阈值。
在一种可能的实现方式中,车道信息包括车道个数和每个车道的宽度,处理单元,具体用于根据目标对象和车道的总宽度,确定道路的总宽度;并根据道路的总宽度确定道路的高度阈值;其中,车道的总宽度是根据车道个数和每个车道的宽度确定的。
在一种可能的实现方式中,处理单元,具体用于根据道路的总宽度和空间参数,确定道路的高度阈值;其中,空间参数用于指示道路空间宽高比。
在一种可能的实现方式中,处理单元,具体用于根据第一位置关系和车道的总宽度,确定道路的总宽度;其中,第一位置关系用于指示目标对象的支撑部分与道路上的最边缘两侧车道线之间的位置关系。
在一种可能的实现方式中,处理单元,具体用于若第一位置关系指示目标对象的支撑部分设置在最边缘两侧车道线位置,则车道的总宽度为道路的总宽度;若第一位置关系指示目标对象的支撑部分设置在最边缘两侧车道线之外的位置,道路的总宽度是根据车道的总宽度和目标对象的支撑部分与最边缘两侧车道线之间的宽度确定的。
在一种可能的实现方式中,道路的总宽度为车道的总宽度和目标对象的支撑部分与最边缘两侧车道线之间的宽度之和。
在一种可能的实现方式中,该高度的确定装置还可以包括输出单元。
输出单元,用于若当前车辆的高度小于道路的高度阈值,则输出第一提示信息,第一提示信息用于指示车辆可正常行驶;若当前车辆的高度大于道路的高度阈值,则输出第二提示信息,第二提示信息用于指示车辆停止继续行驶。
第三方面,本申请实施例还提供一种高度的确定装置,该高度的确定装置可以包括至少一个处理器和至少一个存储器,其中,
所述存储器用于存储程序指令;
所述处理器用于执行所述存储器中的程序指令,以使得所述装置执行上述第一方面任一种可能的实现方式所述的高度的确定方法。
第四方面,本申请实施例还提供一种计算机存储介质,包括指令,当所述指令由一个或多个处理器运行时,使得通信装置执行上述第一方面任一种可能的实现方式所述的高度的确定方法。
第五方面,本申请实施例还提供一种芯片,芯片上存储有计算机程序,在计算机程序被处理器执行时,执行上述第一方面任一种可能的实现方式所述的高度的确定方法。
第六方面,本申请实施例还提供一种车辆,所述车辆包括车辆本体和上述第二方面任一种可能的实现方式所述的高度的确定装置,其中,高度的确定装置独立设置在车辆本体中。示例的,该车辆也可以包括摄像头、控制模块、或者融合模块;对应的,该高度的确定装置还可以集成在摄像头上、或者,该高度的确定装置还可以集成在控制模块中、或者该高度的确定装置还可以集成在融合模块中。示例的,控制模块可以为中央控制器,或者多域控制器(multi domain controller,MDC)。
本申请实施例提供的高度的确定方法和装置,该方法包括:先确定道路上的目标对象,并根据该目标对象确定道路的高度阈值,以获取到道路的最高通行高度,与现有技术中采用检测精度有限的毫米波雷达,且无法准确的获取到最高通行高度相比,有效地提高了获取到的最高通行高度的准确度,便于提高驾驶性能,尤其是当其应用在智能驾驶或者自动驾驶行驶过程中,通过自动确定道路的最高通行高度,这样可以基于确定的道路的最高通行高度做出及时正确的决策控制,有效地提高了道路行驶的安全性。
图1为本申请实施例提供的一种应用场景的示意图;
图2为本申请实施例提供的一种高度的确定方法的流程示意图;
图3为本申请实施例提供的一种高度的确定方法的流程示意图;
图4为本申请实施例提供的一种设置有限高杆的路段示意图;
图5为本申请实施例提供的一种高度的确定方法的流程示意图;
图6为本申请实施例提供的一种限高杆的示意图;
图7为本申请实施例提供的一种矩形桥洞的示意图;
图8为本申请实施例提供的一种拱形桥洞的示意图;
图9为本申请实施例提供的一种道路的总宽度与道路的高度阈值的示意图;
图10为本申请实施例提供的另一种道路的总宽度与道路的高度阈值的示意图;
图11为本申请实施例提供的又一种高度的确定方法的示意图;
图12为本申请实施例提供的一种高度的确定装置的结构示意图;
图13为本申请实施例提供的另一种高度的确定装置的结构示意图。
本申请实施例可应用于人工驾驶、辅助驾驶系统、自动驾驶系统或者未来可能出现的驾驶系统等,本申请实施例对此不作限定。
图1为本申请实施例提供的一种应用场景的示意图,车辆在行驶过程中,若要通过限高杆、桥洞、和隧道口等特殊路段,通常需要确定道路的最高通行高度,以通过最高通行高度为车辆提供行驶依据。但在确定道路的最高通行高度时,是通过设置在车辆中的毫米波雷达采集反射点数据,若用于计算道路的最高通行高度的数据包括无效反射点数据,则会导致计算得到的道路的最高通行高度的准确度较低,而且,即使用于计算道路的最高通行高度的数据均为有效反射点数据,但由于毫米波雷达的检测精度有限,同样会导致计算得到的道路的最高通行高度的准确度较低。
因此,在确定道路的最高通行高度时,为了提高获取到的最高通行高度的准确度,本申请实施例提供了一种高度的确定方法,与现有技术不同的是,不再使用设置在车辆中的毫米波雷达采集反射点数据,而是通过设置在车辆中的摄像机采集道路的图像数据,并基于该图像数据确定道路的高度阈值,该高度阈值用于指示道路的最高通行高度。可以理解的是在采集道路的图像数据时,可以采集道路的某一帧图像数据,也可以采集道路的多帧图像数据,此处对图像的帧数不做限定。示例的,请参见图2所示,图2为本申请实施例提供的一种高度的确定方法的流程示意图,应用于摄像机,该摄像机中可以包括摄像头及感知模块,该高度的确定方法可以包括以下步骤中的至少一个。这里需要说明的是,下文的阐述中是以感知模块和控制模块的交互为例进行说明,但是本领域技术人员可知,感知模块和控制模块可以是一种逻辑上的功能划分,便于方案的理解。在具体的实现中,相应步骤和功能可以通过任意类型或数量的功能单元或者硬件实体单元完成,也不限于感知模块和控制模块的逻辑划分。
S201、确定道路上的目标对象。
示例的,目标对象包括限高杆、桥洞、和隧道口、停车杆中的至少一种。
值得注意的,在本申请实施例中,目标对象可以理解为用于确定道路净空(clearance)的对象,例如,限高杆,或者矩形桥洞,或者矩形隧道口、停车杆等;目标对象也可以理解为一些不能确定道路净空的对象,例如,拱形桥洞、或者拱形隧道口等,在此,本申请实施例只是以目标对象可以包括限高杆、桥洞、和隧道口、停车杆中的至少一种为例进行说明,但并不代表本申请实施例仅局限于此。
在确定道路上的目标对象时,摄像机中的摄像头可以先采集道路的图像数据,并将采集到的道路的图像数据发送给摄像机中的感知模块,使得感知模块可以在获取到的道路的图像数据中检测目标对象,从而确定该道路的图像数据中是否包括目标对象。示例的,感知模块可以为感知芯片。若确定该道路的图像数据中未包括目标对象,说明当前道路为正常路段,车辆可继续行驶,不需要进一步确定道路的高度阈值;相反的,若确定该道路的图像数据中包括有目标对象,说明当前道路为特殊路 段,该特殊路段的高度阈值可能会车辆继续行驶造成影响,因此,需要进一步确定道路的高度阈值,即执行下述S202:
S202、根据目标对象,确定道路的高度阈值。
其中,高度阈值用于指示道路的最高通行高度。可以理解的是,在本申请实施例中,最高通行高度可以理解为车辆在该道路上允许通行的最高高度,若车辆的高度低于该最高高度,说明车辆在该道路上继续行驶,该最高高度不会对车辆的正常行驶造成影响;相反的,若车辆的高度高于该最高高度,说明车辆在该道路上无法继续行驶,该最高高度会对车辆的正常行驶造成严重影响。
可以看出,本申请实施例中在确定道路的高度阈值时,是先确定道路上的目标对象,并根据该目标对象确定道路的高度阈值,以获取到道路的最高通行高度,与现有技术中采用检测精度有限的毫米波雷达,且无法准确的获取到最高通行高度相比,有效地提高了获取到的最高通行高度的准确度。
基于上述图2所示的实施例,上述S202在根据目标对象,确定道路的高度阈值时,可以通过至少两种可能的实现方式确定道路的高度阈值,在一种可能的实现方式中,可以直接根据目标对象上显示的高度信息确定道路的高度阈值;在另一种可能的实现方式中,可以根据目标对象和道路的车道信息,确定道路的高度阈值。可以理解的是,本申请实施例只是以该两种可能的实现方式为例进行说明,但并不代表本申请实施例仅局限于此。下面,将分别结合这两种可能的实现方式,对本申请实施例提供的高度的确定方法的技术方案进行详细地说明。
在一种可能的实现方式中,直接根据目标对象上显示的高度信息确定道路的高度阈值,示例的,请参见图3所示,图3为本申请实施例提供的一种高度的确定方法的流程示意图,该高度的确定方法可以包括:
S301、确定道路上的目标对象。
示例的,目标对象包括限高杆、桥洞、和隧道口、停车杆中的至少一种。
需要说明的是,该S301中确定道路上的目标对象的具体描述,与上述S201中确定道路上的目标对象的具体描述类似,可参见上述S201中确定道路上的目标对象的具体描述,在此,本申请实施例不再进行赘述。
S302、确定目标对象上显示的高度信息为高度阈值。
其中,高度阈值用于指示道路的最高通行高度。
以目标对象为限高杆为例,示例的,请参见图4所示,图4为本申请实施例提供的一种设置有限高杆的路段示意图,若检测到摄像头采集的图像数据中包括目标对象限高杆,说明前方道路上设置有限高杆,即车辆即将经过设置有限高杆的路段,可以先获取该设置有限高杆的道路的高度阈值,由于该限高杆上通常会设置有限高指示牌,该限高指示牌上标注有高度信息,可结合图4所示,限高杆上的限高指示牌指示的高度信息为3m,该高度信息用于指示该道路上允许通行的最高高度,因此,可以直接将该限高杆上显示的高度信息确定为道路的高度阈值,即道路的高度阈值为3m,从而获取到该道路的最高通行高度。
可以看出,在该种可能的实现方式,在确定道路的高度阈值时,是直接将目标对象上显示的高度信息确定为道路的高度阈值,且由于该目标对象上显示的高度信息是 专业人员测量的准确的高度阈值,因此,基于该高度信息确定的道路的高度阈值也是准确的高度阈值,从而提高了获取到的最高通行高度的准确度。
上述图3所示的实施例详细描述了在一种可能的实现方式中,可以直接将目标对象上显示的高度信息为高度阈值,以确定道路的最高通行高度的技术方案。下面,将结合另一种可能的实现方式,详细描述如何根据目标对象和道路的车道信息,确定道路的高度阈值的技术方案。
在另一种可能的实现方式中,根据目标对象和道路的车道信息,确定道路的高度阈值,车道信息包括车道个数和每个车道的宽度,示例的,请参见图5所示,图5为本申请实施例提供的一种高度的确定方法的流程示意图,该高度的确定方法可以包括:
S501、确定道路上的目标对象。
示例的,目标对象包括限高杆、桥洞、和隧道口、停车杆中的至少一种。
同样需要说明的是,该S501中确定道路上的目标对象的具体描述,与上述S201中确定道路上的目标对象的具体描述类似,可参见上述S201中确定道路上的目标对象的具体描述,在此,本申请实施例不再进行赘述。
可以理解的是,若检测到摄像头采集的图像数据中包括目标对象,且目标对象上标注有道路的高度信息,则可以直接将标注的道路的高度信息确定为道路的高度阈值,即上述图2所示的实施例中的技术方案。相反的,若检测到摄像头采集的图像数据中包括目标对象,且目标对象上未标注道路的高度信息,则需要根据目标对象和车道的总宽度,确定道路的总宽度,并根据道路的总宽度确定道路的高度阈值,即执行下述S502-S503:
S502、根据目标对象和车道的总宽度,确定道路的总宽度。
其中,车道的总宽度是根据车道个数和每个车道的宽度确定的,可参见图4所示,车道所占的区域为道路上的最边缘两侧车道线之间的区域。
示例的,在车道的总宽度确定道路的总宽度时,与目标对象的支撑部分与道路上的最边缘两侧车道线之间的位置关系有关,即可以根据第一位置关系和道路的总宽度,确定道路的高度阈值;其中,第一位置关系用于指示目标对象的支撑部分与道路上的最边缘两侧车道线之间的位置关系。
为了便于理解目标对象的支撑部分,下面将结合不同的目标对象,对目标对象的支撑部分进行说明。示例的,当目标对象为限高杆时,可参见图6所示,图6为本申请实施例提供的一种限高杆的示意图,该限高杆的支撑部分即为该限高杆的垂直方向上的两个立柱。当目标对象为矩形桥洞时,可参见图7所示,图7为本申请实施例提供的一种矩形桥洞的示意图,该矩形桥洞的支撑部分即为该矩形桥洞的垂直方向上的两个立柱。当目标对象为拱形桥洞时,可参见图8所示,图8为本申请实施例提供的一种拱形桥洞的示意图,该拱形桥洞的支撑部分即为该拱形桥洞在垂直方向上,用于支撑该拱形桥洞,且与地面距离较近的支撑部。可以理解的是,当目标对象为矩形隧道口时,该矩形隧道口的支撑部分即为该矩形隧道口的垂直方向上的两个立柱,与矩形桥洞的支撑部分类似,可参见图7所示;当目标对象为拱形隧道口时,该拱形隧道口的支撑部分即为该拱形隧道口在垂直方向上,用于支撑该拱形隧道口,且与地面距 离较近的支撑部,与拱形桥洞的支撑部分类似,可参见图8所示。
可以看出,在根据车道的总宽度确定道路的总宽度之前,需要先根据车道信息确定车道的总宽度。示例的,在根据车道信息计算车道的总宽度时,若每一个车道的宽度相同,则可以计算车道的宽度与车道个数的乘积,就可以得到车道的总宽度;若各车道的宽度不相同,则计算各车道的宽度之和,同样可以得到车道的总宽度。在计算得到车道的总宽度之后,就可以根据用于指示目标对象的支撑部分与道路上的最边缘两侧车道线之间的位置关系的第一位置关系和车道的总宽度,确定道路的总宽度,可以包括两种可能的场景,在一种可能的场景中,若第一位置关系指示目标对象的支撑部分设置在最边缘两侧车道线位置,则车道的总宽度为道路的总宽度,示例的,可参见图7所示,可以看出,车道在横向上所占的宽度区域为道路在横向上整个宽度区域,因此,可以将该车道的总宽度直接确定为道路的总宽度,从而得到该道路的总宽度。在另一种可能的实现方式中,若第一位置关系指示目标对象的支撑部分设置在最边缘两侧车道线之外的位置,则可以根据车道的总宽度和目标对象的支撑部分与最边缘两侧车道线之间的宽度确定道路的总宽度,示例的,可参见图8所示,可以看出,车道在横向上所占的宽度区域为道路在横向上整个宽度区域的部分区域,因此,可以计算车道的总宽度和目标对象的支撑部分与最边缘两侧车道线之间的宽度之和,并将和确定为道路的总宽度,从而得到该道路的总宽度。
在计算得到道路的总宽度后,可以根据道路的总宽度进一步确定用于指示道路的最高通行高度的高度阈值,即执行下述S503:
S503、根据道路的总宽度确定道路的高度阈值。
示例的,在根据道路的总宽度确定道路的高度阈值时,可以根据道路的总宽度和空间参数,确定道路的高度阈值;其中,空间参数用于指示道路空间宽高比,即道路空间在横向上的宽度与纵向上的高度的比值。示例的,空间参数可以用道路净空(clearance)的边界框(bounding box)表示,可以理解的是,该道路净空的边界框只是用于指示道路空间宽高比的空间参数的一种可能的变现形式,但并不局限于道路净空的边界框。
示例的,若目标对象的支撑部分设置在最边缘两侧车道线位置,请参见图9所示,图9为本申请实施例提供的一种道路的总宽度与道路的高度阈值的示意图,可以根据道路在横向上的总宽度和道路净空的边界框就可以得到道路在纵向上的高度阈值。又例如,若目标对象的支撑部分设置在最边缘两侧车道线之外的位置,请参见图10所示,图10为本申请实施例提供的另一种道路的总宽度与道路的高度阈值的示意图,同样可以根据道路在横向上的总宽度和道路净空的边界框就可以得到道路在纵向上的高度阈值。
值得注意的是,结合图9和图10可以看出,在本申请实施例中,在根据道路的总宽度确定道路的高度阈值是指道路的最高可通行高度,而不是目标对象的最外层边界框的高度。
可以看出,在该种可能的实现方式,在确定道路的高度阈值时,是先根据目标对象和车道的总宽度,确定道路的总宽度,并根据道路的总宽度和用于指示道路空间宽高比的空间参数确定道路的高度阈值,由于计算得到的道路的总宽度是准确较高的, 且空间参数也是准确的,因此,根据道路的总宽度和用于指示道路空间宽高比的空间参数确定道路的高度阈值的高度阈值也是准确的,从而提高了获取到的最高通行高度的准确度。
可以理解的是,在通过上述任一实施例所示的方法确定道路的高度阈值后,还可以基于该高度阈值为车辆提供行驶依据。示例的,该摄像机还可以包括控制模块,使得感知模块确定道路的高度阈值后,将该高度阈值发送给控制模块,对应的,控制模块可以根据该高度阈值为车辆提供行驶依据。示例的,控制模块可以为控制芯片,请参见图11所示,图11为本申请实施例提供的又一种高度的确定方法的示意图,该高度的确定方法还可以包括:
S1101、感知模块将高度阈值发送给摄像机的控制模块。
示例的,感知模块将道路的高度阈值发送给摄像机的控制模块时,可以在不改变当前标准接口的前提下,增加一个符号(signal)来描述道路的高度阈值,可以理解的是,在当前标准接口中增加一个符号来描述道路的高度阈值也属于本申请保护范围内。
示例的,以当前标准接口为ISO 23150为例,可以在该当前标准接口ISO 23150中的通用地标对象边界框(general landmark object bounding box)中增加一个符号来描述道路的高度阈值,示例的,该符号可以为通用地标对象边界框净空(General landmark object bounding box clearance),可参见下述表1所示,通过增加道路的高度阈值字段,以将道路的高度阈值发送给控制模块。
表1
其中,增加的通用地标对象边界框净空可以通过名称、描述、以及值类型表示,示例的,可参见下述表2所示:
表2
可以看出,在本申请实施例中,感知模块可以通过增加符号通用地标对象边界框净空,将计算得到的道路的高度阈值发送给控制模块,使得控制模块可以进一步将当前车辆高度和高度阈值进行比较,以通过提示信息为车辆行驶提供行驶依据,即执行下述S1102:
S1102、控制模块根据当前车辆高度和高度阈值向车辆输出提示信息,以为车辆行驶提供行驶依据。
示例的,提示信息可以为语音提示信息,也可以为文本提示信息,当然,也可以为图像提示信息,具体可以根据实际需要进行设置。可以理解的是,为了避免对用户驾驶行为造成影响,该提示信息可以为语音提示信息,即以语音的方式向用户输出提示信息,这样就可以避免用户查看文本信息而对用户驾驶行为造成影响,从而提高了用户体验。
需要说明的是,在本申请实施例中,只是以控制模块为摄像机中的控制模块为例进行说明,当然,该控制模块也可以为车辆中的控制模块,具体可以根据实际需要进行设置。
在根据当前车辆高度和高度阈值向车辆输出提示信息时,可以先将该车辆的高度与该高度阈值进行比较,若当前车辆的高度小于道路的高度阈值,则输出第一提示信息,第一提示信息用于指示车辆可正常行驶;相反的,若当前车辆的高度大于道路的高度阈值,则输出第二提示信息,第二提示信息用于指示车辆停止继续行驶,以为车辆行驶提供行驶依据,从而提高了车辆行驶的安全性。
图12为本申请实施例提供的一种高度的确定装置120的结构示意图,示例的,请参见图12所示,该高度的确定装置120可以包括:
处理单元1201,用于确定道路上的目标对象;并根据目标对象,确定道路的高度阈值,高度阈值用于指示道路的最高通行高度。
可选的,目标对象包括限高杆、桥洞、和隧道口、停车杆中的至少一种。
可选的,处理单元1201,具体用于确定目标对象上显示的高度信息为高度阈值。
可选的,处理单元1201,具体用于根据目标对象和道路的车道信息,确定道路的高度阈值。
可选的,车道信息包括车道个数和每个车道的宽度,处理单元1201,具体用于根据目标对象和车道的总宽度,确定道路的总宽度;并根据道路的总宽度确定道路的高度阈值;其中,车道的总宽度是根据车道个数和每个车道的宽度确定的。
可选的,处理单元1201,具体用于根据道路的总宽度和空间参数,确定道路的高度阈值;其中,空间参数用于指示道路空间宽高比。
可选的,处理单元1201,具体用于根据第一位置关系和车道的总宽度,确定道路的总宽度;其中,第一位置关系用于指示目标对象的支撑部分与道路上的最边缘两侧车道线之间的位置关系。
可选的,处理单元1201,具体用于若第一位置关系指示目标对象的支撑部分设置在最边缘两侧车道线位置,则车道的总宽度为道路的总宽度;若第一位置关系指示目标对象的支撑部分设置在最边缘两侧车道线之外的位置,道路的总宽度是根据车道的总宽度和目标对象的支撑部分与最边缘两侧车道线之间的宽度确定的。
可选的,道路的总宽度为车道的总宽度和目标对象的支撑部分与最边缘两侧车道线之间的宽度之和。
可选的,该高度的确定装置120还可以包括输出单元1202。
输出单元1202,用于若当前车辆的高度小于道路的高度阈值,则输出第一提示信息,第一提示信息用于指示车辆可正常行驶;若当前车辆的高度大于道路的高度阈值,则输出第二提示信息,第二提示信息用于指示车辆停止继续行驶。
示例的,该车辆也可以包括摄像头、控制模块、或者融合模块。对应的,该高度的确定装置还可以集成在车辆中的摄像头上、或者,该高度的确定装置还可以集成在车辆中的控制模块中、或者该高度的确定装置还可以集成在车辆中的融合模块中。示例的,控制模块可以为中央控制器,或者MDC。可以理解的是,该高度的确定装置 设置在车辆中。
本申请实施例所示的高度的确定装置120,可以执行上述任一附图所示的实施例中的高度的确定方法,其实现原理以及有益效果与高度的确定方法的实现原理及有益效果类似,此处不再进行赘述。
图13为本申请实施例提供的另一种高度的确定装置130的结构示意图,示例的,请参见图13所示,该高度的确定装置130可以包括至少一个处理器1301和至少一个存储器1302,其中,
所述存储器1302用于存储程序指令;
所述处理器1031用于执行所述存储器1302中的程序指令,以使得该高度的确定装置130执行上述任一附图所示的实施例中的高度的确定方法,其实现原理以及有益效果与高度的确定方法的实现原理及有益效果类似,此处不再进行赘述。
本申请实施例还提供一种芯片,芯片上存储有计算机程序,在计算机程序被处理器执行时,执行上述任一附图所示的实施例中的高度的确定方法,其实现原理以及有益效果与高度的确定方法的实现原理及有益效果类似,此处不再进行赘述。
本申请实施例还提供一种计算机存储介质,包括指令,当所述指令由一个或多个处理器运行时,使得通信装置执行上述任一附图所示的实施例中的高度的确定方法,其实现原理以及有益效果与高度的确定方法的实现原理及有益效果类似,此处不再进行赘述。
本申请实施例还提供一种车辆,该车辆包括车辆本体和上述实施例所述的高度的确定装置,其中,高度的确定装置独立设置在车辆本体中。示例的,该车辆也可以包括摄像头、控制模块、或者融合模块;对应的,该高度的确定装置还可以集成在摄像头上、或者,该高度的确定装置还可以集成在控制模块中、或者该高度的确定装置还可以集成在融合模块中。示例的,控制模块可以为中央控制器,或者MDC。
上述各个实施例中处理器可以是通用处理器、数字信号处理器(digital signal processor,DSP)、专用集成电路(application specific integrated circuit,ASIC)、现成可编程门阵列(field programmable gate array,FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。可以实现或者执行本申请实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。结合本申请实施例所公开的方法的步骤可以直接体现为硬件译码处理器执行完成,或者用译码处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存取存储器(random access memory,RAM)、闪存、只读存储器(read-only memory,ROM)、可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器,处理器读取存储器中的指令,结合其硬件完成上述方法的步骤。
在本申请所提供的几个实施例中,应该理解到,所揭露的装置和方法,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。上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。
Claims (22)
- 一种高度的确定方法,其特征在于,包括:确定道路上的目标对象;根据所述目标对象,确定所述道路的高度阈值,所述高度阈值用于指示所述道路的最高通行高度。
- 根据权利要求1所述的方法,其特征在于,所述目标对象包括限高杆、桥洞、和隧道口、停车杆中的至少一种。
- 根据权利要求1或2所述的方法,其特征在于,所述根据所述目标对象,确定所述道路的高度阈值,包括:确定所述目标对象上显示的高度信息为所述高度阈值。
- 根据权利要求1或2所述的方法,其特征在于,所述根据所述目标对象,确定所述道路的高度阈值,包括:根据所述目标对象和所述道路的车道信息,确定所述道路的高度阈值。
- 根据权利要求4所述的方法,其特征在于,所述车道信息包括车道个数和每个车道的宽度,所述根据所述目标对象和所述道路的车道信息,确定所述道路的高度阈值,包括:根据所述目标对象和所述车道的总宽度,确定所述道路的总宽度;其中,所述车道的总宽度是根据所述车道个数和每个车道的宽度确定的;根据所述道路的总宽度确定所述道路的高度阈值。
- 根据权利要求5所述的方法,其特征在于,所述根据所述道路的总宽度确定所述道路的高度阈值,包括:根据所述道路的总宽度和空间参数,确定所述道路的高度阈值;其中,所述空间参数用于指示道路空间宽高比。
- 根据权利要求5或6所述的方法,其特征在于,所述根据所述目标对象和所述车道的总宽度,确定所述道路的总宽度,包括:根据第一位置关系和所述车道的总宽度,确定所述道路的总宽度;其中,所述第一位置关系用于指示所述目标对象的支撑部分与所述道路上的最边缘两侧车道线之间的位置关系。
- 根据权利要求7所述的方法,其特征在于,所述根据第一位置关系和所述车道的总宽度,确定所述道路的总宽度,包括:若所述第一位置关系指示所述目标对象的支撑部分设置在所述最边缘两侧车道线位置,则所述车道的总宽度为所述道路的总宽度;若所述第一位置关系指示所述目标对象的支撑部分设置在所述最边缘两侧车道线之外的位置,所述道路的总宽度是根据所述车道的总宽度和所述目标对象的支撑部分与所述最边缘两侧车道线之间的宽度确定的。
- 根据权利要求8所述的方法,其特征在于,所述道路的总宽度为所述车道的总宽度和所述目标对象的支撑部分与所述最边缘两侧车道线之间的宽度之和。
- 根据权利要求9所述的方法,其特征在于,所述方法还包括:若当前车辆的高度小于所述道路的高度阈值,则输出第一提示信息,所述第一提示信息用于指示车辆可正常行驶;若当前车辆的高度大于所述道路的高度阈值,则输出第二提示信息,所述第二提示信息用于指示车辆停止继续行驶。
- 一种高度的确定装置,其特征在于,包括:处理单元,用于确定道路上的目标对象;并根据所述目标对象,确定所述道路的高度阈值,所述高度阈值用于指示所述道路的最高通行高度。
- 根据权利要求11所述的装置,其特征在于,所述目标对象包括限高杆、桥洞、和隧道口、停车杆中的至少一种。
- 根据权利要求11或12所述的装置,其特征在于,所述处理单元,具体用于确定所述目标对象上显示的高度信息为所述高度阈值。
- 根据权利要求11或12所述的装置,其特征在于,所述处理单元,具体用于根据所述目标对象和所述道路的车道信息,确定所述道路的高度阈值。
- 根据权利要求14所述的装置,其特征在于,所述车道信息包括车道个数和每个车道的宽度,所述处理单元,具体用于根据所述目标对象和所述车道的总宽度,确定所述道路的总宽度;并根据所述道路的总宽度确定所述道路的高度阈值;其中,所述车道的总宽度是根据所述车道个数和每个车道的宽度确定的。
- 根据权利要求15所述的装置,其特征在于,所述处理单元,具体用于根据所述道路的总宽度和空间参数,确定所述道路的高度阈值;其中,所述空间参数用于指示道路空间宽高比。
- 根据权利要求15或16所述的装置,其特征在于,所述处理单元,具体用于根据第一位置关系和所述车道的总宽度,确定所述道路的总宽度;其中,所述第一位置关系用于指示所述目标对象的支撑部分与所述道路上的最边缘两侧车道线之间的位置关系。
- 根据权利要求17所述的装置,其特征在于,所述处理单元,具体用于若所述第一位置关系指示所述目标对象的支撑部分设置在所述最边缘两侧车道线位置,则所述车道的总宽度为所述道路的总宽度;若所述第一位置关系指示所述目标对象的支撑部分设置在所述最边缘两侧车道线之外的位置,所述道路的总宽度是根据所述车道的总宽度和所述目标对象的支撑部分与所述最边缘两侧车道线之间的宽度确定的。
- 根据权利要求18所述的装置,其特征在于,所述道路的总宽度为所述车道的总宽度和所述目标对象的支撑部分与所述最边缘两侧车道线之间的宽度之和。
- 根据权利要求19所述的装置,其特征在于,所述装置还包括输出单元;所述输出单元,用于若当前车辆的高度小于所述道路的高度阈值,则输出第一提示信息,所述第一提示信息用于指示车辆可正常行驶;若当前车辆的高度大于所述道路的高度阈值,则输出第二提示信息,所述第二提示信息用于指示车辆停止继续行 驶。
- 一种高度的确定装置,其特征在于,包括至少一个处理器和至少一个存储器,其中,所述存储器用于存储程序指令;所述处理器用于执行所述存储器中的程序指令,以使得所述高度的确定装置实现上述权利要求1-10任一所述的高度的确定方法。
- 一种计算机存储介质,包括指令,其特征在于,当所述指令由一个或多个处理器运行时,使得通信装置执行上述权利要求1-10任一所述的高度的确定方法。
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EP4063219A4 (en) | 2023-03-01 |
US20220327723A1 (en) | 2022-10-13 |
CN113002548B (zh) | 2022-10-28 |
CN113002548A (zh) | 2021-06-22 |
EP4063219A1 (en) | 2022-09-28 |
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