CN108646233B - Method, device and system for simulating ultrasonic radar detection and storage medium - Google Patents
Method, device and system for simulating ultrasonic radar detection and storage medium Download PDFInfo
- Publication number
- CN108646233B CN108646233B CN201810358501.5A CN201810358501A CN108646233B CN 108646233 B CN108646233 B CN 108646233B CN 201810358501 A CN201810358501 A CN 201810358501A CN 108646233 B CN108646233 B CN 108646233B
- Authority
- CN
- China
- Prior art keywords
- detection
- ultrasonic
- ultrasonic radar
- radar sensor
- ray
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/52004—Means for monitoring or calibrating
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Hardware Design (AREA)
- Evolutionary Computation (AREA)
- Geometry (AREA)
- General Engineering & Computer Science (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The embodiment of the invention provides a method, a device and a system for simulating ultrasonic radar detection, a storage medium and an automatic driving method. The method for simulating the ultrasonic radar detection comprises the following steps: acquiring a simulation scene; determining the detection direction of rays of an ultrasonic radar sensor according to the parameters of the ultrasonic radar sensor; performing ray tracing on the simulation scene based on the detection direction; and determining a detection result corresponding to the detection direction for the simulation scene according to a ray tracing result. The technical scheme ideally simulates the application of the ultrasonic radar sensor in the scene, so that the simulation detection result of the ultrasonic radar sensor is obtained, and the user experience is obviously improved.
Description
Technical Field
The invention relates to the field of computer simulation, in particular to a method, a device and a system for simulating ultrasonic radar detection and a storage medium, and also relates to an automatic driving method.
Background
With the development of science and technology, computer simulation has been applied to many fields. For example, a game engine is used to implement emulation of a sensor such as a camera.
In the existing computer simulation technology, there is no method and apparatus capable of effectively simulating an ultrasonic radar sensor. However, due to the importance of the ultrasonic radar sensor in many application scenarios, it is highly necessary to be able to simulate the parameter characteristics and generate the detection results for the ultrasonic radar sensor.
For example, during the development of autonomous vehicles, constant verification tests of unmanned driving techniques are required under various driving conditions. Thus, the degree of safety of the unmanned technique can be ensured to be higher than the operation of the human driver. At some point, it is desirable to test the autonomous vehicle on the actual road. However, the method is also important, namely simulation test on a virtual road, and the virtual road test is also one of important means for accumulating the test mileage of the unmanned automobile. The virtual road test can effectively test dangerous or unusual driving scenes. The flexibility and the versatility of the virtual road test enable the virtual road test to play an important role in the development of the automatic driving technology. In the virtual road test, it is impossible or inconvenient to detect with the ultrasonic radar sensor. However, the detection result of the ultrasonic radar sensor is of great significance for the research of the automatic driving automobile system.
In summary, in many applications such as an automatic driving automobile system, a robot intelligent system, etc., a technical solution capable of effectively simulating ultrasonic radar detection is urgently needed to meet the actual needs of users.
Disclosure of Invention
The present invention has been made in view of the above problems. The invention provides a method for simulating ultrasonic radar detection, which comprises the following steps:
acquiring a simulation scene;
determining the detection direction of rays of an ultrasonic radar sensor according to the parameters of the ultrasonic radar sensor;
performing ray tracing on the simulation scene based on the detection direction; and
and determining a detection result corresponding to the detection direction for the simulation scene according to a ray tracing result.
Illustratively, the parameters of the ultrasonic radar sensor include: horizontal detection view angle, vertical detection view angle, horizontal detection resolution, vertical detection resolution, farthest detection distance and nearest detection distance.
Illustratively, the determining a detection direction of a ray of the ultrasonic radar sensor according to a parameter of the ultrasonic radar sensor includes:
determining an included angle between the detection direction and an ultrasonic wave emission first longitudinal plane according to the horizontal detection visual angle and the horizontal detection resolution, wherein the ultrasonic wave emission first longitudinal plane is an ultrasonic wave emission longitudinal plane positioned at the edge;
determining an included angle between the detection direction and an ultrasonic wave emission first transverse plane according to the vertical detection visual angle and the vertical detection resolution, wherein the ultrasonic wave emission first transverse plane is an ultrasonic wave emission transverse plane positioned at the edge; and
and determining the detection direction according to the included angle between the detection direction and the first longitudinal surface of the ultrasonic emission and the included angle between the detection direction and the first transverse surface of the ultrasonic emission.
Illustratively, the ray tracing based on the detection direction for the simulation scene comprises:
establishing a geometric model of rays of the ultrasonic radar sensor based on the detection direction and the farthest detection distance; and
and executing the tracking process of the ray aiming at the simulation scene to obtain the intersection point of the ray and the simulation scene.
Illustratively, the determining, from the ray tracing result, a detection result corresponding to the detection direction for the simulation scene includes: selecting a final intersection point from the intersection points of the rays and the simulation scene, and determining a distance between the final intersection point and a transmission center of the ultrasonic radar sensor as a detection result, wherein a distance d between the final intersection point and the transmission center is the smallest among the intersection points of the rays and the simulation scene, and the distance d is greater than or equal to the nearest detection distance.
Illustratively, the geometric model is a spherical geometric model or a cylindrical geometric model.
Illustratively, the establishing a geometric model of the rays of the ultrasonic radar sensor comprises:
using line segments SPdRepresenting the ray, wherein the line segment SPdIs the transmission center of the ultrasonic radar sensor, and the line segment SPdEnd point P ofdDetermined according to the following formula:
wherein L ismaxRepresents the maximum detection range of the object,
and theta represents an included angle between the detection direction and the first ultrasonic wave emission transverse plane, and theta represents an included angle between the detection direction and the first ultrasonic wave emission longitudinal plane.
Illustratively, the establishing a geometric model of the rays of the ultrasonic radar sensor comprises:
using line segments SPd' represents the ray, wherein the line segment SPd' the starting point S is the transmission center of the ultrasonic radar sensor, and the line segment SPd' end point Pd' determined according to the following equation:
wherein L ismaxRepresents the maximum detection range of the object,
and theta represents an included angle between the detection direction and the first ultrasonic wave emission transverse plane, and theta represents an included angle between the detection direction and the first ultrasonic wave emission longitudinal plane.
Illustratively, the establishing a geometric model of the rays of the ultrasonic radar sensor comprises:
by line segment PsPdRepresents the ray, wherein the line segment PsPdStarting point P ofsAnd end point PdAre determined according to the following formulas:
wherein the content of the first and second substances,Lminrepresents the closest detection distance, LmaxRepresents the maximum detection range of the object,
and theta represents an included angle between the detection direction and the first ultrasonic wave emission transverse plane, and theta represents an included angle between the detection direction and the first ultrasonic wave emission longitudinal plane.
Illustratively, the establishing a geometric model of the rays of the ultrasonic radar sensor comprises:
by line segment Ps'Pd' represents the ray, wherein the line segment Ps'Pd' starting Point Ps' and end point Pd' are determined according to the following equations, respectively:
wherein L isminRepresents the closest detection distance, LmaxRepresents the maximum detection range of the object,
and theta represents an included angle between the detection direction and the first ultrasonic wave emission transverse plane, and theta represents an included angle between the detection direction and the first ultrasonic wave emission longitudinal plane.
According to another aspect of the present invention, there is also provided an automatic driving method, including:
generating a detection result aiming at the simulation scene according to the method for simulating the ultrasonic radar detection; and
automatically driving the vehicle based on the detection result.
According to another aspect of the present invention, there is also provided an apparatus for simulating ultrasonic radar detection, comprising:
the simulation scene module is used for acquiring a simulation scene;
the direction determining module is used for determining the detection direction of the ray of the ultrasonic radar sensor according to the parameter of the ultrasonic radar sensor;
a ray tracing module for performing ray tracing based on the detection direction for the simulation scene; and
and the result generation module is used for determining a detection result corresponding to the detection direction for the simulation scene according to a ray tracing result.
According to yet another aspect of the present invention, there is also provided a system for simulating ultrasonic radar detection, comprising a processor and a memory, wherein the memory has stored therein computer program instructions for executing the method for simulating ultrasonic radar detection described above when the computer program instructions are executed by the processor.
According to another aspect of the present invention, there is also provided a storage medium having stored thereon program instructions for performing, when executed, the method of simulating ultrasound radar detection described above.
According to the method, the device and the system for simulating the ultrasonic radar detection, provided by the embodiment of the invention, the detection result of the ultrasonic radar sensor can be generated aiming at a simulation scene by using the storage medium. Therefore, ultrasonic radar detection is ideally simulated, and user experience is remarkably improved. The automatic driving method generates the detection result of the ultrasonic radar according to the method for simulating the ultrasonic radar detection, thereby being capable of performing automatic driving of an automobile in a simulation scene based on a more ideal detection result.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail embodiments of the present invention with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings, like reference numbers generally represent like parts or steps.
FIG. 1 shows a schematic flow diagram of a method of simulating ultrasonic radar detection according to one embodiment of the present invention;
FIG. 2 shows a schematic side view of an ultrasonic radar sensor emitting radiation according to one embodiment of the present invention;
FIG. 3 shows a schematic view of an array of spots projected on a plane in front of by ultrasonic radiation emitted by an ultrasonic radar sensor according to one embodiment of the present invention;
FIG. 4 shows a schematic view of a ray of an ultrasonic radar sensor according to one embodiment of the invention;
FIGS. 5A, 5B, and 5C respectively illustrate different angular views of a geometric model of a ray established in accordance with an embodiment of the present invention;
FIGS. 6A, 6B, and 6C respectively illustrate different angular views of a geometric model of a ray created in accordance with another embodiment of the present invention;
FIGS. 7A, 7B and 7C respectively illustrate different angular views of a geometric model of a ray established in accordance with yet another embodiment of the present invention;
FIGS. 8A, 8B and 8C respectively show different angular views of a geometric model of a ray created according to another embodiment of the present invention;
FIG. 9 shows a schematic flow diagram of a method of simulating ultrasonic radar detection according to yet another embodiment of the invention; and
FIG. 10 shows a schematic block diagram of an apparatus for simulating ultrasonic radar detection according to one embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, exemplary embodiments according to the present invention will be described in detail below with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a subset of embodiments of the invention and not all embodiments of the invention, with the understanding that the invention is not limited to the example embodiments described herein. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the invention described herein without inventive step, shall fall within the scope of protection of the invention.
The ultrasonic radar sensor transmits an ultrasonic signal in a certain direction by using an ultrasonic transmitter, and starts timing at the same time of transmitting the ultrasonic signal. The ultrasonic wave is transmitted through air, and the ultrasonic wave is reflected and transmitted back immediately when meeting an obstacle in the transmission process. The ultrasonic sensor stops the time measurement immediately when the reflected wave is received by the ultrasonic receiver. In air, the propagation velocity of the ultrasonic wave is 340 m/s. The timer can detect the distance length d from the transmitting center to the obstacle through the time length t between the transmitting time and the receiving time, namely: d is 340 t/2. Ultrasonic radar sensors are of great importance in many technical fields, such as autopilot systems. However, there are applications where ultrasonic radar detection is not possible or convenient for a variety of reasons, such as in a computer-generated simulation scenario. Therefore, it is very necessary to perform the simulation of the ultrasonic radar detection and generate the ultrasonic radar detection result in real time.
In an embodiment of the present invention, a method of simulating an ultrasonic radar survey is provided. In the following, a method of simulating ultrasonic radar detection according to one embodiment of the present invention will be described with reference to fig. 1. FIG. 1 shows a schematic flow diagram of a method 100 of simulating an ultrasonic radar survey in accordance with one embodiment of the invention. As shown in fig. 1, the method 100 includes the following steps.
Step S110, acquiring a simulation scene.
It will be appreciated that the simulation scenario may be a computer simulation of an actual physical scenario such as a street. The simulation scenario may be dynamic or static. Optionally, the simulation scenario is organized using a physics engine. Three-dimensional models of objects such as roads, buildings, vehicles, etc. may be included in the simulation scenario. Specifically, preset objects (including information of the position, size, shape, and the like of the object) may be described according to the requirements of the physics engine, and loaded into the physics engine to construct the simulation scene. The physics engine may be a stand-alone engine or may be from a variety of game engines.
And step S120, determining the detection direction of the ray of the ultrasonic radar sensor according to the parameter of the ultrasonic radar sensor.
The ultrasonic radar sensor is a device simulated by the technical scheme of the application, and is not really in the current simulation scene. In other words, it is desirable to generate a detection result generated by the ultrasonic radar sensor if it exists in the real scene corresponding to the simulation scene. Because the parameters of the ultrasonic radar sensors are different, the detection results generated by different ultrasonic radar sensors may be different for the same scene.
The parameters of the ultrasonic radar sensor may include: horizontal detection view angle, vertical detection view angle, horizontal detection resolution, vertical detection resolution, farthest detection distance, nearest detection distance and the like.
It is understood that, in the detection range of the ultrasonic radar sensor, a plane is arranged in front of the ultrasonic radar sensor and perpendicular to the longitudinal axis of the ultrasonic radar sensor, and the points projected in the plane by the ultrasonic rays emitted by the ultrasonic radar sensor form a rectangular point array. Fig. 2 shows a schematic side view of an ultrasonic radar sensor emitting ultrasonic radiation according to an embodiment of the invention. Lines Line 0, Line 1, Line 2, Line 3, and Line 4 represent ultrasonic rays emitted by the ultrasonic radar sensor. Point O represents the center of transmission of the ultrasonic radar sensor. The Plane represents a Plane disposed directly in front of the ultrasonic radar sensor and perpendicular to the longitudinal axis of the ultrasonic radar sensor. Fig. 3 shows a schematic view of an array of spots projected on a Plane in front of the ultrasonic radiation emitted by an ultrasonic radar sensor according to an embodiment of the invention (shown as Plane in fig. 2). It will be appreciated that the longitudinal axis of the ultrasonic radar sensor passes through the center of emission O of the ultrasonic radar sensor and the center of the spot array, as shown in fig. 2.
The plane passing through the emission center of the ultrasonic radar sensor and all the points in any one column of the point array can be called an ultrasonic emission longitudinal plane. Hanging deviceThe straight detection visual angle refers to the maximum included angle between rays emitted by the ultrasonic radar sensor in an ultrasonic emission longitudinal plane. Referring again to FIG. 2, where the angle FOV isheightNamely the vertical detection viewing angle. It will be appreciated that in the simulation scenario, the ultrasonic radar sensor is not actually present, and therefore the ultrasonic radiation it emits is not actually present.
The plane passing through the transmitting center of the ultrasonic radar sensor and all the points in any one row of the point array can be called an ultrasonic transmitting transverse plane. The horizontal detection view angle refers to the maximum included angle between rays emitted by the ultrasonic radar sensor in an ultrasonic emission cross section.
The vertical detection resolution of the ultrasonic radar sensor can be expressed by the number of rays emitted by the ultrasonic radar sensor in an ultrasonic emission longitudinal plane. The vertical detection resolution of the ultrasonic radar sensor shown in fig. 3 is 5. The horizontal detection resolution may be expressed in terms of the number of rays emitted by the ultrasonic radar sensor within an ultrasonic emission cross-plane. The horizontal detection resolution of the ultrasonic radar sensor shown in fig. 3 is 12.
The farthest detection distance and the nearest detection distance of the ultrasonic radar sensor respectively refer to distances between a farthest position point and a nearest position point that can be detected by the ultrasonic radar sensor and a transmission center of the ultrasonic radar sensor.
According to the parameters of the ultrasonic radar sensor, the detection direction of each ray emitted by the ultrasonic radar sensor can be determined. A specific procedure for determining the detection direction of each ray emitted by the ultrasonic radar sensor in one example is given below.
Step S121, detecting the view angle FOV according to the level of the ultrasonic radar sensorwidthAnd horizontal detection resolution, which is used for determining the included angle between the detection direction of the ray of the ultrasonic radar sensor and the first longitudinal surface of the ultrasonic emission. As previously mentioned, there may be a plurality of ultrasonic emission longitudinal planes. The ultrasonic wave emission longitudinal plane located at the outermost edge is referred to as an ultrasonic wave emission first longitudinal plane. Assuming horizontal detection resolution with an ultrasonic radar sensor at an ultrasonic levelThe number Res of rays shot in the wave-shot cross sectionxAnd in one ultrasound emission cross-section, counting from rays in the ultrasound emission first longitudinal plane, the ultrasound ray desired to be calculated is ithxA strip ray; then the firstxThe angle theta between the detection direction of the strip ray and the first longitudinal plane of the ultrasonic emission can be determined according to the following formula:
θ＝Ix×FOVwidth/Resx。
step S122, similar to step S121, may determine an angle between the detection direction of the ray and the first transverse plane of the ultrasonic wave emission according to the vertical detection viewing angle and the vertical detection resolution. It will be appreciated that there are many ultrasonic emission planes. The ultrasonic wave emission transverse plane positioned at the most edge is called an ultrasonic wave emission first transverse plane. Assuming a vertical detection resolution, the number Res of rays emitted by the ultrasound radar sensor in an ultrasound radar water verticalyAnd in one ultrasound longitudinal plane, counting from the ray in the first transverse plane of ultrasound emission, the ultrasound ray desired to be calculated is the ithyA strip ray; then the firstyThe included angle between the detection direction of the strip ray and the first transverse plane of the ultrasonic emission
Can be determined according to the following formula:
step S123, according to the included angle theta between the detection direction of the ray and the first longitudinal surface of the ultrasonic emission and the included angle theta between the detection direction and the first transverse surface of the ultrasonic emission
The detection direction of the ray is determined.
Fig. 4 shows a schematic view of a ray SP of an ultrasonic radar sensor according to an embodiment of the invention. Wherein the origin S of the coordinate system represents the transmission of the ultrasonic radar sensorAnd (4) a heart. The x-axis of the coordinate system corresponds to a point at the lower right corner of the array of points cast by the rays of the ultrasonic radar sensor (e.g., point P in FIG. 3)o) Of (2) is performed. The x, y and z axes of the coordinate system are perpendicular to each other. The plane defined by the x-axis and the z-axis together represents the first longitudinal plane of ultrasonic emission. The angle between the ray SP and the first longitudinal surface of the ultrasonic emission is theta. The plane defined by the x-axis and the y-axis together represents the first transverse plane of ultrasonic emission. The included angle between the ray SP and the first transverse plane of the ultrasonic emission is
According to the included angle theta and the included angle
The detection direction of the ray SP can be uniquely determined.
It can be understood by those skilled in the art that the above process of determining the probing direction based on the first longitudinal plane of ultrasonic emission and the first transverse plane of ultrasonic emission is simple to calculate and easy to implement.
The above-described process is merely illustrative and not restrictive of the invention. For example, the detection direction of the rays of the ultrasonic radar sensor may be determined based on other reference planes or reference lines. For another example, step S121 does not necessarily need to be performed prior to step S122, and it may be performed after step S122 or simultaneously with step S122.
In step S130, ray tracing is performed on the simulation scene acquired in step S110 based on the detection direction determined in step S120.
Alternatively, step S130 includes the following two steps. First, a geometric model of the rays of the ultrasonic radar sensor is established based on the detection direction and the farthest detection distance of the rays of the ultrasonic radar sensor. In the geometric model, each ray of the ultrasonic radar sensor is described by a line segment. Then, a ray tracing process is performed on the simulation scene to obtain an intersection point of the ray and the simulation scene. This step may be implemented with a ray tracing function (raycast) of the physics engine.
In step S140, a detection result corresponding to the detection direction determined in step S120 for the simulation scene acquired in step S110 is determined based on the ray tracing result.
The ray tracing operation in step S130 may determine one or more intersections of the ray with the simulated scene. These intersections are possible intersections, including the intersection that would be obtained if the sodar sensor were in the simulated scene, i.e., the desired final intersection. A final intersection may be selected among the intersections determined in step S130. The distance between the final intersection point and the transmission center of the ultrasonic radar sensor is greater than or equal to the nearest detection distance of the ultrasonic radar sensor, and the distance between the final intersection point and the transmission center is the smallest among all possible intersection points. It will be appreciated that the distance may be a euclidean distance between two points. In one example, the distance between the final intersection point and the emission center is determined as a detection result corresponding to the detection direction of the ray. Referring again to FIG. 4, the gray planes therein represent planes belonging to the model in the simulated scene. In this example, only the intersection Q of one ray SP with the simulated scene is obtained. The detection result is the distance d between the transmission center S and the point Q. The detection result successfully simulates the detection result obtained by detecting in the simulated scene through the ultrasonic radar sensor.
The method 100 for simulating the ultrasonic radar detection can generate the detection result of the ultrasonic radar sensor aiming at the simulation scene, and meets the actual requirements of users in the application of automatic driving automobile systems, robot intelligent systems and the like. The method 100 is highly versatile and can be used to simulate different parameters of an ultrasound radar sensor, such as ultrasound radar sensors with different view angles, resolutions, and detection distances. In a word, the technical scheme ideally simulates ultrasonic radar detection, and user experience is obviously improved.
Alternatively, the geometric model of the rays of the ultrasonic radar sensor established in the above step S130 is a spherical geometric model.
According to one embodiment of the invention, the geometric mode of the rays of the ultrasonic radar sensor can be established as followsAnd (4) molding. In the geometric model, a line segment SP is useddRepresenting the rays of the ultrasonic radar sensor. The line segment SPdThe starting point S of (a) is the transmission center of the ultrasonic radar sensor. It is understood that the coordinates of the start point S may be [0,0 ]]. The line segment SPdEnd point P ofdDetermined according to the following formula:
wherein L ismaxRepresenting the farthest detection range of the ultrasonic radar sensor,
represents the angle between the detection direction of the ray and the first transverse plane of the ultrasonic emission, and theta represents the angle between the detection direction of the ray and the first longitudinal plane of the ultrasonic emission.
Fig. 5A, 5B and 5C respectively show different angular views of a ray geometry model built as above according to an embodiment of the invention. In these figures, the light lines represent rays. As shown, the outer contour of these line segments can form a part of a sphere centered on the emission center of the ultrasonic radar sensor, i.e. the ray geometry model is a spherical geometry model.
According to another embodiment of the invention, a geometric model of the rays of the ultrasonic radar sensor can be established as follows. In the geometric model, a line segment P is usedsPdRepresenting the rays of the ultrasonic radar sensor. The line segment PsPdStarting point P ofsAnd end point PdAre determined according to the following formulas:
wherein L isminIndicates the closest detection distance, L, of the ultrasonic radar sensormaxRepresenting the farthest detection range of the ultrasonic radar sensor,
represents the angle between the detection direction of the ray and the first transverse plane of the ultrasonic emission, and theta represents the angle between the detection direction of the ray and the first longitudinal plane of the ultrasonic emission.
Fig. 6A, 6B and 6C respectively show different angular views of a ray geometry model built as above according to an embodiment of the present invention. In these figures, the light lines represent rays. As shown in the figure, the outer contour of these line segments can also form a part of a sphere centered on the emission center of the ultrasonic radar sensor, i.e. the ray geometry model is also a spherical geometry model.
In the two embodiments, the spherical geometric model of the rays of the ultrasonic radar sensor is established, so that the rays of the ultrasonic radar sensor are conveniently expressed in a mathematical mode, and convenience is provided for subsequent calculation; and the calculation amount is small, and the calculation speed is high.
Alternatively, the geometric model of the rays of the ultrasonic radar sensor established in the above step S130 is a cylindrical geometric model.
According to a further embodiment of the invention, a geometric model of the rays of the ultrasonic radar sensor can be established as follows. In the geometric model, a line segment SP is usedd' represents the ray, wherein the line segment SPd' the starting point S is the transmission center of the ultrasonic radar sensor, and it is understood that the coordinates of the starting point S may be [0,0 ]]. The line segment SPd' end point Pd' determined according to the following equation:
wherein L ismaxRepresenting the farthest detection range of the ultrasonic radar sensor,
representing the angle between the direction of detection of the ray and the first transverse plane of emission of the ultrasonic wave, theta representing the direction of detection of the rayTowards an angle to the first longitudinal plane of the ultrasonic emission.
Fig. 7A, 7B and 7C respectively show different angular views of a ray geometry model built as above according to an embodiment of the invention. In these figures, the light lines represent rays. As shown, the outer contour of these line segments can form part of a cylinder, i.e. the ray geometry model is a cylindrical geometry model. Wherein the axis of the cylindrical surface is the intersection line between the ultrasonic emission transverse planes of the ultrasonic radar sensor.
According to another embodiment of the invention, a geometric model of the rays of the ultrasonic radar sensor can be established as follows. In the geometric model, a line segment P is usedsPdRays representing an ultrasonic radar sensor, wherein said line segment PsPdStarting point P ofsAnd end point PdAre determined according to the following formulas:
wherein L isminIndicates the closest detection distance, L, of the ultrasonic radar sensormaxRepresenting the farthest detection range of the ultrasonic radar sensor,
represents the angle between the detection direction of the ray and the first transverse plane of the ultrasonic emission, and theta represents the angle between the detection direction of the ray and the first longitudinal plane of the ultrasonic emission.
Fig. 8A, 8B and 8C respectively show different angular views of a ray geometry model built as above according to an embodiment of the invention. In these figures, the light lines represent rays. As shown, the outer contour of these line segments can form part of a cylinder, i.e. the ray geometry model is a cylindrical geometry model. Wherein the axis of the cylindrical surface is the intersection line between the ultrasonic emission transverse planes of the ultrasonic radar sensor.
In the two embodiments, the cylindrical geometric model of the ray of the ultrasonic radar sensor is established, the ray of the ultrasonic radar sensor is conveniently expressed in a mathematical mode, and convenience is provided for subsequent calculation.
For the case where the starting point of the line segment representing the ray in the geometric model of the above-described embodiment is the transmission center of the ultrasonic radar sensor, step S140 may specifically include the following steps. First, an intersection whose distance from the transmission center S is greater than or equal to the closest detection distance of the ultrasonic radar sensor is determined among the intersections obtained in step S130. Then, the intersection point having the smallest distance from the emission center S among the determined intersection points is selected to use the distance from the intersection point to the emission center S as the detection result of the ray.
For the case where the starting point of the line segment representing the ray in the geometric model of the above-described embodiment is determined according to the closest detection distance of the ultrasonic radar sensor, in step S140, the intersection having the smallest distance to the transmission center may be directly selected from the intersections obtained in step S130, so as to take the distance between the intersection and the transmission center as the detection result of the ray.
It will be understood by those skilled in the art that the geometric models of the rays of the ultrasonic radar sensor described above are illustrative and are not to be construed as limiting the invention. Based on the idea of the invention, a further geometric model can be built to simulate the rays of the ultrasonic radar. For example, a geometric model of the ray may be built based on a Cartesian coordinate system.
All rays of the ultrasonic radar sensor may be traversed to generate a detection result of the ultrasonic radar sensor for the simulation scenario. FIG. 9 shows a schematic flow diagram of a method 900 of simulating an ultrasonic radar survey in accordance with one embodiment of the invention. As shown in fig. 9, the detection result of the ultrasonic radar sensor is generated by the following steps.
Step S910, initializing, setting a horizontal iteration variable Ix0, vertical iteration variable I y0. Wherein, the variable I is iterated horizontallyxThe number of orders representing the current ray counted from the most marginal ray (i.e. the ray corresponding to the first longitudinal plane of ultrasound emission) in the ultrasound emission transverse plane in which it is located, i.e. the number of ordersThe current ray is the ithxA bar ray. Similarly, the variables I are vertically iteratedyThe number of sequence numbers of the current ray counted from the edge-most ray (namely, the ray corresponding to the first transverse plane of the ultrasonic wave emission) in the ultrasonic wave emission longitudinal plane, namely, the current ray is the I < th > rayyA bar ray.
In step S920, a detection result corresponding to the detection direction of the current ray for the simulation scene is determined by using the method 100. Wherein, as mentioned above, the current ray is the ith ray in the ultrasonic emission transverse planexThe strip line is I-th in the ultrasonic wave emission longitudinal planeyA bar ray.
Step S930, let Ix＝Ix+1。
Step S940, judge Ix<ResxWhether or not this is true. If yes, go to step S920, if no, continue to step S950. Wherein ResxRepresenting the total number of rays in an ultrasound emission cross-section.
Step S950, let Ix＝0。
Step S960, let Iy＝Iy+1。
Step S970, judge Iy<ResyWhether or not this is true. If yes, go to step S920; if not, the method ends. Wherein ResyRepresenting the total number of rays in one ultrasound emission longitudinal plane.
It will be appreciated by those of ordinary skill in the art that the method 900 described above may be performed repeatedly at a frequency to generate successive probing results over time to implement a simulation of the ultrasonic radar sensor.
According to another aspect of the invention, an automatic driving method is also provided. In the automatic driving method, firstly, a detection result aiming at a simulation scene is generated by utilizing the method for simulating the ultrasonic radar detection; then, the vehicle is automatically driven based on the detection result. For example, a reverse operation of the vehicle is automatically performed. It will be appreciated by those skilled in the art that, in addition to the detection results of the ultrasonic radar sensors generated in the above simulation process, the detection results of other sensors, such as point cloud data of the laser radar sensors, may be referred to in the course of automatically driving the vehicle. The detection result of the other sensor may be a detection result generated by a real sensor or a detection result obtained by a simulated sensor. The above-described automatic driving method generates an ultrasonic radar detection result based on the above-described method of simulating ultrasonic radar detection, thereby enabling automatic driving of, for example, an automobile in a simulation scene based on a more ideal detection result.
Through the above description, those skilled in the art can understand specific implementation steps of the automatic driving method and technical effects thereof, and for brevity, detailed description is omitted here.
According to another aspect of the invention, there is also provided an apparatus for simulating ultrasonic radar detection. FIG. 10 shows a schematic block diagram of an apparatus 1000 for simulating ultrasonic radar detection according to one embodiment of the present invention. As shown in fig. 10, the apparatus 1000 for simulating ultrasonic radar detection includes a simulation scenario module 1010, a direction determination module 1020, a ray tracing module 1030, and a result generation module 1040.
The simulation scenario module 1010 is configured to obtain a simulation scenario. The direction determining module 1020 is configured to determine a detection direction of a ray of the ultrasonic radar sensor according to a parameter of the ultrasonic radar sensor. Ray tracing module 1230 is configured to perform ray tracing for the simulation scene based on the detection direction. The result generating module 1240 is configured to determine, according to the ray tracing result, a detection result corresponding to the detection direction for the simulation scene.
In summary, each module in the apparatus 1000 for simulating ultrasonic radar detection is used to specifically execute the corresponding step in the above-mentioned method for simulating ultrasonic radar detection. From reading the above description of the method, one of ordinary skill in the art will understand the specific implementation and technical effects of the apparatus 1000 for simulating ultrasonic radar detection.
According to another aspect of the invention, a system for simulating ultrasonic radar detection is also provided. The system includes a processor and a memory. The memory stores computer program instructions for implementing the steps in the method of simulating ultrasonic radar detection according to an embodiment of the invention. The processor is configured to execute the computer program instructions stored in the memory to perform the corresponding steps of the method for simulating ultrasonic radar detection according to the embodiment of the present invention, and is configured to implement the scene simulation module, the direction determination module, the ray tracing module and the result generation module in the apparatus for simulating ultrasonic radar detection according to the embodiment of the present invention.
Furthermore, according to yet another aspect of the present invention, there is also provided a storage medium having stored thereon program instructions, which when executed by a computer or processor, cause the computer or processor to perform the respective steps of the method of simulating ultrasonic radar detection of an embodiment of the present invention and to implement the respective modules in the apparatus of simulating ultrasonic radar detection according to an embodiment of the present invention. The storage medium may include, for example, a storage component of a tablet computer, a hard disk of a personal computer, Read Only Memory (ROM), Erasable Programmable Read Only Memory (EPROM), portable compact disc read only memory (CD-ROM), USB memory, or any combination of the above storage media. The computer-readable storage medium may be any combination of one or more computer-readable storage media.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another device, or some features may be omitted, or not executed.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the invention and aiding in the understanding of one or more of the various inventive aspects. However, the method of the present invention should not be construed to reflect the intent: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
It will be understood by those skilled in the art that all of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where such features are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some of the blocks in an apparatus for analog ultrasound radar detection according to embodiments of the present invention. The present invention may also be embodied as apparatus programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
The above description is only for the specific embodiment of the present invention or the description thereof, and the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the changes or substitutions should be covered within the protection scope of the present invention. The protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (13)
1. A method of simulating ultrasonic radar detection, comprising:
acquiring a simulation scene;
determining the detection direction of rays of an ultrasonic radar sensor according to the parameters of the ultrasonic radar sensor; wherein the parameters of the ultrasonic radar sensor include: a horizontal detection view angle, a vertical detection view angle, a horizontal detection resolution and a vertical detection resolution;
wherein the determining a detection direction of a ray of the ultrasonic radar sensor according to a parameter of the ultrasonic radar sensor comprises:
determining an included angle between the detection direction and an ultrasonic wave emission first longitudinal plane according to the horizontal detection visual angle and the horizontal detection resolution, wherein the ultrasonic wave emission first longitudinal plane is an ultrasonic wave emission longitudinal plane positioned at the edge;
determining an included angle between the detection direction and an ultrasonic wave emission first transverse plane according to the vertical detection visual angle and the vertical detection resolution, wherein the ultrasonic wave emission first transverse plane is an ultrasonic wave emission transverse plane positioned at the edge; and
determining the detection direction according to the included angle between the detection direction and the first longitudinal surface of the ultrasonic emission and the included angle between the detection direction and the first transverse surface of the ultrasonic emission;
performing ray tracing on the simulation scene based on the detection direction; and
and determining a detection result corresponding to the detection direction for the simulation scene according to a ray tracing result.
2. The method of claim 1, the parameters of the ultrasonic radar sensor further comprising a farthest detection range and a nearest detection range.
3. The method of claim 2, wherein the ray tracing based on the detection direction for the simulated scene comprises:
establishing a geometric model of rays of the ultrasonic radar sensor based on the detection direction and the farthest detection distance; and
and executing the tracking process of the ray aiming at the simulation scene to obtain the intersection point of the ray and the simulation scene.
4. The method of claim 3, wherein the determining a detection result corresponding to the detection direction for the simulated scene from ray tracing results comprises:
selecting a final intersection point from the intersection points of the rays and the simulation scene, and determining a distance between the final intersection point and a transmission center of the ultrasonic radar sensor as a detection result, wherein a distance d between the final intersection point and the transmission center is the smallest among the intersection points of the rays and the simulation scene, and the distance d is greater than or equal to the nearest detection distance.
5. The method of claim 3, wherein the geometric model is a spherical geometric model or a cylindrical geometric model.
6. The method of claim 3, wherein the establishing a geometric model of rays of the ultrasonic radar sensor comprises:
using line segments SPdRepresenting the ray, wherein the line segment SPdIs the transmission center of the ultrasonic radar sensor, and the line segment SPdEnd point P ofdDetermined according to the following formula:
wherein L ismaxRepresenting the farthest sounding rangeAfter the separation, the water is separated from the water,
and theta represents an included angle between the detection direction and the first ultrasonic wave emission transverse plane, and theta represents an included angle between the detection direction and the first ultrasonic wave emission longitudinal plane.
7. The method of claim 3, wherein the establishing a geometric model of rays of the ultrasonic radar sensor comprises:
using line segments SPd' represents the ray, wherein the line segment SPd' the starting point S is the transmission center of the ultrasonic radar sensor, and the line segment SPd' end point Pd' determined according to the following equation:
wherein L ismaxRepresents the maximum detection range of the object,
and theta represents an included angle between the detection direction and the first ultrasonic wave emission transverse plane, and theta represents an included angle between the detection direction and the first ultrasonic wave emission longitudinal plane.
8. The method of claim 3, wherein the establishing a geometric model of rays of the ultrasonic radar sensor comprises:
by line segment PsPdRepresents the ray, wherein the line segment PsPdStarting point P ofsAnd end point PdAre determined according to the following formulas:
wherein L isminRepresents the closest detection distance, LmaxRepresents the maximum detection range of the object,
and theta represents an included angle between the detection direction and the first ultrasonic wave emission transverse plane, and theta represents an included angle between the detection direction and the first ultrasonic wave emission longitudinal plane.
9. The method of claim 3, wherein the establishing a geometric model of rays of the ultrasonic radar sensor comprises:
by line segment Ps'Pd' represents the ray, wherein the line segment Ps'Pd' starting Point Ps' and end point Pd' are determined according to the following equations, respectively:
wherein L isminRepresents the closest detection distance, LmaxRepresents the maximum detection range of the object,
and theta represents an included angle between the detection direction and the first ultrasonic wave emission transverse plane, and theta represents an included angle between the detection direction and the first ultrasonic wave emission longitudinal plane.
10. An autonomous driving method comprising:
generating a detection result for a simulated scene according to the method of simulating an ultrasonic radar detection according to any one of claims 1 to 9; and
automatically driving the vehicle based on the detection result.
11. An apparatus for simulating ultrasonic radar detection, comprising:
the simulation scene module is used for acquiring a simulation scene;
the direction determining module is used for determining the detection direction of the ray of the ultrasonic radar sensor according to the parameter of the ultrasonic radar sensor; wherein the parameters of the ultrasonic radar sensor include: a horizontal detection view angle, a vertical detection view angle, a horizontal detection resolution and a vertical detection resolution;
wherein the determining a detection direction of a ray of the ultrasonic radar sensor according to a parameter of the ultrasonic radar sensor comprises:
determining an included angle between the detection direction and an ultrasonic wave emission first longitudinal plane according to the horizontal detection visual angle and the horizontal detection resolution, wherein the ultrasonic wave emission first longitudinal plane is an ultrasonic wave emission longitudinal plane positioned at the edge;
determining an included angle between the detection direction and an ultrasonic wave emission first transverse plane according to the vertical detection visual angle and the vertical detection resolution, wherein the ultrasonic wave emission first transverse plane is an ultrasonic wave emission transverse plane positioned at the edge; and
determining the detection direction according to the included angle between the detection direction and the first longitudinal surface of the ultrasonic emission and the included angle between the detection direction and the first transverse surface of the ultrasonic emission;
a ray tracing module for performing ray tracing based on the detection direction for the simulation scene; and
and the result generation module is used for determining a detection result corresponding to the detection direction for the simulation scene according to a ray tracing result.
12. A system for simulating ultrasonic radar detection comprising a processor and a memory, wherein the memory has stored therein computer program instructions for execution by the processor to perform the method of simulating ultrasonic radar detection according to any one of claims 1 to 9.
13. A storage medium having stored thereon program instructions for performing, when executed, a method of simulating ultrasonic radar detection according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810358501.5A CN108646233B (en) | 2018-04-20 | 2018-04-20 | Method, device and system for simulating ultrasonic radar detection and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810358501.5A CN108646233B (en) | 2018-04-20 | 2018-04-20 | Method, device and system for simulating ultrasonic radar detection and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108646233A CN108646233A (en) | 2018-10-12 |
| CN108646233B true CN108646233B (en) | 2021-08-20 |
Family
ID=63746643
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810358501.5A Active CN108646233B (en) | 2018-04-20 | 2018-04-20 | Method, device and system for simulating ultrasonic radar detection and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108646233B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109828274B (en) * | 2019-01-07 | 2022-03-04 | 深圳市道通智能航空技术股份有限公司 | Method and device for adjusting main detection direction of airborne radar and unmanned aerial vehicle |
| CN109871659B (en) * | 2019-03-26 | 2023-04-18 | 北京经纬恒润科技股份有限公司 | Simulation method and system of ultrasonic radar |
| CN109976387B (en) * | 2019-05-07 | 2022-05-27 | 福建盛海智能科技有限公司 | Method and terminal for detecting track by unmanned vehicle |
| CN109977628A (en) * | 2019-05-27 | 2019-07-05 | 奥特酷智能科技(南京)有限公司 | A method of the efficient simulation laser radar in Unity |
| CN113820694B (en) * | 2021-11-24 | 2022-03-01 | 腾讯科技（深圳）有限公司 | Simulation ranging method, related device, equipment and storage medium |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102243074A (en) * | 2010-05-13 | 2011-11-16 | 中国科学院遥感应用研究所 | Method for simulating geometric distortion of aerial remote sensing image based on ray tracing technology |
| CN103400003A (en) * | 2013-07-22 | 2013-11-20 | 西安电子科技大学 | Method for achieving laser radar scene simulation on basis of GPU programming |
| CN104268323A (en) * | 2014-09-17 | 2015-01-07 | 西安电子科技大学 | Ray tracing based laser radar scene simulation method |
| CN105095573A (en) * | 2015-07-15 | 2015-11-25 | 北京邮电大学 | Simulation method for ray tracing |
| CN105303595A (en) * | 2014-07-30 | 2016-02-03 | Tcl集团股份有限公司 | Three-dimensional virtual scene-based intelligent obstacle avoiding method and system |
| CN105842698A (en) * | 2016-05-18 | 2016-08-10 | 西安电子科技大学 | Fast simulation method of high resolution SAR image |
| CN107356924A (en) * | 2017-07-14 | 2017-11-17 | 中国科学院电子学研究所 | For the SAR image emulation mode of cavity class formation |
| EP3260999A1 (en) * | 2016-06-24 | 2017-12-27 | Sick Ag | System for simulating sensors |
| CN107607951A (en) * | 2017-10-18 | 2018-01-19 | 浙江环球星云遥感科技有限公司 | A kind of SAR image rescattering characteristic simulation method |
-
2018
- 2018-04-20 CN CN201810358501.5A patent/CN108646233B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102243074A (en) * | 2010-05-13 | 2011-11-16 | 中国科学院遥感应用研究所 | Method for simulating geometric distortion of aerial remote sensing image based on ray tracing technology |
| CN103400003A (en) * | 2013-07-22 | 2013-11-20 | 西安电子科技大学 | Method for achieving laser radar scene simulation on basis of GPU programming |
| CN105303595A (en) * | 2014-07-30 | 2016-02-03 | Tcl集团股份有限公司 | Three-dimensional virtual scene-based intelligent obstacle avoiding method and system |
| CN104268323A (en) * | 2014-09-17 | 2015-01-07 | 西安电子科技大学 | Ray tracing based laser radar scene simulation method |
| CN105095573A (en) * | 2015-07-15 | 2015-11-25 | 北京邮电大学 | Simulation method for ray tracing |
| CN105842698A (en) * | 2016-05-18 | 2016-08-10 | 西安电子科技大学 | Fast simulation method of high resolution SAR image |
| EP3260999A1 (en) * | 2016-06-24 | 2017-12-27 | Sick Ag | System for simulating sensors |
| CN107356924A (en) * | 2017-07-14 | 2017-11-17 | 中国科学院电子学研究所 | For the SAR image emulation mode of cavity class formation |
| CN107607951A (en) * | 2017-10-18 | 2018-01-19 | 浙江环球星云遥感科技有限公司 | A kind of SAR image rescattering characteristic simulation method |
Non-Patent Citations (1)
| Title |
|---|
| 地面车辆目标高质量SAR图像快速仿真方法;董纯柱等;《雷达学报》;20150630;第4卷(第3期);351-360 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108646233A (en) | 2018-10-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108646233B (en) | Method, device and system for simulating ultrasonic radar detection and storage medium | |
| CN108564615B (en) | Method, device and system for simulating laser radar detection and storage medium | |
| US11455565B2 (en) | Augmenting real sensor recordings with simulated sensor data | |
| CN112433934B (en) | Simulation test method, simulation test device, computer equipment and storage medium | |
| KR101807484B1 (en) | Apparatus for building map of probability distrubutition based on properties of object and system and method thereof | |
| Rosenberger et al. | Benchmarking and functional decomposition of automotive lidar sensor models | |
| CN112529022B (en) | Training sample generation method and device | |
| CN104515992A (en) | Ultrasound-based method and ultrasound-based device for space scanning and positioning | |
| US20190039625A1 (en) | Method for modeling a motor vehicle sensor in a virtual test environment | |
| CN107966155A (en) | Object positioning method, object positioning system and electronic equipment | |
| US11846727B2 (en) | System and method for emulating echo signals for a LiDAR sensor | |
| CN109583416A (en) | Pseudo- Lane detection method and system | |
| CN112744217B (en) | Collision detection method, travel path recommendation device, and storage medium | |
| US9361412B1 (en) | Method for the simulation of LADAR sensor range data | |
| CN117269940B (en) | Point cloud data generation method and perception capability verification method of laser radar | |
| Rosenberger et al. | Analysis of real world sensor behavior for rising fidelity of physically based lidar sensor models | |
| CN113767264A (en) | Parameter calibration method, device, system and storage medium | |
| Kim et al. | Development of simulator for autonomous underwater vehicles utilizing underwater acoustic and optical sensing emulators | |
| CN106240454B (en) | System for providing vehicle collision early warning and vehicle-mounted equipment | |
| CN115081195A (en) | Laser radar simulation method and device, electronic equipment and storage medium | |
| WO2021004626A1 (en) | A method to simulate continuous wave lidar sensors | |
| CN113468735B (en) | Laser radar simulation method, device, system and storage medium | |
| CN114299161A (en) | Data processing method, device, equipment and computer storage medium | |
| Dam et al. | Determining 2D shape of object using ultrasonic sensor | |
| Chen et al. | Analysis of real-time lidar sensor simulation for testing automated driving functions on a vehicle-in-the-loop testbench |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |