CN108313124B - Method and device for detecting obstacle around vehicle - Google Patents

Method and device for detecting obstacle around vehicle Download PDF

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Publication number
CN108313124B
CN108313124B CN201710037307.2A CN201710037307A CN108313124B CN 108313124 B CN108313124 B CN 108313124B CN 201710037307 A CN201710037307 A CN 201710037307A CN 108313124 B CN108313124 B CN 108313124B
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China
Prior art keywords
vehicle
angle
steering wheel
detection devices
detecting
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Chinese (zh)
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CN108313124A (en
Inventor
高明亮
屈操
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Beijing Autoroad Tech Co ltd
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Beijing Autoroad Tech Co ltd
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Priority to CN201710037307.2A priority Critical patent/CN108313124B/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/021—Determination of steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R2011/0001—Arrangements for holding or mounting articles, not otherwise provided for characterised by position
    • B60R2011/004—Arrangements for holding or mounting articles, not otherwise provided for characterised by position outside the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
    • B60R2011/008—Adjustable or movable supports
    • B60R2011/0085—Adjustable or movable supports with adjustment by rotation in their operational position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/802—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views
    • B60R2300/8026—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views in addition to a rear-view mirror system

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses a method and a device for detecting obstacles around a vehicle. Wherein the method comprises the following steps: at least one operation parameter of the current vehicle is obtained, wherein the operation parameter at least comprises: the speed of the vehicle, the rotation angle of the steering wheel of the vehicle; determining a deflection angle of one or more detection devices on the vehicle according to at least one operation parameter, wherein the detection devices are deployed at preset positions of the vehicle and are used for detecting obstacle conditions around the vehicle; one or more detection devices are controlled to detect the obstacle around the vehicle according to the deflection angle. The invention solves the technical problem that the detection area of the detection equipment installed on the vehicle cannot be dynamically adjusted according to the running condition of the vehicle in the prior art.

Description

Method and device for detecting obstacle around vehicle
Technical Field
The invention relates to the field of vehicle safety control, in particular to a method and a device for detecting obstacles around a vehicle.
Background
With the development of social economy, automobiles are increasingly in social life, and under the condition that the number of automobiles is increased year by year, the automobile safety problem is also receiving more and more attention. For vehicle safety, the main judgment basis is information of the relative distance and the relative speed between two vehicles, and if the distance between the vehicles in high-speed running is too close, rear-end collision accidents are easy to occur.
In the field, the automobile radar, as a safety auxiliary driving device for detecting obstacles around the vehicle, can be well used for detecting the distance between the running process of the vehicle and other vehicles, and has great help to the vehicle owner in driving the vehicle. However, under the condition that the turning, turning or overtaking of the vehicle is realized by steering wheel, the existing automobile radar cannot be dynamically adjusted along with the angle of the steering wheel and the running speed of the vehicle, so that a detection blind area is caused, and potential safety hazards exist.
Aiming at the problem that the prior art can not dynamically adjust the detection area of the detection equipment installed on the vehicle according to the running condition of the vehicle, no effective solution is proposed at present.
Disclosure of Invention
The embodiment of the invention provides a method and a device for detecting obstacles around a vehicle, which at least solve the technical problem that the detection area of detection equipment installed on the vehicle cannot be dynamically adjusted according to the running condition of the vehicle in the prior art.
According to an aspect of an embodiment of the present invention, there is provided a method of detecting an obstacle around a vehicle, including: at least one operation parameter of the current vehicle is obtained, wherein the operation parameter at least comprises: the speed of the vehicle, the rotation angle of the steering wheel of the vehicle; determining a deflection angle of one or more detection devices on the vehicle according to at least one operation parameter, wherein the detection devices are deployed at preset positions of the vehicle and are used for detecting obstacle conditions around the vehicle; one or more detection devices are controlled to detect the obstacle around the vehicle according to the deflection angle.
According to another aspect of the embodiment of the present invention, there is also provided an apparatus for detecting an obstacle around a vehicle, including: the first acquisition module is used for acquiring at least one operation parameter of the current vehicle, wherein the operation parameter at least comprises the following components: the speed of the vehicle, the rotation angle of the steering wheel of the vehicle; the first determining module is used for determining the deflection angle of one or more detecting devices on the vehicle according to at least one operation parameter, wherein the detecting devices are deployed at preset positions of the vehicle and are used for detecting the obstacle condition around the vehicle; and the first control module is used for controlling one or more detection devices to detect the obstacle around the vehicle according to the deflection angle.
In an embodiment of the present invention, by acquiring at least one operation parameter of the current vehicle, the operation parameter at least includes: the speed of the vehicle, the rotation angle of the steering wheel of the vehicle; determining a deflection angle of one or more detection devices on the vehicle according to at least one operation parameter, wherein the detection devices are deployed at preset positions of the vehicle and are used for detecting obstacle conditions around the vehicle; according to the deflection angle, one or more detection devices are controlled to detect the obstacle around the vehicle, and the purpose of dynamically adjusting the detection angle and the detection direction of the detection devices on the vehicle body according to the current running condition of the vehicle is achieved, so that the technical effect of detecting the condition of the obstacle around the vehicle for a driver without a field blind area as far as possible is achieved, and the technical problem that the detection area of the detection device installed on the vehicle cannot be dynamically adjusted according to the running condition of the vehicle in the prior art is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a flow chart of a method of detecting an obstacle around a vehicle according to an embodiment of the invention;
FIG. 2 is a flowchart of an alternative method of detecting a vehicle-surrounding obstacle according to an embodiment of the invention;
FIG. 3 is a flowchart of an alternative method of detecting a vehicle-surrounding obstacle according to an embodiment of the invention;
FIG. 4 is an alternative cut-in schematic diagram according to an embodiment of the invention;
FIG. 5 is a flowchart of an alternative method of detecting a vehicle-surrounding obstacle according to an embodiment of the invention;
FIG. 6 is a flowchart of an alternative method of detecting a vehicle-surrounding obstacle according to an embodiment of the invention; and
Fig. 7 is a schematic view of an apparatus for detecting an obstacle around a vehicle according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of a system for detecting an obstacle around a vehicle according to an embodiment of the invention; and
Fig. 9 is a schematic diagram of an alternative system for detecting a vehicle-surrounding obstacle according to an embodiment of the invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
According to an embodiment of the present invention, there is provided a method embodiment of detecting an obstacle around a vehicle, it being noted that the steps shown in the flowcharts of the drawings may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in an order different from that herein.
Fig. 1 is a flowchart of a method of detecting an obstacle around a vehicle according to an embodiment of the present invention, as shown in fig. 1, the method including the steps of:
step S102, at least one operation parameter of the current vehicle is obtained, wherein the operation parameter at least comprises: the speed of the vehicle, the rotation angle of the steering wheel of the vehicle;
step S104, determining the deflection angle of one or more detection devices on the vehicle according to at least one operation parameter, wherein the detection devices are deployed at preset positions of the vehicle and are used for detecting the obstacle condition around the vehicle;
And step S106, controlling one or more detection devices to detect the obstacle around the vehicle according to the deflection angle.
As an alternative embodiment, the above-mentioned operation parameters may be various parameters that characterize the current operation condition of the vehicle, and may include: the current speed and direction of the vehicle and the current rotation angle of the steering wheel of the vehicle; in an alternative embodiment, the vehicle may further comprise a model, a mass, a body size, a turning radius, etc. of the vehicle; the detection device may be a radar, a camera, or other vehicle-mounted device for driving assistance, and disposed at a plurality of preset positions of the vehicle body, and configured to detect a condition of an obstacle around the vehicle, and may detect a distance between the vehicle and the obstacle around the vehicle by using one or more radar probes, may acquire the obstacle around the vehicle by using one or more cameras, or may detect the obstacle around the vehicle by using a combination of one or more radars and cameras. Based on the technical schemes disclosed in the steps S102 to S106, at least one running parameter of the current vehicle is detected and obtained, and the deflection angles of the detection devices installed at a plurality of preset positions on the vehicle body are dynamically adjusted according to the running parameter of the vehicle, so that the surrounding obstacles of the vehicle are detected.
In an alternative embodiment, the speed of the vehicle may be detected by a speed sensor mounted on the vehicle, and the turning angle of the steering wheel of the vehicle may be detected by an angle sensor mounted on the vehicle.
As an alternative implementation mode, a plurality of cameras in different directions can be installed on a vehicle body, the environmental conditions around the vehicle are obtained, and the synthesized 360-degree panoramic image is displayed on a vehicle-mounted display screen, so that a driver can clearly and intuitively see the current environmental appearance of the vehicle, and further, obstacles can be better avoided, preferably, the radar probes in different directions are combined, early warning prompt information of the distance from the obstacles can be provided for the driver in real time, the driver can conveniently control the vehicle speed and the direction better, and unnecessary collision is reduced.
Here, the turning radius of the vehicle is the radius of the outer front wheel track circle when the steering wheel is turned to the limit position, due to the different sizes of the vehicle types. Under the condition that the detection directions of the vehicle camera and the radar probe are dynamically adjusted according to the rotation angle of the steering wheel of the vehicle, the deflection angle of the vehicle detection device is calculated according to the steering wheel angle by combining the turning radius and the vehicle body size of the vehicle, and the optimal detection direction of the detection device mounted on the vehicle can be estimated more accurately.
According to the method, the current running condition of the vehicle is detected and obtained, the deflection angle of one or more detection devices used for assisting driving at the preset position of the vehicle is determined according to the current running parameter of the vehicle, in an optional embodiment, the deflection angle of one or more cameras or radar probes installed on the vehicle body can be determined according to the current speed of the vehicle and the rotation angle of a steering wheel of a driver, and finally, the obstacle around the vehicle is detected by utilizing the one or more detection devices with the adjusted angle, so that the aim of dynamically adjusting the detection angle and the direction of the detection devices on the vehicle body according to the current running condition of the vehicle is fulfilled, the technical effect that the situation of detecting the obstacle around the vehicle for the driver without a blind area as far as possible is realized, and the technical problem that the detection area of the detection devices installed on the vehicle can not be dynamically adjusted according to the running condition of the vehicle in the prior art is solved.
In an alternative embodiment, as shown in fig. 2, where there are a plurality of detection devices, determining a yaw angle of one or more detection devices on the vehicle based on at least one operating parameter includes:
step S202, acquiring the space positions of a plurality of detection devices on a vehicle body;
Step S204, determining a plurality of deflection angles of a plurality of detection devices according to the space position and at least one operation parameter.
Specifically, in the above embodiment, the detection device may be a radar, a camera, or other vehicle-mounted device for driving assistance, disposed at a plurality of preset positions of the vehicle body, for detecting the condition of an obstacle around the vehicle; in the case of detection in a plurality of cases, since the positions of the detection devices on the vehicle body are different, the areas for detection are also different, and it is necessary to determine the yaw angle of each detection device from the current steering wheel angle and the vehicle speed of the vehicle based on the position information of each detection device on the vehicle body.
Here, the number of the detecting devices to be mounted on the vehicle and the mounting position of each detecting device on the vehicle body may be determined according to the information such as the vehicle type, the vehicle body size, the turning radius, etc. of the vehicle, and in the case where the vehicle is in a running state, the yaw angle of each detecting device may be dynamically adjusted according to the steering wheel rotation angle and the vehicle speed of the vehicle, so that a plurality of detecting devices on the vehicle body may be always located in an orientation capable of detecting the obstacle in all areas around the vehicle body.
Through the embodiment, the deflection angle of each detection device can be adjusted in a self-defined mode, and the effect of eliminating the detection blind area is achieved.
As an alternative embodiment, in the case where a plurality of detection devices are mounted on the vehicle body, and in the case where a plurality of obstacles are detected, the warning information provided to the driving may be determined according to the type and/or size of the obstacle, and the type of the obstacle may be classified as: the method comprises the steps of prompting information of a detection device which detects a person to a driver, prompting information of a detection device which detects a moving body to the driver, prompting information of a detection device which detects a standing object to the driver, and prompting information of a detection device which detects the standing object to the driver under the condition that three obstacles are detected simultaneously, preferably, prompting information of a detection device which detects a large standing object to the driver according to the size of the standing object.
As another alternative embodiment, in the case where a plurality of detecting devices are mounted on the vehicle body and in the case where a plurality of obstacles are detected, the warning information provided to the driving may be determined according to the damage condition to the vehicle, in an alternative embodiment, in the case where a plurality of detecting devices mounted on the vehicle body each detect an obstacle, the information of the detecting device where the obstacle is detected to be more damaging to the vehicle is preferentially presented to the driver, or the most preferable scheme is provided to the driver through big data analysis.
It should be noted that, the driver may set the priority of each detection device in a customized manner.
In an alternative embodiment, the detection device includes: cameras, and/or radars.
Alternatively, the radar may be a microwave radar, and/or a lidar.
Specifically, in the above embodiment, the above detection device is disposed at a plurality of preset positions of the vehicle body, and is used for detecting the condition of the obstacle around the vehicle, and the distance between the vehicle and the obstacle around the vehicle may be detected by one or more radar probes, or the condition of the obstacle around the vehicle may be obtained by one or more cameras, or the obstacle around the vehicle may be detected by a combination of one or more radar probes and a camera.
Preferably, the radar may be a microwave radar. Compared with the traditional ultrasonic radar, the microwave radar is much less in interference, is not influenced by foggy weather, temperature and the like, has a larger detection distance (generally more than 100 m), and has more interference and a smaller detection distance (generally less than 1 m).
In an alternative embodiment, the camera and the radar can be used as a detection device for detecting the obstacle around the vehicle, and the camera is used for acquiring the image of the obstacle around the vehicle to intuitively reflect the obstacle condition around the vehicle; the distance between the vehicle and the obstacle is obtained in real time by using the radar probe, and the deflection angles of the vehicle camera and the radar probe are dynamically adjusted according to the rotation angle and the vehicle speed of the current steering wheel of the vehicle, so as to obtain the optimal detection direction.
In an alternative embodiment, as shown in fig. 3, determining the deflection angle of one or more detection devices on the vehicle based on at least one operating parameter may comprise the steps of:
Step S302, determining the direction of the deflection angle of one or more detection devices on the vehicle according to the rotation direction of the steering wheel of the vehicle;
Step S304, determining the magnitude of the deflection angle according to the magnitude of the speed of the vehicle and the magnitude of the rotation angle of the steering wheel of the vehicle.
Specifically, in the above embodiment, the rotation direction of the steering wheel of the driver is the direction of turning the vehicle, so that the direction of the angle of deflection of one or more detection devices on the vehicle can be determined according to the rotation direction of the steering wheel, then the track arc of turning of the vehicle is estimated according to the magnitude of the rotation angle of the steering wheel of the vehicle and the magnitude of the vehicle speed, and then the magnitude of the angle of deflection of each detection device on the vehicle is determined according to the size of the vehicle body, generally, the steering wheel rotates by 15 to 16 degrees, the tire rotates by 1 degree, and the actual situation is determined according to the parameters of the vehicle type, the size of the vehicle, the turning radius and the like.
In an alternative embodiment, fig. 4 is a schematic view of an alternative overtaking according to an embodiment of the present invention, where, as shown in fig. 4, when a vehicle 401 on the left side of the road exceeds a vehicle 403 on the right side of the vehicle, the vehicle 401 on the left side is currently going to the right and needs to turn the steering wheel to the right, and where the turning angle of the steering wheel is the same, the running speeds of the vehicle 401 are different, the turning angle of the vehicle 401 is different, and the greater the running speed v is, the greater the radius r of the turning is, that is, the predicted running track of the turning of the vehicle is different, so that the magnitude of the turning angle of the detection device needs to be determined jointly according to the magnitude of the vehicle speed and the magnitude of the turning angle of the steering wheel of the vehicle.
By the embodiment, the running track of the vehicle can be predicted according to the current speed of the vehicle and the rotation angle of the steering wheel, the deflection angle of each detection device is further determined, and the direction of each detection device is controlled to deflect according to the deflection angle, so that the aim of dynamically adjusting the detection area of the detection device is fulfilled.
In an alternative embodiment, as shown in fig. 5, after determining the magnitude of the yaw angle according to the magnitude of the vehicle speed and the magnitude of the turning angle of the steering wheel of the vehicle, the method may further include the steps of:
Step S502, acquiring the relative positions of the vehicle and the obstacles around the vehicle in real time;
step S504, dynamically adjusting the deflection angle of one or more detection devices according to the relative positions.
Specifically, in the above-described embodiment, after the magnitude of the yaw angle of each detection device is determined according to the magnitude of the current vehicle speed of the vehicle and the magnitude of the rotation angle of the steering wheel of the vehicle, in the case where an obstacle is detected by a certain detection device, the yaw angle of each detection device may be dynamically adjusted according to the relative position of the vehicle and the obstacle, so that the obstacle may always be within the view range of the driver.
In an alternative embodiment, and still as illustrated in fig. 4, when the vehicle 401 is overtaking the vehicle 403, the relative positions of the vehicle 401 and the vehicle 403 are acquired in real time, and the orientation of one or more detection devices mounted on the vehicle 401 is dynamically adjusted according to the relative positions, so that the vehicle 403 is always in the detection area of the vehicle 401 until the whole overtaking process is completed.
Through the embodiment, the detected obstacle can be always positioned in the detection area of the detection equipment, so that the problem that potential safety hazards are caused when the obstacle exceeds the detection area along with the running of the vehicle is avoided, and the method is particularly suitable for the situation of overtaking.
In an alternative embodiment, as shown in fig. 6, after controlling one or more detection devices to detect the obstacle around the vehicle according to the deflection angle, the method may further include the steps of:
step S602, detecting whether a steering wheel of a vehicle is reset;
in step S604, in the case of steering wheel reset, one or more detection devices are controlled to return to a default angle.
In particular, in the above-described embodiment, as the steering wheel of the vehicle rotates, the detection of the obstacle around the vehicle by one or more detection devices on the vehicle is dynamically adjusted, and when the steering wheel of the vehicle is reset, it indicates that the vehicle is turning or overtaking is completed, at this time, the orientation of each detection device mounted on the vehicle is controlled to be restored to the default angle,
Through the embodiment, the purpose of dynamically adjusting the detection equipment according to the running condition of the vehicle and dynamically homing the detection equipment can be achieved, so that the effect of adaptively adjusting the detection area of the detection equipment according to the running condition of the vehicle is achieved, the intelligent detection equipment is realized, and the user experience is improved.
Example 2
According to an embodiment of the present invention, there is also provided an embodiment of an apparatus for detecting an obstacle around a vehicle. The method of detecting an obstacle around a vehicle in embodiment 1 of the invention may be performed in the apparatus of embodiment 2 of the invention.
Fig. 7 is a schematic view of an apparatus for detecting an obstacle around a vehicle according to an embodiment of the invention, as shown in fig. 7, the apparatus including: a first acquisition module 701, a first determination module 703 and a first control module 705.
The first obtaining module 701 is configured to obtain at least one operation parameter of the current vehicle, where the operation parameter at least includes: the speed of the vehicle, the rotation angle of the steering wheel of the vehicle; a first determining module 703, configured to determine a yaw angle of one or more detection devices on the vehicle according to at least one operation parameter, where the detection devices are disposed at a preset position of the vehicle, and are configured to detect an obstacle condition around the vehicle; the first control module 705 is configured to control one or more detection devices to detect a vehicle-surrounding obstacle according to the deflection angle.
As can be seen from the foregoing, the first obtaining module 701 obtains the current operation condition of the vehicle, the first determining module 703 determines the deflection angle of one or more detection devices located at the preset position of the vehicle for driving assistance according to the current at least one operation parameter of the vehicle, in an alternative embodiment, the deflection angle of one or more cameras or radar probes installed on the vehicle body may be determined according to the current speed of the vehicle and the rotation angle of the steering wheel of the driver, and finally the first control module 705 detects the obstacle around the vehicle by using the one or more detection devices after the adjustment angle, so as to achieve the purpose of dynamically adjusting the detection angle and direction of the detection devices on the vehicle body according to the current operation condition of the vehicle, thereby achieving the technical effect of detecting the obstacle around the vehicle for the driver without blind area as much as possible, and further solving the technical problem that the detection area of the detection device installed on the vehicle cannot be dynamically adjusted according to the operation condition of the vehicle in the prior art.
In an alternative embodiment, the first obtaining module 701 may include: a first detection unit for detecting a vehicle speed of the vehicle by a speed sensor mounted on the vehicle; and a second detection unit for detecting a turning angle of a steering wheel of the vehicle by an angle sensor mounted on the vehicle.
In an alternative embodiment, in the case of a plurality of detection devices, the first determining module 703 may include: an acquisition unit configured to acquire spatial positions of a plurality of detection devices on a vehicle body; a determining unit for determining a plurality of deflection angles of the plurality of detection devices according to the spatial position and according to at least one operation parameter.
In an alternative embodiment, the detecting device may include: cameras, and/or radars.
Alternatively, the radar may be a microwave radar, and/or a lidar.
In an alternative embodiment, the first determining module includes: a second determining module for determining a direction of a yaw angle of one or more detection devices on the vehicle based on a direction of rotation of a steering wheel of the vehicle; and the third determining module is used for determining the magnitude of the deflection angle according to the magnitude of the speed of the vehicle and the magnitude of the rotation angle of the steering wheel of the vehicle.
In an alternative embodiment, the apparatus may further include: the second acquisition module is used for acquiring the relative positions of the vehicle and the obstacle around the vehicle in real time; and the adjusting module is used for dynamically adjusting the deflection angle of one or more detection devices according to the relative positions.
In an alternative embodiment, the apparatus may further include: the detection module is used for detecting whether the steering wheel of the vehicle is reset or not; and the second control module is used for controlling one or more detection devices to restore to a default angle under the condition of steering wheel reset.
Example 3
According to an embodiment of the present invention, there is also provided a system embodiment for detecting an obstacle around a vehicle. The method of detecting an obstacle around a vehicle in embodiment 1 of the invention may be performed in the system of embodiment 3 of the invention.
Fig. 8 is a schematic diagram of a system for detecting an obstacle around a vehicle according to an embodiment of the invention, as shown in fig. 8, the system including: an angle sensor 801, a controller 803, and at least one detection device 805.
Wherein, the angle sensor 801 is connected with the steering wheel of the vehicle and is used for detecting the rotation angle of the steering wheel of the vehicle;
the controller 803 is connected with the angle sensor through a data transmission bus and receives a rotation angle signal from the angle sensor;
At least one detecting device 805 connected to the controller for receiving the control information transmitted from the controller and detecting the condition of the obstacle around the vehicle according to the control signal;
wherein the controller is further configured to determine a yaw angle of the at least one detection device based on the yaw angle signal.
As an alternative embodiment, the angle sensor is connected to the steering wheel of the vehicle, and is configured to detect a rotation angle of the steering wheel of the vehicle, and transmit the detected rotation angle of the steering wheel of the vehicle to the controller through the data transmission bus, where the controller receives the rotation angle signal from the angle sensor, calculates a deflection angle of each detection device according to the rotation angle of the steering wheel of the vehicle, and sends a corresponding control signal to one or more detection devices connected to the controller, so as to control each detection device to deflect according to the respective deflection angle, and then detect the obstacle condition around the vehicle.
In an alternative embodiment, the detection device may be a radar, a camera, or other vehicle-mounted device for driving assistance, and disposed at a plurality of preset positions on the vehicle body, for detecting the condition of an obstacle around the vehicle, where the distance between the vehicle and the obstacle around the vehicle may be detected by one or more radar probes, where the obstacle around the vehicle may be obtained by one or more cameras, or where the obstacle around the vehicle may be detected by one or more radar and the camera in combination. The detection device is a rotatable detection device, such as a rotatable camera or a radar probe.
Alternatively, the radar may be a microwave radar, and/or a lidar.
As an alternative implementation mode, a plurality of cameras in different directions can be installed on a vehicle body, the environmental conditions around the vehicle are obtained, and the synthesized 360-degree panoramic image is displayed on a vehicle-mounted display screen, so that a driver can clearly and intuitively see the current environmental appearance of the vehicle, and further, obstacles can be better avoided, preferably, the radar probes in different directions are combined, early warning prompt information of the distance from the obstacles can be provided for the driver in real time, the driver can conveniently control the vehicle speed and the direction better, and unnecessary collision is reduced.
Here, the turning radius of the vehicle is the radius of the outer front wheel track circle when the steering wheel is turned to the limit position, due to the different sizes of the vehicle types. Under the condition that the detection directions of the vehicle camera and the radar probe are dynamically adjusted according to the rotation angle of the steering wheel of the vehicle, the deflection angle of the vehicle detection device is calculated according to the steering wheel angle by combining the turning radius and the vehicle body size of the vehicle, and the optimal detection direction of the detection device mounted on the vehicle can be estimated more accurately.
According to the method, the rotation angle of the current steering wheel of the vehicle is detected and obtained in real time through the angle sensor connected with the steering wheel of the vehicle, the running track of the vehicle is predicted according to the rotation angle of the steering wheel and in combination with the type, the quality and the size of the vehicle body of the vehicle and the current running speed of the vehicle, the deflection angle of one or more detection devices used for assisting driving on the preset position of the vehicle is further determined, after the deflection angle of each detection device is determined, the detection device is controlled and adjusted through the controller to deflect and then detect the obstacle around the vehicle, the purpose of dynamically adjusting the detection angles and the directions of a plurality of detection devices on the vehicle body according to the rotation angle of the steering wheel of the vehicle is achieved, the technical effect that the situation of detecting the obstacle around the vehicle for a driver is detected without any blind area is achieved, and the technical problem that the detection device used for detecting the obstacle around the vehicle is not adaptively adjusted according to the running situation of the vehicle in the prior art is solved.
In an alternative embodiment, as shown in fig. 9, the above system further includes: a speed sensor 807 connected to the controller for detecting a vehicle speed of the vehicle and transmitting a vehicle speed signal to the controller.
Specifically, in the above-described embodiment, in the case where the rotation angle of the steering wheel is the same, since the vehicle speed is different, the angle at which the vehicle turns and the travel locus are also different, the vehicle speed of the vehicle may be detected by the speed sensor mounted on the vehicle, and the vehicle speed signal may be transmitted to the controller, and the controller may determine the yaw angle of each detection device according to the magnitude of the rotation angle of the steering wheel of the vehicle and the magnitude of the vehicle speed.
With the above-described embodiment, in the case where the driver turns the steering wheel, the yaw angle of each detection device of the vehicle can be determined more accurately.
In an alternative embodiment, the detection device is a camera and/or a radar.
Alternatively, the radar may be a microwave radar, and/or a lidar.
In an alternative embodiment, the camera and the radar can be used as a detection device for detecting the obstacle around the vehicle, and the camera is used for acquiring the image of the obstacle around the vehicle to intuitively reflect the obstacle condition around the vehicle; the distance between the vehicle and the obstacle is obtained in real time by using the radar probe, and the deflection angles of the vehicle camera and the radar probe are dynamically adjusted according to the rotation angle and the vehicle speed of the current steering wheel of the vehicle, so as to obtain the optimal detection direction.
In an alternative embodiment, the plurality of detecting devices are disposed at a plurality of preset positions of the vehicle.
In an alternative embodiment, as shown in fig. 9, the above system further includes: a processor 809 is coupled to the controller for determining a deflection angle for each of the plurality of probing devices based on a plurality of preset positions of the plurality of probing devices.
Specifically, in the above-described embodiment, since the positions of the detecting devices on the vehicle body are different, the areas for detection are also different, and it is necessary to determine the yaw angle of each detecting device from the current steering wheel angle and the vehicle speed of the vehicle based on the position information of each detecting device on the vehicle body. The processor may be configured to determine the deflection angle of each of the plurality of detection devices based on a plurality of preset positions of the plurality of detection devices on the vehicle body.
In an alternative embodiment, the data transmission bus is a CAN bus.
In an alternative embodiment, as shown in fig. 9, the above system further includes: and the transmission structure 811 is connected with the detection equipment and is used for driving the detection equipment to rotate.
Specifically, in the above embodiment, the transmission structure 811 may receive a control signal from the controller and control the rotation of the plurality of detection devices connected thereto according to the control signal.
In an alternative embodiment, as shown in fig. 9, the above system further includes: and the output device 813 is connected with the detection device and is used for outputting corresponding prompt information to the vehicle owner when the detection device detects the obstacle condition around the vehicle.
Specifically, in the above-described embodiment, the above-described output device may be a voice or video device for outputting the obstacle situation detected by the detection device to the driver of the vehicle in the form of voice or video.
In an alternative embodiment, as shown in fig. 9, the above system further includes: a power supply 815 for supplying power.
There is also provided in accordance with an embodiment of the present invention a vehicle including a system for detecting an obstacle around the vehicle, optionally or preferably, as described above.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.

Claims (6)

1. A method of detecting an obstacle around a vehicle, comprising:
at least one operation parameter of the current vehicle is obtained, wherein the operation parameter at least comprises: the vehicle speed of the vehicle, the rotation angle of the steering wheel of the vehicle, the body size of the vehicle, the turning radius of the vehicle;
Determining a deflection angle of one or more detection devices on the vehicle according to the at least one operation parameter, wherein the detection devices are deployed at preset positions of the vehicle and are used for detecting obstacle conditions around the vehicle, and the detection devices comprise radars;
Controlling the one or more detection devices to detect the obstacle around the vehicle according to the deflection angle;
wherein determining the angle of deflection of one or more detection devices on the vehicle based on the at least one operating parameter comprises:
determining a direction of a yaw angle of one or more detection devices on the vehicle based on a direction of rotation of a steering wheel of the vehicle;
and determining the magnitude of the deflection angle according to the magnitude of the speed of the vehicle, the size of the body of the vehicle, the turning radius of the vehicle and the magnitude of the rotation angle of the steering wheel of the vehicle.
2. The method according to claim 1, wherein after determining the magnitude of the yaw angle according to the magnitude of the vehicle speed and the magnitude of the turning angle of the vehicle steering wheel, the method further comprises:
Acquiring the relative positions of the vehicle and the obstacle around the vehicle in real time;
And dynamically adjusting the deflection angle of the one or more detection devices according to the relative positions.
3. The method according to claim 1, wherein after controlling the one or more detection devices to detect the vehicle-surrounding obstacle according to the yaw angle, the method further comprises:
Detecting whether a steering wheel of the vehicle is reset;
And controlling the one or more detection devices to return to a default angle in the case of steering wheel reset.
4. An apparatus for detecting an obstacle around a vehicle, comprising:
the first acquisition module is used for acquiring at least one operation parameter of the current vehicle, wherein the operation parameter at least comprises the following components: the vehicle speed of the vehicle, the rotation angle of the steering wheel of the vehicle, the body size of the vehicle, the turning radius of the vehicle;
a first determining module, configured to determine a yaw angle of one or more detecting devices on the vehicle according to the at least one operation parameter, where the detecting devices are deployed at preset positions of the vehicle, and are configured to detect an obstacle condition around the vehicle, and the detecting devices include a radar;
A first control module for controlling the one or more detection devices to detect the obstacle around the vehicle according to the deflection angle;
Wherein the first determining module further comprises: a second determining module for determining a direction of a yaw angle of one or more detection devices on the vehicle based on a direction of rotation of a steering wheel of the vehicle; and the third determining module is used for determining the magnitude of the deflection angle according to the magnitude of the speed of the vehicle, the size of the body of the vehicle, the turning radius of the vehicle and the magnitude of the rotation angle of the steering wheel of the vehicle.
5. The apparatus of claim 4, wherein the apparatus further comprises:
the second acquisition module is used for acquiring the relative positions of the vehicle and the surrounding obstacles of the vehicle in real time;
And the adjusting module is used for dynamically adjusting the deflection angle of the one or more detection devices according to the relative positions.
6. The apparatus of claim 4, wherein the apparatus further comprises:
The detection module is used for detecting whether the steering wheel of the vehicle is reset or not;
and the second control module is used for controlling the one or more detection devices to restore to a default angle under the condition that the steering wheel is reset.
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