CN109987089A - A kind of static-obstacle thing judgment method and device - Google Patents
A kind of static-obstacle thing judgment method and device Download PDFInfo
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- CN109987089A CN109987089A CN201910364483.6A CN201910364483A CN109987089A CN 109987089 A CN109987089 A CN 109987089A CN 201910364483 A CN201910364483 A CN 201910364483A CN 109987089 A CN109987089 A CN 109987089A
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000004888 barrier function Effects 0.000 claims abstract description 66
- 238000010586 diagram Methods 0.000 description 3
- 241000153246 Anteros Species 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
-
- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
-
- 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
- B60W40/10—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 related to vehicle motion
-
- 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
- B60W40/10—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 related to vehicle motion
- B60W40/105—Speed
-
- 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
- B60W40/12—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 related to parameters of the vehicle itself, e.g. tyre models
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Radar Systems Or Details Thereof (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention provides static-obstacle thing judgment method and device, and method includes: S1, the relevant parameter for obtaining vehicle, and the relevant parameter includes the distance of vehicle wheel base, front axle midpoint to radar；S2, radar fix system is established, the radar fix system is radial for the longitudinal axis with radar using radar center as coordinate origin, perpendicular to the longitudinal axis and to be parallel to ground direction as horizontal axis；S3, judge whether vehicle turns, be, obtain front wheel angle value, the travel speed of vehicle；S4, first coordinate of the first moment of barrier in the radar fix system is obtained；S5, after prefixed time interval, obtain second coordinate of second moment of barrier in the radar fix system；S6, judge whether the first coordinate of the barrier, the second coordinate meet preset relation formula, be to judge that the barrier for static-obstacle thing, otherwise judges the barrier for dynamic barrier.The present invention realizes accurately identifying for static-obstacle thing.
Description
Technical field
The present invention relates to drive ancillary technique field more particularly to a kind of static-obstacle thing judgment method and device.
Background technique
With vehicle intellectualized development, advanced auxiliary driving technology using more and more extensive, by it is preceding to radar to preceding
The azimuth-range of square barrier is detected, and driver is reminded to take care, and improves the safety of driving, but need not
The alarm wanted can also make driver nervous, influence driving experience, while also influencing traffic safety.Especially automobile turn round when,
Forward direction radar detection coordinate detects the object outside lane, and be closer because changing as headstock rotates, static state
Barrier is mistaken for dynamic barrier, to trigger Car warning system early warning.
Therefore, the prior art is further improved.
Summary of the invention
The present invention provides a kind of static-obstacle thing judgment method and device, it is intended to solve defect in the prior art, realize
Static-obstacle thing accurately identifies.
In order to achieve the above objectives, the technical solution used in the present invention are as follows:
One aspect of the present invention provides a kind of static-obstacle thing judgment method, comprising:
S1, obtain vehicle relevant parameter, the relevant parameter include vehicle wheel base, front axle midpoint to radar away from
From.
S2, radar fix system is established, the radar fix system is radially vertical using radar center as coordinate origin, with radar
Axis, perpendicular to the longitudinal axis and to be parallel to ground direction as horizontal axis.
S3, judge whether vehicle turns, be, obtain front wheel angle value, the travel speed of vehicle.
S4, first coordinate of the first moment of barrier in the radar fix system is obtained.
S5, after prefixed time interval, obtain second moment of barrier in the radar fix system second sit
Mark.
S6, judge whether the first coordinate of the barrier, the second coordinate meet preset relation formula, be to judge the barrier
Hindering object is static-obstacle thing, otherwise judges the barrier for dynamic barrier.
Specifically, the preset relation formula are as follows:
Wherein, e indicates pre-determined distance threshold value, and l indicates that vehicle wheel base, s indicate distance of the front axle midpoint to radar, α
Indicate front wheel angle value, V indicates the travel speed of vehicle, and (x1, y1) indicates the first moment of barrier in the radar fix system
In the first coordinate, (x2, y2) indicates second coordinate of second moment of barrier in the radar fix system.
Another aspect of the present invention provides a kind of static-obstacle thing judgment means, comprising: radar, position preserving module, corner
Obtain module, speed obtains module, vehicle body parameter setting module, computing module, barrier judgment module, mark module；
The radar is connect with the position preserving module, computing module, and the computing module is also obtained with the corner
Module, speed obtain module, vehicle body parameter setting module, the connection of barrier judgment module, the barrier judgment module and institute
State mark module connection；
The obstacle position information is sent position and saved by the radar for obtaining front obstacle location information
Module, computing module；
The position preserving module is called for saving front obstacle location information for computing module；
The corner obtains the current corner value that module is used to obtain vehicle；
The speed obtains the current vehicle speed value that module is used to obtain vehicle；
The vehicle body parameter setting module is used to be arranged the relevant parameter of vehicle, and the relevant parameter includes vehicle antero posterior axis
Distance away from, front axle midpoint to radar；
The computing module is used for according to the front obstacle location information, current corner value, current vehicle speed value, described
The relevant parameter of vehicle calculates shift value of the barrier in radar fix system；
The barrier judgment module is used for the type according to the shift value disturbance in judgement object；
The mark module is for being marked barrier according to the type of the barrier.
Specifically, the computing module judges whether the barrier is static-obstacle thing according to the following formula:
Wherein, e indicates pre-determined distance threshold value, and l indicates that vehicle wheel base, s indicate distance of the front axle midpoint to radar, α
Indicate front wheel angle value, V indicates the travel speed of vehicle, and (x1, y1) indicates the first moment of barrier in the radar fix system
In the first coordinate, (x2, y2) indicates second coordinate of second moment of barrier in the radar fix system.
The beneficial effects of the present invention are: the present invention by vehicle turning separated in time obtain barrier twice
Coordinate position in radar fix system, whether coordinate position meets preset relation formula to sentence twice for the front and back of disturbance in judgement object
Whether disconnected is static-obstacle thing, realizes accurately identifying for static-obstacle thing.
Detailed description of the invention
Fig. 1 is the flow diagram of static-obstacle thing judgment method of the invention；
Fig. 2 is radar fix system schematic diagram of the invention；
Fig. 3 is the position view of the first moment barrier of the invention in radar fix system；
Fig. 4 is the position view of the second moment barrier of the invention in radar fix system；
Fig. 5 is the structural schematic diagram of static-obstacle thing judgment means of the invention.
Specific embodiment
Specifically illustrate embodiments of the present invention with reference to the accompanying drawing, attached drawing is only for reference and illustrates use, does not constitute pair
The limitation of the invention patent protection scope.
As shown in Figure 1, on the one hand the embodiment of the present invention provides a kind of static-obstacle thing judgment method, comprising:
Step 1, the relevant parameter for obtaining vehicle, the relevant parameter includes vehicle wheel base l, front axle midpoint to radar
Distance s.
Step 2 establishes radar fix system, and the radar fix system is radially with radar using radar center as coordinate origin
The longitudinal axis, perpendicular to the longitudinal axis and to be parallel to ground direction as horizontal axis.
As shown in Fig. 2, O is radar center, Y-axis is that radar is radial (i.e. detection center line), and the radar fix system is
XOY.As shown in Figure 2, in radar fix system, the abscissa of barrier be divided into it is positive and negative, when the barrier of detection is in radar diameter
It is negative value when to the left, is positive value when right side, and the ordinate position of barrier only has positive value.O' is turning center, from vehicle
The directional velocity at rear axle midpoint makees vertical line, makees vertical line from the directional velocity at front axle midpoint, and the intersection point of this two vertical lines is to turn to
Center.
Step 3 judges whether vehicle turns, and is the travel speed V for obtaining front wheel angle value α, vehicle.
Front wheel angle α can be obtained by rotary angle transmitter, and the travel speed V of vehicle can be obtained by velocity sensor.
Step 4 obtains first coordinate of the first moment of barrier in the radar fix system.
As shown in figure 3, at the first moment (the T moment of timing starting), position of the barrier C in the radar fix system
It is denoted as C1, the coordinate of C1 is the first coordinate (x1, y1).
Step 5, after prefixed time interval, obtain second of second moment of barrier in the radar fix system
Coordinate.
In the second moment (T+ Δ T moment, Δ T are prefixed time interval), position note of the barrier C in radar fix system
For C2, the coordinate of C2 is the second coordinate (x2, y2).
At the T+ Δ T moment, automobile is moved to position as shown in Figure 4, and radar center O point is moved to B' point with automobile, due to
Δ T very little, so in Δ T time interval, it is believed that for automobile still with speed V traveling, the constant front wheel angle of automobile is still δ
1, so the position of turning center O' is constant, each turning radius size of vehicle is constant.
Step 6 judges whether the first coordinate of the barrier, the second coordinate meet preset relation formula, is to judge institute
Stating barrier is static-obstacle thing, otherwise judges the barrier for dynamic barrier.
In the present embodiment, the preset relation formula are as follows:
Wherein, e indicates pre-determined distance threshold value.
As shown in figure 5, another aspect of the present invention provides a kind of static-obstacle thing judgment means, comprising: radar, position save
Module, corner obtain module, speed obtains module, vehicle body parameter setting module, computing module, barrier judgment module, label
Module；
The radar is connect with the position preserving module, computing module, and the computing module is also obtained with the corner
Module, speed obtain module, vehicle body parameter setting module, the connection of barrier judgment module, the barrier judgment module and institute
State mark module connection；
The obstacle position information is sent position and saved by the radar for obtaining front obstacle location information
Module, computing module；
The position preserving module is called for saving front obstacle location information for computing module；
The corner obtains the current corner value that module is used to obtain vehicle；
The speed obtains the current vehicle speed value that module is used to obtain vehicle；
The vehicle body parameter setting module is used to be arranged the relevant parameter of vehicle, and the relevant parameter includes vehicle antero posterior axis
Distance away from, front axle midpoint to radar；
The computing module is used for according to the front obstacle location information, current corner value, current vehicle speed value, described
The relevant parameter of vehicle calculates shift value of the barrier in radar fix system；
The barrier judgment module is used for the type according to the shift value disturbance in judgement object；
The mark module is for being marked barrier according to the type of the barrier.
In the present embodiment, the computing module judges whether the barrier is static-obstacle thing according to the following formula:
The course of work of static-obstacle thing judgment means of the invention is as described in above-mentioned static-obstacle thing judgment method, herein
It repeats no more.
Above disclosed is only presently preferred embodiments of the present invention, cannot limit rights protection model of the invention with this
It encloses, therefore according to equivalent variations made by scope of the present invention patent, is still within the scope of the present invention.
Claims (5)
1. a kind of static-obstacle thing judgment method characterized by comprising
S1, the relevant parameter for obtaining vehicle, the relevant parameter includes the distance of vehicle wheel base, front axle midpoint to radar.
S2, radar fix system being established, the radar fix system is radial for the longitudinal axis with radar using radar center as coordinate origin, with
Perpendicular to the longitudinal axis and ground direction is parallel to as horizontal axis.
S3, judge whether vehicle turns, be, obtain front wheel angle value, the travel speed of vehicle.
S4, first coordinate of the first moment of barrier in the radar fix system is obtained.
S5, after prefixed time interval, obtain second coordinate of second moment of barrier in the radar fix system.
S6, judge whether the first coordinate of the barrier, the second coordinate meet preset relation formula, be to judge the barrier
For static-obstacle thing, otherwise judge the barrier for dynamic barrier.
2. static-obstacle thing judgment method according to claim 1, which is characterized in that the preset relation formula are as follows:
Wherein, e indicates pre-determined distance threshold value, and l indicates that vehicle wheel base, s indicate front axle midpoint to the distance of radar, α expression
Front wheel angle value, V indicate the travel speed of vehicle, and (x1, y1) indicates the first moment of barrier in the radar fix system
First coordinate, (x2, y2) indicate second coordinate of the second moment of barrier in the radar fix system.
3. a kind of static-obstacle thing judgment means characterized by comprising include: radar, position preserving module, corner acquisition
Module, speed obtain module, vehicle body parameter setting module, computing module, barrier judgment module；
The radar is connect with the position preserving module, computing module, the computing module also with the corner obtain module,
Speed obtains module, vehicle body parameter setting module, the connection of barrier judgment module, the barrier judgment module and the label
Module connection；
The obstacle position information is sent position and saves mould by the radar for obtaining front obstacle location information
Block, computing module；
The position preserving module is called for saving front obstacle location information for computing module；
The corner obtains the current corner value that module is used to obtain vehicle；
The speed obtains the current vehicle speed value that module is used to obtain vehicle；
The vehicle body parameter setting module is used to be arranged the relevant parameter of vehicle, the relevant parameter include vehicle wheel base,
Distance of the front axle midpoint to radar；
The computing module is used for according to the front obstacle location information, current corner value, current vehicle speed value, the vehicle
Relevant parameter calculate shift value of the barrier in radar fix system；
The barrier judgment module is used for the type according to the shift value disturbance in judgement object；
The mark module.
4. static-obstacle thing judgment means according to claim 3, which is characterized in that further include for according to the obstacle
The mark module that barrier is marked in the type of object.
5. static-obstacle thing judgment means according to claim 3, which is characterized in that the computing module is sentenced according to the following formula
Whether the barrier that breaks is static-obstacle thing:
Wherein, e indicates pre-determined distance threshold value, and l indicates that vehicle wheel base, s indicate front axle midpoint to the distance of radar, α expression
Front wheel angle value, V indicate the travel speed of vehicle, and (x1, y1) indicates the first moment of barrier in the radar fix system
First coordinate, (x2, y2) indicate second coordinate of the second moment of barrier in the radar fix system.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2018114464461 | 2018-11-29 | ||
| CN201811446446 | 2018-11-29 |
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| CN109987089A true CN109987089A (en) | 2019-07-09 |
| CN109987089B CN109987089B (en) | 2020-12-01 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112560580A (en) * | 2020-11-20 | 2021-03-26 | 腾讯科技（深圳）有限公司 | Obstacle recognition method, device, system, storage medium and electronic equipment |
| CN113030926A (en) * | 2021-04-30 | 2021-06-25 | 东风商用车有限公司 | Static barrier filtering method and system based on ultrasonic radar |
| CN113359147A (en) * | 2020-03-06 | 2021-09-07 | 郑州宇通客车股份有限公司 | Method and device for judging motion states of vehicle and target object |
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| CN105083265A (en) * | 2014-05-21 | 2015-11-25 | 本田技研工业株式会社 | Object recognition apparatus and vehicle |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113030926B (en) * | 2021-04-30 | 2022-06-07 | 东风商用车有限公司 | Static barrier filtering method and system based on ultrasonic radar |
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