CN112526994A - Data processing method and device - Google Patents
Data processing method and device Download PDFInfo
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- CN112526994A CN112526994A CN202011384933.7A CN202011384933A CN112526994A CN 112526994 A CN112526994 A CN 112526994A CN 202011384933 A CN202011384933 A CN 202011384933A CN 112526994 A CN112526994 A CN 112526994A
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- 238000004590 computer program Methods 0.000 claims description 17
- 238000001514 detection method Methods 0.000 claims description 3
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
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Abstract
The embodiment of the invention provides a data processing method and a data processing device, wherein the method comprises the following steps: detecting whether the vehicle is in a turning blind area in the process of vehicle running, wherein the turning blind area is a radar blind area existing in a vehicle-mounted radar when the vehicle runs in a turning mode, and generating virtual road information aiming at the turning blind area when the vehicle is detected to be in the turning blind area so as to control the vehicle to run according to the virtual road information. According to the embodiment of the invention, the generation of the virtual road information aiming at the blind area is realized, the vehicle is controlled through the generated virtual road information, the risk of accidents when the vehicle runs is reduced, and the running safety of the vehicle is improved.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a data processing method and device.
Background
Currently, when a vehicle is running, especially when the vehicle is automatically running, road information is collected through a sensing device in the vehicle, so as to adjust a running route of the vehicle according to the collected information.
However, in the process of driving, the vehicle may deflect at a vehicle angle, for example, when the vehicle turns, the information of the road collected by the sensing device in the vehicle is not accurate enough, or even the information of the current road cannot be collected, that is, the vehicle enters a blind area, and then the driving route of the vehicle cannot be accurately adjusted, and the vehicle cannot be effectively controlled, so that the risk of an accident occurring when the vehicle is driving is increased, for example, the risk of a collision accident occurring between the vehicle and an obstacle due to the fact that the obstacle cannot be detected in time is increased.
Disclosure of Invention
In view of the above, it is proposed to provide a method and apparatus for data processing that overcomes or at least partially solves the above mentioned problems, comprising:
a method of data processing, the method comprising:
detecting whether the vehicle is in a turning blind area or not in the running process of the vehicle; the turning blind area is a radar blind area existing in a vehicle-mounted radar when the vehicle runs in a turning mode;
and when the vehicle is detected to be in a turning blind area, generating virtual road information aiming at the turning blind area so as to control the vehicle to run according to the virtual road information.
Optionally, the generating of the virtual road information for the blind turning area includes:
determining at least two virtual road points for the blind turning area;
and generating virtual road information aiming at the turning blind area according to the at least two virtual road points.
Optionally, the determining at least two virtual road points for the blind turning zone comprises:
determining a first virtual road point for the turning blind area;
and when the first preset condition is detected to be met, determining a second virtual road point aiming at the turning blind area.
Optionally, the first preset condition includes any one of:
the vehicle driving distance after the first virtual road point is determined is greater than a preset vehicle driving distance, and the steering wheel angle after the first virtual road point is determined is greater than a preset steering wheel angle.
Optionally, the first virtual road point and/or the second virtual road point are generated as follows:
determining track direction information and installation position information of the vehicle-mounted radar;
and determining the first virtual road point and/or the second virtual road point according to the track direction information and the installation position information.
Optionally, the detecting whether the vehicle is in a turning blind area during the running of the vehicle includes:
acquiring radar track information of the vehicle-mounted radar and running track information of the vehicle;
determining track deviation information according to the radar track information and the running track information;
and when the track deviation information meets a second preset condition, detecting that the vehicle is in a turning blind area.
Optionally, the track deviation information includes a track deviation angle, and the second preset condition includes:
the trajectory deviation angle is greater than a preset trajectory deviation angle.
Optionally, the method further comprises:
and when the actual road information aiming at the turning blind area is obtained, replacing the virtual road information with the actual road information.
An apparatus for data processing, the apparatus comprising:
the turning blind area detection module is used for detecting whether the vehicle is in a turning blind area or not in the running process of the vehicle; the turning blind area is a radar blind area existing in a vehicle-mounted radar when the vehicle runs in a turning mode;
and the virtual road information generating module is used for generating virtual road information aiming at the turning blind area when the vehicle is detected to be in the turning blind area so as to control the vehicle to run according to the virtual road information.
A vehicle comprising a processor, a memory and a computer program stored on the memory and capable of running on the processor, the computer program when executed by the processor implementing a method of data processing as described above.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, implements a method of data processing as described above.
The embodiment of the invention has the following advantages:
in the embodiment of the invention, whether the vehicle is in the turning blind area is detected in the running process of the vehicle, wherein the turning blind area is a radar blind area existing in a vehicle-mounted radar when the vehicle runs in a turning mode, and when the vehicle is detected to be in the turning blind area, the virtual road information aiming at the turning blind area is generated so as to control the vehicle to run according to the virtual road information, so that the generation of the virtual road information aiming at the blind area is realized, the vehicle is controlled through the generated virtual road information, the risk of accidents occurring when the vehicle runs is reduced, and the running safety of the vehicle is improved.
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In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the description of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a flow chart illustrating steps of a method for data processing according to an embodiment of the present invention;
FIG. 2 is a schematic view of a blind start zone provided by an embodiment of the present invention;
FIG. 3 is a flow chart of steps in another method of data processing according to an embodiment of the invention;
FIG. 4 is a flow chart illustrating steps of a method for processing data according to another embodiment of the present invention;
FIG. 5a is a schematic diagram of an example of a blind starting zone according to an embodiment of the present invention;
FIG. 5b is a schematic diagram of an example of a blind turning area according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a data processing apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a flowchart illustrating steps of a data processing method according to an embodiment of the present invention is shown, which may specifically include the following steps:
wherein, the blind area of turning can be the radar blind area that vehicle radar exists when the vehicle is gone in the turning, and the perception equipment in the vehicle can be vehicle radar.
During the running process of the vehicle, whether the vehicle is turning can be determined through a navigation System in the vehicle, such as a Global Positioning System (GPS), and the steering angle information of a steering wheel in the vehicle can also be acquired in real time, so that whether the vehicle is turning can be determined according to the steering angle information, and whether the vehicle is in a turning blind area can be determined according to the information collected by a sensing device in the vehicle when the vehicle is turning.
In practical application, when a vehicle turns, the offset angle of the vehicle-mounted radar is large, especially for the vehicle-mounted radar in front of the side of the vehicle, the offset angle is the largest, for example, when the vehicle turns left, the turning radius of the vehicle-mounted radar installed in front of the right of the vehicle is too large, and then the offset angle of the vehicle-mounted radar in front of the right is too large, and since the vehicle-mounted radar has a certain acquisition frequency, such as the frequency of acquiring information once in 0.2 second, the too large offset angle may cause the vehicle-mounted radar not to acquire information in an acquisition interval, and then a turning blind area may occur, that is, it may be determined that the vehicle is in the turning blind area.
And 102, when the vehicle is detected to be in a turning blind area, generating virtual road information aiming at the turning blind area so as to control the vehicle to run according to the virtual road information.
The virtual road information may be road information assumed to exist in the turning blind area, such as lane information of a lane, obstacle information of an obstacle, and the road information may include position information in the turning blind area.
When the vehicle is detected to be in the turning blind area, the virtual road information aiming at the turning blind area can be generated according to a preset strategy.
For example, position information of the vehicle may be determined, and direction information in which the vehicle travels may be determined, and an area X meters away from the vehicle may be determined according to the position information of the vehicle, and virtual road information for a turning blind area may be generated in the determined area.
As an example, X may be a manually set value, and may typically take 2 meters or 3 meters.
In practical application, an area which is X meters away from the vehicle can be set as an unknown area, and then the area which is X meters away from the vehicle can be determined as a relatively safe area.
After the virtual road information is generated, the driving direction of the vehicle may be adjusted according to the generated virtual road information to control the vehicle to travel.
In an embodiment of the present invention, step 102 may include the following sub-steps:
substep 11, determining at least two virtual road points for said blind turning zone;
the virtual road point may be a point assumed to exist in the turning blind area.
When the vehicle is detected to be in the turning blind area, the virtual road point aiming at the turning blind area can be generated according to a preset strategy.
For example, an area X meters away from the vehicle may be set as an unknown area, and then the position information of the vehicle at the current time and the direction information of the vehicle running at the current time may be determined, and a direction tangential to the direction of the vehicle running may be determined according to the direction information of the vehicle running, and then a point X meters away from the vehicle at the current time, that is, one virtual road point may be determined according to the direction tangential to the direction of the vehicle running and the position information of the vehicle, and then virtual road points corresponding to at least two times may be determined.
And a substep 12 of generating virtual road information for the blind turning area based on the at least two virtual road points.
When the at least two virtual road points are determined, virtual road information for the turning blind area may be generated according to the at least two virtual road points.
In practical applications, one of the virtual road points may be used as a starting point, the other virtual road point may be used as an end point, and a virtual line segment may be generated, that is, virtual road information for the turning blind area, and the earliest generated virtual road point may be used as a starting point, and virtual road points generated at the next moment are used as end points in sequence, so that a plurality of virtual line segments may be generated, and virtual road information for the turning blind area may be generated according to the plurality of virtual line segments.
In an embodiment of the present invention, the method may further include the steps of:
and when the actual road information aiming at the turning blind area is obtained, replacing the virtual road information with the actual road information.
The actual road information can be road information collected by a vehicle-mounted radar.
The vehicle is at the in-process of turning, because the turn radius of installing the on-vehicle radar at vehicle rear is less, and the angle of installing the skew of the on-vehicle radar at vehicle rear is less promptly, and then can not have the turn blind area, can gather continuous actual road information, and then can adopt actual road information replacement to install corresponding virtual road information in the on-vehicle radar in vehicle the place ahead to delete the virtual road information that is replaced in the on-vehicle radar in vehicle the place ahead.
In practical application, the mileage information of the vehicle-mounted radar installed in front of the vehicle in the mileage meter when entering a turning blind area can be recorded, the mileage information in the mileage meter is acquired in real time in the vehicle turning process, whether the vehicle-mounted radar installed in the rear of the vehicle reaches the position of the vehicle-mounted radar installed in the front of the vehicle when entering the turning blind area is judged, the actual road information collected by the vehicle-mounted radar installed in the rear of the vehicle can be acquired, and the corresponding virtual road information in the vehicle-mounted radar installed in the front of the vehicle can be replaced by the actual road information.
And when the vehicle-mounted radar installed behind the vehicle exits the turning blind area, finishing the step of replacing the vehicle-mounted radar with the actual road information to the vehicle-mounted radar with the radar blind area when the vehicle enters the turning blind area.
In an embodiment of the invention, whether the vehicle is in the starting blind area or not can be detected, and when the vehicle is detected to be in the starting blind area, the actual road information aiming at the starting blind area can be obtained and updated to the vehicle-mounted radar with the radar blind area when the vehicle starts.
In practical application, the actual road information collected by the vehicle-mounted radar arranged at the rear of the vehicle can be acquired, and the actual road information is adopted to be updated to the vehicle-mounted radar arranged at the front of the vehicle.
As shown in fig. 2, because the vehicle-mounted radar has a certain collection range, when the vehicle starts, there may be an area that cannot be collected between a plurality of vehicle-mounted radars in the vehicle, that is, a starting blind area, and then the road information that leads to some vehicle-mounted radars in the vehicle to collect is incomplete, that is, the road information that the vehicle-mounted radar that installs the place ahead in the vehicle collected is incomplete, and then the actual road information of the rear in the vehicle that installs can be updated to the vehicle-mounted radar that installs the place ahead in the vehicle, so as to perfect the road information that the vehicle-mounted radar that installs the place ahead in the vehicle collected.
In practical application, the mileage information of the vehicle in the speedometer during starting can be recorded, the mileage information in the speedometer is obtained in real time in the running process of the vehicle, the installation position information of the vehicle-mounted radars in the vehicle can be determined, the distance information between the vehicle-mounted radars in the vehicle can be determined according to the installation position information of the vehicle-mounted radars, the distance information between the vehicle-mounted radars can be L in the graph 2, the running distance of the vehicle can be determined according to the mileage information in the speedometer and the mileage information in the speedometer during starting, the running distance of the vehicle can be compared with the distance information between the vehicle-mounted radars to judge whether the vehicle runs out of a starting blind area, and when the vehicle runs out of the starting blind area, the step of updating the vehicle to the vehicle-mounted radars with the actual road information in the starting blind area is finished.
In the embodiment of the invention, whether the vehicle is in the turning blind area is detected in the running process of the vehicle, wherein the turning blind area is a radar blind area existing in a vehicle-mounted radar when the vehicle runs in a turning mode, and when the vehicle is detected to be in the turning blind area, the virtual road information aiming at the turning blind area is generated so as to control the vehicle to run according to the virtual road information, so that the generation of the virtual road information aiming at the blind area is realized, the vehicle is controlled through the generated virtual road information, the risk of accidents occurring when the vehicle runs is reduced, and the running safety of the vehicle is improved.
Referring to fig. 3, a flowchart illustrating steps of another data processing method according to an embodiment of the present invention is shown, which may specifically include the following steps:
the turning blind area can be a radar blind area of the vehicle-mounted radar when the vehicle runs in a turning mode.
when the vehicle is detected to be in the turning blind area, a first virtual road point aiming at the turning blind area can be determined according to a preset strategy.
For example, an area X meters away from the vehicle may be set as an unknown area, and then the position information of the vehicle at the current time and the direction information of the vehicle traveling at the current time may be determined, and a direction tangential to the direction of the vehicle traveling may be determined according to the direction information of the vehicle traveling, and then a point X meters away from the vehicle at the current time, that is, the first virtual road point, may be determined according to the direction tangential to the direction of the vehicle traveling and the position information of the vehicle.
after determining the first virtual road point for the turning blind area, the driving state of the current vehicle, such as the driving distance of the vehicle, the turning angle of the steering wheel of the vehicle, may be determined, and it may be determined whether the driving state of the current vehicle satisfies the first preset condition.
As an example, the first preset condition may include any one of: the vehicle driving distance after the first virtual road point is determined is greater than a preset vehicle driving distance, and the steering wheel angle after the first virtual road point is determined is greater than a preset steering wheel angle.
In practical applications, it may be determined whether a vehicle driving distance after the first virtual road point is greater than a preset vehicle driving distance and whether a steering wheel angle after the first virtual road point is greater than a preset steering wheel angle, and it may be determined that the first preset condition is satisfied when the vehicle driving distance is greater than the preset vehicle driving distance and/or the steering wheel angle is greater than the preset steering wheel angle.
When it is detected that the first preset condition is met, a second virtual road point for the turning blind area can be determined according to a preset strategy.
In an embodiment of the present invention, when it is determined that the vehicle driving distance is less than the preset vehicle driving distance and the steering wheel angle is less than the preset steering wheel angle, it may be determined that the first preset condition is not satisfied, and the step of determining the virtual road point for the turning blind area according to the preset policy may be ended.
In an embodiment of the present invention, when it is detected that the vehicle exits the turning blind area, the second virtual road point for the turning blind area may be determined according to a preset strategy, and the step of determining the virtual road point for the turning blind area according to the preset strategy may be ended.
In an embodiment of the present invention, the first virtual road point and/or the second virtual road point may be generated as follows:
determining track direction information and installation position information of the vehicle-mounted radar; and determining the first virtual road point and/or the second virtual road point according to the track direction information and the installation position information.
In practical application, radar track information of the vehicle-mounted radar can be determined, track direction information of the vehicle-mounted radar at the current moment can be determined, installation position information of the vehicle-mounted radar can be determined, direction information perpendicular to the track direction information can be determined, and then a point which is X meters away from a vehicle can be determined along the direction information perpendicular to the track direction information by taking the installation position of the vehicle-mounted radar in the installation position information of the vehicle-mounted radar as a starting point, namely the virtual road point.
And 304, generating virtual road information aiming at the turning blind area according to the at least two virtual road points so as to control the vehicle to run according to the virtual road information.
After at least two virtual road points are determined, one of the virtual road points may be used as a starting point, the other virtual road point may be used as an end point, and a virtual line segment may be generated, that is, virtual road information for a turning blind area, and the earliest generated virtual road point may be used as a starting point, and virtual road points generated at the next moment are used as end points in sequence, so that a plurality of virtual line segments may be generated, and virtual road information for a turning blind area may be generated according to the plurality of virtual line segments.
In practical application, a plurality of virtual road points are determined to generate virtual line segments, and virtual road information aiming at a turning blind area is generated according to a plurality of virtual line segments, so that the precision and the reliability of the virtual road information can be improved, the risk of accidents when a vehicle runs can be further reduced, and the running safety of the vehicle can be improved.
In the embodiment of the invention, whether the vehicle is in a turning blind area is detected during the running process of the vehicle, wherein the turning blind area can be a radar blind area existing in a vehicle-mounted radar when the vehicle runs in a turning mode, a first virtual road point aiming at the turning blind area is determined, a second virtual road point aiming at the turning blind area is determined when a first preset condition is detected to be met, virtual road information aiming at the turning blind area is generated according to at least two virtual road points, the vehicle is controlled to run according to the virtual road information, the generation of the virtual road information aiming at the blind area is realized, the virtual road information is generated by determining the virtual road point aiming at the turning blind area, the reliability of the virtual road information is improved, the vehicle is controlled through the generated virtual road information, and the risk of accidents occurring when the vehicle runs is reduced, the safety of vehicle driving is improved.
Referring to fig. 4, a flowchart illustrating steps of another data processing method according to an embodiment of the present invention is shown, which may specifically include the following steps:
the radar track information can be track information of a vehicle-mounted radar when the vehicle runs.
In the process of vehicle running, the running track information of the vehicle can be acquired in real time, for example, the running track information of the vehicle can be acquired through a GPS system, and road information can also be acquired through sensing equipment in the vehicle, so that the running track information of the vehicle can be determined according to the road information and a map preset in the vehicle.
After the driving track information of the vehicle is obtained, the installation position information of the vehicle-mounted radar in the vehicle can be determined, and then the radar track information of the vehicle-mounted radar can be determined according to the driving track information of the vehicle and the installation position information of the vehicle-mounted radar.
wherein, the track deviation information may be a deviation between a radar track of the vehicle-mounted radar and a travel track of the vehicle, and the track deviation information may include a track deviation angle.
After the radar track information of the vehicle-mounted radar and the running track information of the vehicle are obtained, track direction information of the radar track information at any time can be determined, for example, a direction tangent to the radar track of the vehicle-mounted radar can be determined at any time, namely the track direction information.
Meanwhile, the direction information of the running track information of the vehicle at any time can be determined, for example, the direction tangential to the running track of the vehicle, that is, the direction information of the running of the vehicle, can be determined at any time.
After determining the track direction information of the radar and the direction information of the vehicle traveling, a direction deviation between the track direction and the direction of the vehicle traveling, that is, a deviation between the radar track of the vehicle-mounted radar and the traveling track of the vehicle may be compared to determine track deviation information.
In practical application, the track deviation angle can be determined by calculating the angle information of the included angle between the track direction of the vehicle-mounted radar and the driving direction of the vehicle.
the turning blind area can be a radar blind area of the vehicle-mounted radar when the vehicle runs in a turning mode.
As an example, the trajectory deviation angle may be angle information of an included angle between a radar trajectory of the vehicle-mounted radar and direction information in which the vehicle travels, and the second preset condition may include: the trajectory deviation angle is greater than a preset trajectory deviation angle.
After the track deviation information is determined, whether the track deviation information meets a second preset condition or not can be judged, when the track deviation information meets the second preset condition, the vehicle is determined to be in a turning blind area, and when the track deviation information does not meet the second preset condition, the vehicle is determined not to be in the turning blind area.
In practical application, the track deviation angle can be compared with a preset track deviation angle, when the track deviation angle is larger than the preset track deviation angle, the track deviation information can be judged to meet a second preset condition, and when the track deviation angle is smaller than or equal to the preset track deviation angle, the track deviation information can be judged to not meet the second preset condition.
When the vehicle turns, the turning radius of the vehicle-mounted radar is different from the turning radius of the vehicle, so that the track of the vehicle-mounted radar is different from the running track of the vehicle, and further the deviation between the radar track of the vehicle-mounted radar and the running track of the vehicle can be obtained.
And 404, when the vehicle is detected to be in a turning blind area, generating virtual road information aiming at the turning blind area so as to control the vehicle to run according to the virtual road information.
In the embodiment of the invention, the radar track information of the vehicle-mounted radar and the running track information of the vehicle are acquired, the track deviation information is determined according to the radar track information and the running track information, when the track deviation information meets a second preset condition, the vehicle is detected to be in a turning blind area, when the vehicle is detected to be in the turning blind area, the virtual road information aiming at the turning blind area is generated, the vehicle is controlled to run according to the virtual road information, the generation of the virtual road information aiming at the blind area is realized, the timeliness of the generation of the virtual road information is improved by detecting whether the vehicle is in the turning blind area, and the vehicle is controlled through the generated virtual road information, so that the risk of accidents when the vehicle runs is reduced, and the running safety of the vehicle is improved.
An embodiment of a method for processing data of a blind starting zone according to the present invention is described below with reference to fig. 5 a:
1. when the vehicle starts, the position of a speedometer in the vehicle can be recorded, and then mileage information when starting can be determined, wherein start _ location can be expressed as the mileage information when starting;
2. in the running process of the vehicle, the position of the odometer is obtained in real time, so that real-time mileage information can be determined, wherein cur _ loccat can be expressed as the real-time mileage information;
3. after obtaining the mileage information at the time of starting and the real-time mileage information, the distance of the vehicle actually traveling can be obtained by calculating according to the real-time mileage information and the mileage information at the time of starting, and if the mileage at the time of starting is subtracted from the mileage acquired in real time, the distance of the vehicle actually traveling can be obtained.
After the actual driving distance of the vehicle is obtained, whether the actual driving distance of the vehicle is greater than a preset distance can be judged, wherein the preset distance can be the distance between the vehicle-mounted radars, and the preset distance can be represented as THR;
4. when the actual driving distance of the vehicle is less than the preset distance, the position of the acquired real-time odometer can be determined;
5. after the position of the odometer acquired in real time is determined, the real-time position of the vehicle can be determined, the position of a front vehicle-mounted radar in the vehicle can be recorded, a signal that the vehicle is in a starting blind area is sent out, and when the rear vehicle-mounted radar in the vehicle reaches the recorded position, actual road information acquired by the rear vehicle-mounted radar is supplemented to the front vehicle-mounted radar;
6. when the actual running distance of the vehicle is greater than the preset distance, the vehicle can be determined to leave the starting blind area, and then a signal of leaving the starting blind area can be sent out, so that the step of supplementing the actual road information collected by the rear vehicle-mounted radar to the front vehicle-mounted radar is finished.
An embodiment of a method for data processing for a blind turning area according to the present invention is exemplarily illustrated in fig. 5b as follows:
1. in the running process of the vehicle, the running track information of the vehicle can be acquired in real time, the installation position information of the vehicle-mounted radar in the vehicle can be determined, and the radar track information of the vehicle-mounted radar can be further determined according to the running track information of the vehicle and the installation position information of the vehicle-mounted radar;
2. after the radar track information of the vehicle-mounted radar and the running track information of the vehicle are obtained, the track direction of the radar track information at any moment can be determined, the direction of the running track information of the vehicle at any moment can be determined, and further the angle information of an included angle between the track direction of the vehicle-mounted radar and the running direction of the vehicle can be calculated;
3. after the angle information of the included angle is determined, whether the angle information of the included angle is larger than preset angle information or not can be judged;
4. when the angle information of the included angle is judged to be larger than the preset angle information, the fact that the front vehicle-mounted radar enters a turning blind area can be shown, and the position of the mileometer when the front vehicle-mounted radar enters the turning blind area is recorded, namely the mark position;
5. after the position of the mileometer when the front vehicle-mounted radar enters the turning blind area is recorded, the real-time position of the vehicle can be determined, and the position of the front vehicle-mounted radar when the front vehicle-mounted radar enters the turning blind area is recorded;
6. judging whether the rear vehicle-mounted radar reaches the position of the front vehicle-mounted radar when entering a turning blind area at the current moment, if the rear vehicle-mounted radar does not reach the position of the front vehicle-mounted radar when entering the turning blind area at the current moment, judging whether the rear vehicle-mounted radar reaches the position of the front vehicle-mounted radar when entering the turning blind area at the next moment, if the rear vehicle-mounted radar reaches the position of the front vehicle-mounted radar when entering the turning blind area at the current moment, indicating that the rear vehicle-mounted radar enters an area corresponding to the turning blind area of the front vehicle-mounted radar, executing the step of obtaining actual road information aiming at the turning blind area and replacing virtual road information by the actual road information;
7. after the position of the odometer when the front vehicle-mounted radar enters a turning blind area is recorded, the radar track information of the vehicle-mounted radar can be determined, and further the track direction information of the vehicle-mounted radar at the current moment can be determined;
8. after the track direction information of the vehicle-mounted radar at the current moment is determined, the installation position information of the vehicle-mounted radar can be determined;
9. after determining the track direction information of the vehicle-mounted radar at the current moment and the installation position information of the vehicle-mounted radar, determining a virtual road point of the vehicle-mounted radar in front for a turning blind area along the direction information vertical to the track direction information by taking the installation position of the vehicle-mounted radar in the installation position information of the vehicle-mounted radar as a starting point;
10. after the virtual road points at all the moments are determined, virtual line segments can be generated according to the virtual road points, and virtual road information aiming at the turning blind area can be generated according to a plurality of virtual line segments so as to control the vehicle to run according to the virtual road information;
11. when the angle information of the included angle is judged to be less than or equal to the preset angle information, the fact that the front vehicle-mounted radar exits the turning blind area can be indicated, and the position of the odometer, namely the mark position, is recorded when the front vehicle-mounted radar exits the turning blind area;
12. after the position of the odometer when the front vehicle-mounted radar exits the turning blind area is recorded, the real-time position of the vehicle can be determined, and the position of the front vehicle-mounted radar when the front vehicle-mounted radar exits the turning blind area is recorded;
13. after recording the position of the front vehicle-mounted radar when exiting the turning blind area, judging whether the rear vehicle-mounted radar reaches the position of the front vehicle-mounted radar when exiting the turning blind area at the current moment, if the rear vehicle-mounted radar does not reach the position of the front vehicle-mounted radar when exiting the turning blind area at the current moment, judging whether the rear vehicle-mounted radar reaches the position of the front vehicle-mounted radar when exiting the turning blind area at the next moment, if the rear vehicle-mounted radar reaches the position of the front vehicle-mounted radar when exiting the turning blind area at the current moment, indicating that the rear vehicle-mounted radar exits the area corresponding to the turning blind area of the front vehicle-mounted radar, and finishing executing the step of replacing the virtual road information by the actual road information when acquiring the actual road information aiming at the turning blind area.
It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Referring to fig. 6, a schematic structural diagram of a data processing apparatus according to an embodiment of the present invention is shown, which may specifically include the following modules:
the turning blind area detection module 601 is used for detecting whether the vehicle is in a turning blind area or not in the running process of the vehicle; the turning blind area is a radar blind area existing in a vehicle-mounted radar when the vehicle runs in a turning mode;
the virtual road information generating module 602 is configured to generate virtual road information for a turning blind area when it is detected that the vehicle is in the turning blind area, so as to control the vehicle to travel according to the virtual road information.
In an embodiment of the present invention, the virtual road information generating module 602 includes:
the virtual road point determining submodule is used for determining at least two virtual road points aiming at the turning blind area;
and the virtual road information generating submodule is used for generating virtual road information aiming at the turning blind area according to the at least two virtual road points.
In an embodiment of the present invention, the virtual road point determining sub-module includes:
a first virtual road point determining unit configured to determine a first virtual road point for the turning blind area;
and the second virtual road point determining unit is used for determining a second virtual road point aiming at the turning blind area when detecting that the first preset condition is met.
In an embodiment of the present invention, the first preset condition includes any one of:
the vehicle driving distance after the first virtual road point is determined is greater than a preset vehicle driving distance, and the steering wheel angle after the first virtual road point is determined is greater than a preset steering wheel angle.
In an embodiment of the present invention, the first virtual road point determining unit and/or the second virtual road point determining unit further includes:
the vehicle-mounted radar determining subunit is used for determining track direction information and installation position information of the vehicle-mounted radar;
and the determining subunit is used for determining the first virtual road point and/or the second virtual road point according to the track direction information and the installation position information.
In an embodiment of the present invention, the turning blind area detecting module 601 includes:
the radar track information and running track information acquisition submodule is used for acquiring radar track information of the vehicle-mounted radar and running track information of the vehicle;
the track deviation information determining submodule is used for determining track deviation information according to the radar track information and the running track information;
and the second preset condition judgment submodule is used for detecting that the vehicle is in a turning blind area when the track deviation information meets a second preset condition.
In an embodiment of the present invention, the track deviation information includes a track deviation angle, and the second preset condition includes:
the trajectory deviation angle is greater than a preset trajectory deviation angle.
In an embodiment of the present invention, the apparatus further includes:
and the virtual road information replacing module is used for replacing the virtual road information with the actual road information when the actual road information aiming at the turning blind area is obtained.
In the embodiment of the invention, whether the vehicle is in the turning blind area is detected in the running process of the vehicle, wherein the turning blind area is a radar blind area existing in a vehicle-mounted radar when the vehicle runs in a turning mode, and when the vehicle is detected to be in the turning blind area, the virtual road information aiming at the turning blind area is generated so as to control the vehicle to run according to the virtual road information, so that the generation of the virtual road information aiming at the blind area is realized, the vehicle is controlled through the generated virtual road information, the risk of accidents occurring when the vehicle runs is reduced, and the running safety of the vehicle is improved.
An embodiment of the present invention also provides a vehicle, which may include a processor, a memory, and a computer program stored on the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the method for processing data as above is implemented.
An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method for processing data as above is implemented.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The method and apparatus for data processing provided above are described in detail, and a specific example is applied herein to illustrate the principles and embodiments of the present invention, and the above description of the embodiment is only used to help understand the method and core ideas of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (11)
1. A method of data processing, the method comprising:
detecting whether the vehicle is in a turning blind area or not in the running process of the vehicle; the turning blind area is a radar blind area existing in a vehicle-mounted radar when the vehicle runs in a turning mode;
and when the vehicle is detected to be in a turning blind area, generating virtual road information aiming at the turning blind area so as to control the vehicle to run according to the virtual road information.
2. The method of claim 1, wherein the generating virtual road information for the blind turning zone comprises:
determining at least two virtual road points for the blind turning area;
and generating virtual road information aiming at the turning blind area according to the at least two virtual road points.
3. The method of claim 2, wherein the determining at least two virtual road points for the blind turn zone comprises:
determining a first virtual road point for the turning blind area;
and when the first preset condition is detected to be met, determining a second virtual road point aiming at the turning blind area.
4. The method according to claim 3, wherein the first preset condition comprises any one of:
the vehicle driving distance after the first virtual road point is determined is greater than a preset vehicle driving distance, and the steering wheel angle after the first virtual road point is determined is greater than a preset steering wheel angle.
5. Method according to claim 3 or 4, characterized in that the first virtual road point and/or the second virtual road point are generated in the following way:
determining track direction information and installation position information of the vehicle-mounted radar;
and determining the first virtual road point and/or the second virtual road point according to the track direction information and the installation position information.
6. The method according to claim 1 or 2 or 3 or 4, wherein the detecting whether the vehicle is in a turning blind area during the running of the vehicle comprises:
acquiring radar track information of the vehicle-mounted radar and running track information of the vehicle;
determining track deviation information according to the radar track information and the running track information;
and when the track deviation information meets a second preset condition, detecting that the vehicle is in a turning blind area.
7. The method according to claim 6, wherein the trajectory deviation information includes a trajectory deviation angle, and the second preset condition includes:
the trajectory deviation angle is greater than a preset trajectory deviation angle.
8. The method of claim 1, further comprising:
and when the actual road information aiming at the turning blind area is obtained, replacing the virtual road information with the actual road information.
9. An apparatus for data processing, the apparatus comprising:
the turning blind area detection module is used for detecting whether the vehicle is in a turning blind area or not in the running process of the vehicle; the turning blind area is a radar blind area existing in a vehicle-mounted radar when the vehicle runs in a turning mode;
and the virtual road information generating module is used for generating virtual road information aiming at the turning blind area when the vehicle is detected to be in the turning blind area so as to control the vehicle to run according to the virtual road information.
10. A vehicle comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing a method of data processing as claimed in any one of claims 1 to 8.
11. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a method of data processing according to any one of claims 1 to 8.
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