CN109747636A - Based on the curb position of long range ultrasonic wave and angle detecting method and its system - Google Patents
Based on the curb position of long range ultrasonic wave and angle detecting method and its system Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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Abstract
The present invention provides a kind of based on the curb position of long range ultrasonic wave and angle detecting method and its system.This method and system are while long range ultrasonic scanning parking stall it may determine that the accurate location and angle on outlet edge, do not need addition nuisance operation.In this way during planning parking path can position according to curb and angle, the angle parallel that makes to park in curb, and with the reasonable position of curb spacing above.The problem of just and with curb scraping collision does not occur for effective solution automatic parking posture, improves the safety of automatic parking, the degree of belief and technology sense of user is significantly increased.Also, the position where curb can be marked emphatically in the panoramic picture of automatic parking, increases technology sense, the sense of security of the user in automatic parking.
Description
Technical field
The present invention relates to automobile automatic parking fields, and in particular to a kind of based on the curb position of long range ultrasonic wave and angle
Spend detection method and its system.
Background technique
With the fast development of Senior Officer's auxiliary system, consumer is apparent out for auxiliary class Technological expression of parking
Attention rate and demand degree, and typical automated parking system mostly detects potential parking stall using ultrasonic wave, then plans
Path is accurately stopped into corresponding position, but three problems generally existing when carrying out Parallel parking: 1. fore-aft vehicles pool
Vehicle posture just, does not cause not determining from the angle of parking of vehicle.2. after scanning parking stall, can only obtain the length of parking stall and estimate
Width (can only with Depth Blur value is provided at a distance from fore-aft vehicle), so bumping against road when the route of tracking planning
The danger on edge.3. the depth of Parallel parking judges inaccuracy, it is easy to appear depth deficiency of parking, or too deep situation of parking.
Park a vehicle can be made parallel with curb when carrying out Parallel parking it would therefore be highly desirable to need to provide one kind
And apart from suitable automated parking system.
Summary of the invention
In view of the above technical problems, the present invention provides a kind of curb position and angle detection side based on long range ultrasonic wave
Method and its system, can be while long range ultrasonic scanning parking stall it may determine that the accurate location and angle on outlet edge.
The technical solution adopted by the present invention are as follows:
The embodiment of the present invention provides a kind of based on the curb position of long range ultrasonic wave and angle detecting method, comprising:
It is calculated by the curb distance of position and ultrasonic radar detection of the vehicle ultrasonic radar in rectangular coordinate system
Initial coordinate of the ultrasonic reflections point in rectangular coordinate system on curb, and the initial coordinate is stored, the rectangular co-ordinate
System establishes by origin of vehicle starting point；
Determining in the initial coordinate of storage has the coordinate of preset quantity for available point, and all ultrasounds detected
When available point of the number of wave reflection point less than 1.5 times, determine that there are curbs, wherein if the corresponding curb distance of initial coordinate
When meeting preset distance range, it is determined that the initial coordinate is available point；
Using the coordinate of the preset quantity, linear fit is carried out using least square method, obtains the curb in institute
The initial slope and initial intercept in rectangular coordinate system are stated, corresponding initial straight equation is obtained；
The curb distance of coordinate and the detection of corresponding ultrasonic radar based on the corresponding ultrasonic radar of the available point,
And the initial straight equation, the true coordinate of the available point is obtained, and using the true coordinate to described initial oblique
Rate and the initial intercept are modified, and obtain revised slope and intercept and linear equation；
The angle of course angle and the curb obtained by the revised slope based on vehicle determines curb in the earth
Absolute angle in coordinate system, and vehicle is calculated to the vertical range of revised linear equation, vehicle is obtained to curb
Real-time range.
Optionally, the coordinate based on the corresponding ultrasonic radar of the available point and the detection of corresponding ultrasonic radar
Curb distance and the initial straight equation, obtain the true coordinate of the available point, and utilize the true coordinate pair
The initial slope and the initial intercept are modified, and obtain revised slope and intercept and linear equation specifically wraps
It includes:
The curb of coordinate and the detection of corresponding ultrasonic radar based on the corresponding ultrasonic radar of at least one available point
Distance and the initial slope are obtained using the relationship between the distance between two o'clock calculation formula and straight slope and point
To the true coordinate of at least one available point；
Calculation based on slope and intercept is iterated calculating using the true coordinate, after finally obtaining amendment
Slope and values of intercept and corresponding linear equation, wherein in each iteration, the linear equation that current iteration utilizes is last time
The linear equation that iteration obtains.
Optionally, further includes: in each iterative calculation, if the true coordinate for the available point that current iteration uses with it is upper
Secondary the distance between the obtained linear equation that iterates to calculate is less than preset threshold value, then using the true coordinate to last iteration meter
The slope and values of intercept of obtained linear equation are modified, and otherwise, are modified without using the true coordinate.
Optionally, further includes:
Calculate all available points initial coordinate and the distance between the linear equation it is cumulative and；
If the distance add up sum inverse be greater than preset threshold value, it is determined that the absolute angle and it is described in real time away from
From credible.
Optionally, further includes: the absolute angle and the real-time range and vehicle are looked around into the line that camera identifies
Feature does the matching analysis, finally obtains accurate curb position and angle, and shown.
Another embodiment of the present invention also provides a kind of based on the curb position of long range ultrasonic wave and angle detection system, packet
It includes:
Initial coordinate determining module, for passing through position and ultrasonic wave inspection of the vehicle ultrasonic radar in rectangular coordinate system
Curb distance between the curb and vehicle measured calculates initial seat of the ultrasonic reflections point in rectangular coordinate system on curb
Mark, and the initial coordinate is stored, the rectangular coordinate system is established by origin of vehicle starting point；
Curb determining module, for determining that the coordinate for having preset quantity is available point in the initial coordinate of storage, and
When available point of the number of all ultrasonic reflections points detected less than 1.5 times, determine that there are curbs, wherein if initial
When the corresponding curb distance of coordinate meets preset distance range, it is determined that the initial coordinate is available point；
First computing module carries out linear fit using least square method, obtains for the coordinate using the preset quantity
To initial slope and initial intercept of the curb in the rectangular coordinate system, corresponding initial straight equation is obtained；
Correction module, coordinate and the detection of corresponding ultrasonic radar based on the corresponding ultrasonic radar of the available point
Curb distance and the initial straight equation obtain the true coordinate of the available point, and using the true coordinate to institute
It states initial slope and the initial intercept is modified, obtain revised slope and intercept and linear equation；
Second computing module, the angle for course angle and the curb obtained by the revised slope based on vehicle
Degree, determines absolute angle of the curb in earth coordinates, and calculate vehicle to revised linear equation vertical range,
Obtain vehicle to curb real-time range.
Optionally, the correction module is specifically used for:
The curb of coordinate and the detection of corresponding ultrasonic radar based on the corresponding ultrasonic radar of at least one available point
Distance and the initial slope are obtained using the relationship between the distance between two o'clock calculation formula and straight slope and point
To the true coordinate of at least one available point；
Calculation based on slope and intercept is iterated calculating using the true coordinate, after finally obtaining amendment
Slope and values of intercept and corresponding linear equation, wherein in each iteration, the linear equation that current iteration utilizes is last time
The linear equation that iteration obtains.
Optionally, the correction module is also used to: in each iterative calculation, if the available point that current iteration uses
The distance between linear equation that true coordinate and last iteration are calculated is less than preset threshold value, then uses the true coordinate
The slope and values of intercept for the linear equation that last iteration is calculated are modified, and otherwise, are carried out without using the true coordinate
Amendment.
Optionally, second computing module is also used to:
Calculate all available points initial coordinate and the distance between the linear equation it is cumulative and；
If the distance add up sum inverse be greater than preset threshold value, it is determined that the absolute angle and it is described in real time away from
From credible.
It optionally, further include analysis module and display module；Wherein, the analysis module be used for the absolute angle and
The real-time range and vehicle look around the line feature that camera identifies and do the matching analysis, finally obtain accurate curb position and
Angle；The display module is for showing finally obtained accurate curb position and angle.
It is provided in an embodiment of the present invention based on the curb position of long range ultrasonic wave and angle detecting method and its system,
It may determine that the accurate location and angle on outlet edge, do not need to add extra behaviour while long range ultrasonic scanning parking stall
Make.In this way during planning parking path can position according to curb and angle, the angle parallel that makes to park in curb,
And with the reasonable position of curb spacing above.Not just, and with curb scraping collision occurs for effective solution automatic parking posture
The problem of, the safety of automatic parking is improved, the degree of belief and technology sense of user is significantly increased.Also, it can be in automatic parking
Panoramic picture in mark position where curb emphatically, increase technology sense, the sense of security of the user in automatic parking.
Detailed description of the invention
Fig. 1 is provided in an embodiment of the present invention based on the curb position of long range ultrasonic wave and the hardware of angle detection system
Structural schematic diagram；
Fig. 2 is provided in an embodiment of the present invention based on the curb position of long range ultrasonic wave and the process of angle detecting method
Schematic diagram；
Fig. 3 is provided in an embodiment of the present invention based on the curb position of long range ultrasonic wave and the structure of angle detection system
Block diagram.
Specific embodiment
To keep the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.
Fig. 1 is provided in an embodiment of the present invention based on the curb position of long range ultrasonic wave and the hardware of angle detection system
Structural schematic diagram.As shown in Figure 1, the curb position and angle detection system provided in an embodiment of the present invention based on long range ultrasonic wave
The hardware configuration of system include: 2 be mounted on the lateral long range radar of front bumper two sides, 4 look around camera, install respectively
At front bumper grid, below two rearview mirrors and wheel that rear bumper faces above board, is mounted near wheel brake
IVI in fast pulse transducer, the sideway angle transducer being mounted below pilot set and interior vehicle entertainment system is aobvious
Show.In embodiments of the present invention, long range radar can detect the range within 5 meters, and can be shown by looking around camera by around 360 °
Field range, wheel speed pulse transducer can calculate the travel distance of each wheel, sideway angle transducer energy by umber of pulse
Record the angular speed of automobile longitudinal axis oscillating.
Another embodiment of the present invention provides a kind of based on the curb position of long range ultrasonic wave and angle detecting method, the party
Method is executed by aforementioned system.This method uses wheel speed pulse transducer and sideway angle transducer in parking vehicles to calculate first
Out after the physical location (course heading of transverse and longitudinal coordinate and vehicle including vehicle center) of parking vehicles, reuse two long
Being scanned to obtain curb relative position information to parking space away from ultrasonic radar exact can calculate point on curb
Locating coordinate, a series of coordinate can calculate curb approximate location and angle after treatment, then make calculated knot
It fruit and looks around the line feature that camera identifies and does the matching analysis, finally can accurately calculate exact position and the angle of curb,
And it can be shown on the interface of panorama eventually by IVI.It is situated between in detail below in conjunction with method of the Fig. 2 to the embodiment of the present invention
It continues.
Fig. 2 is provided in an embodiment of the present invention based on the curb position of long range ultrasonic wave and the process of angle detecting method
Schematic diagram, as shown in Fig. 2, the curb position and angle detecting method packet provided in an embodiment of the present invention based on long range ultrasonic wave
Include following steps:
S101, the curb and vehicle of position and ultrasound examination out by vehicle ultrasonic radar in rectangular coordinate system Between curb distance calculate initial coordinate of the ultrasonic reflections point in rectangular coordinate system on curb, and store described initial Coordinate, the rectangular coordinate system are established by origin of vehicle starting point。
In this step, rectangular coordinate system is established with vehicle starting point, is examined by the position of vehicle ultrasonic wave and ultrasonic wave
The curb distance measured calculates the coordinate position (x, y) where the ultrasonic reflections point on curb, and is stored in array.By
In position (x of the vehicle ultrasonic radar in rectangular coordinate system1, y1) can obtain in real time, therefore, if being X with trunnion axis
When axis, vertical axes are the rectangular coordinate system of Y-axis building, then the abscissa x where each ultrasonic reflections pointiEqual to ultrasonic wave
Abscissa xioIn addition curb distance Li: i.e. xi=xio+Li, ordinate y where each ultrasonic reflections pointiEqual to ultrasonic wave
Abscissa yio, i.e. yi=yio。
In addition, in this step, for the interference for avoiding clutter, the curb distance detected is by the road after filtering processing
Along distance.Existing filtering method can be used to be filtered the curb distance detected.
S102, it determines that the coordinate for having preset quantity is available point in the initial coordinate of storage, and detects all Ultrasonic reflections point available point of the number less than 1.5 times when, determine that there are curbs, wherein if the corresponding road of initial coordinate When meeting preset distance range along distance, it is determined that the initial coordinate is available point。
In this step, when storing 30 groups of coordinates corresponding curb distance in the reasonable scope, such as in 2m~4m, phase
Corresponding ultrasonic reflections wave width and intensity can be the available point for reflecting practical curb shape and material feature, that is, think to receive
Signal be the signal being reflected back by the reflection point on curb, and on all curbs scanned ultrasonic wave reflection point
Number of effective points of the points less than 1.5 times when, i.e., it is believed that there are curbs.
S103, the curb is obtained using least square method progress linear fit using the coordinate of the preset quantity Initial slope and initial intercept in the rectangular coordinate system, obtain corresponding initial straight equation。
In this step, the coordinate (xi, yi) of stored available point is extracted, number of effective points is denoted as n, these available points make
Linear fit is carried out with least square method, so that these points is evenly distributed in straight line two sides, by following equation, calculates
Straight slope b and intercept a, formula where curb is as follows:
Y=bx+a
The curb of S104, the coordinate based on the corresponding ultrasonic radar of the available point and the detection of corresponding ultrasonic radar Distance and the initial straight equation obtain the true coordinate of the available point, and using the true coordinate to described first Beginning slope and the initial intercept are modified, and obtain revised slope and intercept and linear equation。
The case where being not zero due to vehicle and curb there are initial angle, so the result that step S103 is obtained exists centainly
Error, therefore, the not necessarily true coordinate of the coordinate of each available point, it is therefore desirable to use calculated slope
Value goes to derive the true coordinate where the point on curb, then the slope and values of intercept of amendment curb place straight line are removed with true value,
By optimization you can get it more reasonable curb slope and the values of intercept that iterate of multiple available points, specifically, it may include
Following steps:
(1) coordinate based on the corresponding ultrasonic radar of at least one available point and the detection of corresponding ultrasonic radar away from
From and the initial slope obtained using the relationship between the distance between two o'clock calculation formula and straight slope and point
The true coordinate of at least one available point.
In this step, multiple available points can be chosen at random or according to certain rules, it is corresponding based on these available points
The coordinate of ultrasonic radar and the obtained initial slope of the distance of detection and step S103, utilize the distance between two o'clock
Relationship between calculation formula and straight slope and point obtains the true coordinate of these available points.Using trunnion axis as X-axis,
Vertical axes are true coordinate (x in the rectangular coordinate system of Y-axis buildingir, yir) can be determined by following formula:
Wherein, xioAnd yioFor the coordinate of the corresponding ultrasonic radar of each available point, LioIt is corresponding super for each available point
The distance that sound radar detects, b are initial slope.
It should be noted that there can be more than 20 available points in general parking stall scanning process, in present invention implementation, lead to
Crossing 10 times or more iteration can be obtained the reasonable curb slope of comparison and values of intercept.
(2) calculation formula based on slope and intercept is iterated calculating using the true coordinate, finally obtains amendment
Slope and values of intercept and corresponding linear equation afterwards, wherein in each iteration, the linear equation that current iteration utilizes is upper
The linear equation that secondary iteration obtains.
In this step, one in a substitution n group available point in the true coordinate first obtained step (1),
And substitute into the formula for asking slope b and intercept a (being for the first time aforementioned obtained initial straight equation), it obtains primary revised
Then one in remaining true coordinate is substituted into primary revised slope again by slope and intercept and corresponding linear equation
In intercept formula, slope and intercept and corresponding linear equation after obtaining second-order correction, and so on, utilization is remaining
True coordinate is iterated calculating, finally obtains reasonable curb slope and values of intercept.
Further, since weight shared by iteration optimization is larger, biggish error can be caused by such as introducing unreasonable value, so aforementioned
Filtered curb distance cannot meet the requirements, therefore, in each iterative calculation, need to judge that calculated available point is true
Real coordinate (xir, yirThe distance between) and the curb place linear equation y=bx+a of last computation, if current iteration uses
Available point true coordinate and the distance between the linear equation that is calculated of last iteration be less than preset threshold value, such as it is small
In 0.5m, then the slope and values of intercept for linear equation last iteration being calculated using the true coordinate are modified, no
Then, it is modified without using the true coordinate.
In addition, it should be noted that, in slope and the makeover process of intercept, need in view of ultrasonic wave detecting distance and
The lateral angle of release of detection is limited, such as during scanning parking stall, passes through wheel speed pulse and the calculated vehicle of sideway angle transducer
It is excessive (being greater than 10 °) with the angle of parking stall, i.e., if after each amendment, the angle mistake of obtained vehicle and parking stall
Greatly, then can not slope to last time and intercept be modified, the calculated result before keeping.
The angle of S105, the course angle based on vehicle and the curb obtained by the revised slope, determine curb Absolute angle in earth coordinates, and vehicle is calculated to the vertical range of revised linear equation, it obtains vehicle and arrives The real-time range of curb。
In this step, the distance that each wheel that course angle can be obtained by wheel speed pulse transducer is specifically advanced calculates
It obtains, the yaw velocity that sideway angle transducer measures can also be integrated to obtain.The absolute angle of curb can be equal to vehicle
Course angle add the angle (i.e. the angle of curb and vehicle) of curb obtained based on revised slope.Passing through step
After the iterative calculation of S104 obtains newest linear equation, it is newest the corresponding ultrasonic radar coordinate of vehicle can be updated to this
In linear equation, the real-time range between vehicle and curb is obtained.
The angle and real-time range of curb can be in when progress of formally parking, but can also carry out after each iterative calculation
It calculates, only finally using is the data being calculated for the last time, and the present invention is not particularly limited this.
In addition, when real-time range between the absolute angle and vehicle and curb for calculating curb, it is executable to walk below
It is rapid:
Calculate all available points initial coordinate and the distance between the linear equation it is cumulative and；If the distance
The inverse of cumulative sum is greater than preset threshold value, it is determined that the absolute angle and the real-time range are credible.
Specifically, in embodiments of the present invention, the reflection point coordinate on curb is to having fitted the cumulative of straight wire spacing
With the deviation that can reflect fitting a straight line and practical curb reflection point, the distance of reflection point to this straight line is smaller, illustrates anti-
Exit point is more effective, i.e., it is reciprocal bigger, illustrates that it is more credible, that is, indicates that there are curbs, so can be by reflection point to fitting a straight line
Apart from radar and it is reciprocal be used as confidence level, when the numerical value of confidence level is greater than certain threshold value, such as (n is effective to 1/ (0.5*n)
Point number) think that calculated result is credible.
Further, method of the invention, which may also include that, looks around the absolute angle and the real-time range with vehicle
The line feature that camera identifies does the matching analysis, finally obtains accurate curb position and angle, and shown.Specifically
The straight line on ground, the characterization curb that will test out is shown in vehicle device, then with look around camera and show the true of surrounding
Environment is compared, and the curb seen in true environment and the curb detected see whether can be overlapped.In one example, with
1cm is 1.6 pixels, if if within the curb straight line that detected differs 20cm with actual environment, i.e. 12-13 pixel
When point gap, then it is assumed that as a result, it is matched, otherwise, it is necessary to it carries out recalculating curb straight line.
It is provided in an embodiment of the present invention based on the curb position of long range ultrasonic wave and angle detecting method, without extra
Sensor, it may determine that the accurate location and angle on outlet edge, do not need to add while long range ultrasonic scanning parking stall
Add nuisance operation.In this way during planning parking path can position according to curb and angle, the angle that makes to park is flat
Row in curb, and with the reasonable position of curb spacing above.Effective solution automatic parking posture not just, and and curb
The problem of scraping collision occurs can mark emphatically the position where curb in the panoramic picture of automatic parking, improve automatic pool
The safety of vehicle increases technology sense, the sense of security of the user in automatic parking.
Based on the same inventive concept, the embodiment of the invention also provides a kind of curb positions based on long range ultrasonic wave is
Angle detection system, since the principle of the solved problem of the system is similar to method above-mentioned, the implementation of the system can be with
Referring to the implementation of preceding method, overlaps will not be repeated.
It a kind of is detected based on the curb position of long range ultrasonic wave and angle as shown in figure 3, provided in an embodiment of the present invention
System, comprising:
Initial coordinate determining module 201, for passing through position and ultrasound of the vehicle ultrasonic radar in rectangular coordinate system
It is first in rectangular coordinate system that curb distance between the curb and vehicle that wave detects calculates the ultrasonic reflections point on curb
Beginning coordinate, and the initial coordinate is stored, the rectangular coordinate system is established by origin of vehicle starting point；
Curb determining module 202, for determining that the coordinate for having preset quantity is available point in the initial coordinate of storage, and
And when available point of the number of all ultrasonic reflections points detected less than 1.5 times, determine that there are curbs, wherein if just
When the corresponding curb distance of beginning coordinate meets preset distance range, it is determined that the initial coordinate is available point；
First computing module 203 carries out Linear Quasi using least square method for the coordinate using the preset quantity
It closes, obtains initial slope and initial intercept of the curb in the rectangular coordinate system, obtain corresponding initial straight side
Journey；
Correction module 204, coordinate and corresponding ultrasonic radar based on the corresponding ultrasonic radar of the available point are visited
The curb distance of survey and the initial straight equation obtain the true coordinate of the available point, and utilize the true coordinate
The initial slope and the initial intercept are modified, revised slope and intercept and linear equation are obtained；
Second computing module 205, for the course angle based on vehicle and the curb obtained by the revised slope
Angle, determine absolute angle of the curb in earth coordinates, and calculate vehicle to the vertical of revised linear equation
Distance, obtain vehicle to curb real-time range.
Further, the correction module 204 is specifically used for:
The curb of coordinate and the detection of corresponding ultrasonic radar based on the corresponding ultrasonic radar of at least one available point
Distance and the initial slope are obtained using the relationship between the distance between two o'clock calculation formula and straight slope and point
To the true coordinate of at least one available point；
Calculation based on slope and intercept is iterated calculating using the true coordinate, after finally obtaining amendment
Slope and values of intercept and corresponding linear equation, wherein in each iteration, the linear equation that current iteration utilizes is last time
The linear equation that iteration obtains.
Further, the correction module 204 is also used to: in each iterative calculation, if having of using of current iteration
The distance between the linear equation that the true coordinate and last iteration for imitating point are calculated is less than preset threshold value, then true using this
The slope and values of intercept for the linear equation that real coordinate pair last iteration is calculated are modified, and otherwise, do not use the true seat
Mark is modified.
Further, second computing module 205 is also used to:
Calculate all available points initial coordinate and the distance between the linear equation it is cumulative and；
If the distance add up sum inverse be greater than preset threshold value, it is determined that the absolute angle and it is described in real time away from
From credible.
Further, in an alternative embodiment of the invention, the curb position i.e. angle based on long range ultrasonic wave provided
Detection system further includes analysis module and display module；Wherein, the analysis module is used for the absolute angle and the reality
When distance look around the line feature that camera identifies with vehicle and do the matching analysis, finally obtain accurate curb position and angle；
The display module is for showing finally obtained accurate curb position and angle.
The function of above-mentioned each module can correspond to the respective handling step in preceding method, and details are not described herein.
Embodiment described above, only a specific embodiment of the invention, to illustrate technical solution of the present invention, rather than
It is limited, scope of protection of the present invention is not limited thereto, although having carried out with reference to the foregoing embodiments to the present invention detailed
Illustrate, those skilled in the art should understand that: anyone skilled in the art the invention discloses
In technical scope, it can still modify to technical solution documented by previous embodiment or variation can be readily occurred in, or
Person's equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make corresponding technical solution
Essence is detached from the spirit and scope of technical solution of the embodiment of the present invention, should be covered by the protection scope of the present invention.Therefore,
The protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. a kind of based on the curb position of long range ultrasonic wave and angle detecting method characterized by comprising
Curb is calculated by the curb distance of position and ultrasonic radar detection of the vehicle ultrasonic radar in rectangular coordinate system
On initial coordinate of the ultrasonic reflections point in rectangular coordinate system, and store the initial coordinate, the rectangular coordinate system with
Vehicle starting point is origin foundation；
It is available point that determining in the initial coordinate of storage, which has the coordinate of preset quantity, and all ultrasonic waves detected are anti-
When available point of the number of exit point less than 1.5 times, determine that there are curbs, wherein if the corresponding curb distance of initial coordinate meets
When preset distance range, it is determined that the initial coordinate is available point；
Using the coordinate of the preset quantity, linear fit is carried out using least square method, obtains the curb described straight
Initial slope and initial intercept in angular coordinate system, obtain corresponding initial straight equation；
The curb distance of coordinate and the detection of corresponding ultrasonic radar based on the corresponding ultrasonic radar of the available point, and
The initial straight equation, obtains the true coordinate of the available point, and using the true coordinate to the initial slope and
The initial intercept is modified, and obtains revised slope and intercept and linear equation；
The angle of course angle and the curb obtained by the revised slope based on vehicle, determines curb in geodetic coordinates
Absolute angle in system, and vehicle is calculated to the vertical range of revised linear equation, vehicle is obtained to the real-time of curb
Distance.
2. the method according to claim 1, wherein described based on the corresponding ultrasonic radar of the available point
The curb distance and the initial straight equation of coordinate and the detection of corresponding ultrasonic radar, obtain the true of the available point
Real coordinate, and the initial slope and the initial intercept are modified using the true coordinate, it obtains revised oblique
Rate and intercept and linear equation specifically include:
The curb distance of coordinate and the detection of corresponding ultrasonic radar based on the corresponding ultrasonic radar of at least one available point,
And the initial slope obtains institute using the relationship between the distance between two o'clock calculation formula and straight slope and point
State the true coordinate of at least one available point；
Calculation based on slope and intercept is iterated calculating using the true coordinate, finally obtains revised oblique
Rate and values of intercept and corresponding linear equation, wherein in each iteration, the linear equation that current iteration utilizes is last iteration
Obtained linear equation.
3. according to the method described in claim 2, it is characterized by further comprising: in each iterative calculation, if current iteration
The distance between the linear equation that the true coordinate and last iteration of the available point used are calculated is less than preset threshold value, then
The slope and values of intercept for the linear equation that last iteration is calculated using the true coordinate are modified, and otherwise, are not used
The true coordinate is modified.
4. the method according to claim 1, wherein further include:
Calculate all available points initial coordinate and the distance between the linear equation it is cumulative and；
If the distance adds up, the inverse of sum is greater than preset threshold value, it is determined that the absolute angle and the real-time range can
Letter.
5. the method according to claim 1, wherein further include: by the absolute angle and the real-time range
The line feature that camera identifies is looked around with vehicle and does the matching analysis, finally obtains accurate curb position and angle, and carry out
Display.
6. a kind of based on the curb position of long range ultrasonic wave and angle detection system characterized by comprising
Initial coordinate determining module, for being gone out by position of the vehicle ultrasonic radar in rectangular coordinate system and ultrasound examination
Curb and vehicle between curb distance calculate initial coordinate of the ultrasonic reflections point in rectangular coordinate system on curb, and
The initial coordinate is stored, the rectangular coordinate system is established by origin of vehicle starting point；
Curb determining module for determining that having the coordinate of preset quantity is available point in the initial coordinate of storage, and detects
When available point of the number of all ultrasonic reflections points arrived less than 1.5 times, determine that there are curbs, wherein if initial coordinate
When corresponding curb distance meets preset distance range, it is determined that the initial coordinate is available point；
First computing module carries out linear fit using least square method, obtains institute for the coordinate using the preset quantity
Initial slope and initial intercept of the curb in the rectangular coordinate system are stated, corresponding initial straight equation is obtained；
Correction module, the curb of coordinate and the detection of corresponding ultrasonic radar based on the corresponding ultrasonic radar of the available point
Distance and the initial straight equation obtain the true coordinate of the available point, and using the true coordinate to described first
Beginning slope and the initial intercept are modified, and obtain revised slope and intercept and linear equation；
Second computing module, for the angle of course angle and the curb obtained by the revised slope based on vehicle,
It determines absolute angle of the curb in earth coordinates, and calculates vehicle to the vertical range of revised linear equation, obtain
To vehicle to the real-time range of curb.
7. system according to claim 6, which is characterized in that the correction module is specifically used for:
The curb distance of coordinate and the detection of corresponding ultrasonic radar based on the corresponding ultrasonic radar of at least one available point,
And the initial slope obtains institute using the relationship between the distance between two o'clock calculation formula and straight slope and point
State the true coordinate of at least one available point；
Calculation based on slope and intercept is iterated calculating using the true coordinate, finally obtains revised oblique
Rate and values of intercept and corresponding linear equation, wherein in each iteration, the linear equation that current iteration utilizes is last iteration
Obtained linear equation.
8. system according to claim 7, which is characterized in that the correction module is also used to: in each iterative calculation,
If the true coordinate for the available point that current iteration uses is less than with the distance between the linear equation that last iteration is calculated
Preset threshold value, the then slope and values of intercept for linear equation last iteration being calculated using the true coordinate are repaired
Just, otherwise, it is modified without using the true coordinate.
9. system according to claim 6, which is characterized in that second computing module is also used to:
Calculate all available points initial coordinate and the distance between the linear equation it is cumulative and；
If the distance adds up, the inverse of sum is greater than preset threshold value, it is determined that the absolute angle and the real-time range can
Letter.
10. system according to claim 6, which is characterized in that further include analysis module and display module；Wherein, described
Analysis module is matched for the absolute angle and the real-time range to be looked around the line feature that camera identifies with vehicle
Analysis, finally obtains accurate curb position and angle；The display module is used for finally obtained accurate curb position
It is shown with angle.
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| CN201910034631.8A CN109747636A (en) | 2019-01-15 | 2019-01-15 | Based on the curb position of long range ultrasonic wave and angle detecting method and its system |
| CN201910509539.2A CN110126821B (en) | 2019-01-15 | 2019-06-13 | Road edge position and angle detection method and system based on long-distance ultrasonic waves |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110444044A (en) * | 2019-08-27 | 2019-11-12 | 纵目科技（上海）股份有限公司 | Vehicle pose detection system, terminal and storage medium based on ultrasonic sensor |
| CN110838244A (en) * | 2019-10-17 | 2020-02-25 | 惠州市德赛西威智能交通技术研究院有限公司 | Parking space course adjusting method suitable for ultrasonic vertical parking space |
| CN110988885A (en) * | 2019-12-24 | 2020-04-10 | 深圳南方德尔汽车电子有限公司 | Method, device and system for monitoring surrounding environment of automobile and storage medium |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113320518B (en) * | 2021-06-25 | 2022-06-03 | 东风汽车集团股份有限公司 | Method and system for preventing vehicle from sliding after parking on ramp |
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| WO2016126321A1 (en) * | 2015-02-06 | 2016-08-11 | Delphi Technologies, Inc. | Method and apparatus for controlling an autonomous vehicle |
| CN106671974B (en) * | 2015-11-10 | 2019-09-20 | 新乡航空工业(集团)有限公司 | A kind of method for detecting parking stalls for Intelligent parking system |
| CN106945660B (en) * | 2017-02-24 | 2019-09-24 | 宁波吉利汽车研究开发有限公司 | A kind of automated parking system |
| CN108519605B (en) * | 2018-04-09 | 2021-09-07 | 重庆邮电大学 | Road edge detection method based on laser radar and camera |
| CN108828621A (en) * | 2018-04-20 | 2018-11-16 | 武汉理工大学 | Obstacle detection and road surface partitioning algorithm based on three-dimensional laser radar |
| CN109131317A (en) * | 2018-07-23 | 2019-01-04 | 同济大学 | Automatic vertical parking system and method based on multisection type planning and machine learning |
| CN109031323B (en) * | 2018-08-28 | 2020-09-11 | 重庆大学 | Parking space detection method based on ultrasonic ranging radar |
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2019
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110444044A (en) * | 2019-08-27 | 2019-11-12 | 纵目科技（上海）股份有限公司 | Vehicle pose detection system, terminal and storage medium based on ultrasonic sensor |
| CN110444044B (en) * | 2019-08-27 | 2022-07-12 | 纵目科技（上海）股份有限公司 | Vehicle pose detection system based on ultrasonic sensor, terminal and storage medium |
| CN110838244A (en) * | 2019-10-17 | 2020-02-25 | 惠州市德赛西威智能交通技术研究院有限公司 | Parking space course adjusting method suitable for ultrasonic vertical parking space |
| CN110988885A (en) * | 2019-12-24 | 2020-04-10 | 深圳南方德尔汽车电子有限公司 | Method, device and system for monitoring surrounding environment of automobile and storage medium |
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| CN110126821A (en) | 2019-08-16 |
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