CN113682276A - Cliff detection method and terminal - Google Patents
Cliff detection method and terminal Download PDFInfo
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- CN113682276A CN113682276A CN202110985059.0A CN202110985059A CN113682276A CN 113682276 A CN113682276 A CN 113682276A CN 202110985059 A CN202110985059 A CN 202110985059A CN 113682276 A CN113682276 A CN 113682276A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
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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
- B60W40/02—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 ambient conditions
- B60W40/06—Road conditions
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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Abstract
According to the cliff detection method and the terminal, single-point lasers are respectively and downwards arranged right in front of and right behind left and right driving wheels of a vehicle, the single-point lasers are obliquely and downwards arranged right in front of the vehicle, the cliff situation near the driving wheels is detected through the single-point lasers near the left and right driving wheels, and the situation that the vehicle cannot be stopped in time due to inertia when the vehicle is braked because the position detected by the lasers is too close to the front wheels when the vehicle moves forwards can be avoided through the oblique single-point lasers right in front of the vehicle; the corresponding single-point laser group is selected for detection according to the motion state of the vehicle, so that irrelevant single-point laser data does not participate in logic in different motion states, and the situations of signal false triggering and the like are reduced; if the distance detected by one single-point laser in the single-point laser group exceeds the preset distance, a vehicle braking program is triggered, and the vehicle braking program moves towards the direction of the single-point laser with the detected distance not exceeding the preset distance, so that the ground environment around the vehicle is accurately judged, and the detection accuracy of the cliff is improved.
Description
Technical Field
The invention relates to the technical field of unmanned vehicle perception, in particular to a cliff detection method and a terminal.
Background
At present, various sensors such as a depth camera, an infrared sensor, an ultrasonic sensor and the like can be used by the robot for avoiding the cliff. Typical robot navigation cliff detection algorithms include a grid method, a visual graph method, a free space method and the like. Usually, the direction and distance of the cliff relative to the robot need to be judged first, and then a traveling route capable of avoiding the cliff is designed.
However, due to the limitations of the characteristics and installation layout of the sensors, sensors such as depth cameras, infrared sensors, and ultrasonic sensors have a high false rate when detecting cliffs. Whether the cliff exists or not can not be correctly judged under certain specific scenes, and great hidden danger is brought to normal operation of the machine.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: provided are a cliff detection method and a terminal, which can improve the accuracy of cliff detection.
In order to solve the technical problems, the invention adopts the technical scheme that:
a cliff detection method, comprising the steps of:
respectively installing single-point lasers downwards in the front and the rear of left and right driving wheels of a vehicle, and installing the single-point lasers downwards in the front of the vehicle in an inclined mode;
and selecting a corresponding single-point laser group for detection according to the motion state of the vehicle, judging whether the distance detected by one single-point laser in the single-point laser group exceeds a preset distance, if so, triggering a vehicle braking program, and moving towards the direction of the single-point laser of which the detected distance does not exceed the preset distance.
In order to solve the technical problem, the invention adopts another technical scheme as follows:
a cliff detection terminal comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
respectively installing single-point lasers downwards in the front and the rear of left and right driving wheels of a vehicle, and installing the single-point lasers downwards in the front of the vehicle in an inclined mode;
and selecting a corresponding single-point laser group for detection according to the motion state of the vehicle, judging whether the distance detected by one single-point laser in the single-point laser group exceeds a preset distance, if so, triggering a vehicle braking program, and moving towards the direction of the single-point laser of which the detected distance does not exceed the preset distance.
The invention has the beneficial effects that: the method comprises the following steps that single-point lasers are respectively installed downwards in the front and the back of a left driving wheel and a right driving wheel of a vehicle, the single-point lasers are installed downwards in the front of the vehicle in an inclined mode, the cliff situation near the driving wheels can be measured through the single-point lasers near the left driving wheel and the right driving wheel, and the situation that when the vehicle moves forwards, the position detected by the lasers is too close to the front wheels, so that the vehicle cannot stop in time due to inertia when the vehicle is braked; the corresponding single-point laser group is selected for detection according to the motion state of the vehicle, so that irrelevant single-point laser data does not participate in logic in different motion states, and the probability of unsmooth vehicle operation caused by signal false triggering and the like is greatly reduced; if the distance that a single-point laser in the single-point laser group detected surpasss when presetting the distance, then trigger vehicle brake procedure to the direction motion that the single-point laser that the distance that detects does not surpass the preset distance belonged to, consequently, through the setting of a plurality of single-point laser groups and distance threshold value, can make the accurate ground environment around judging of vehicle, help the vehicle pass through narrow road, press close to meticulous motion scenes such as cliff linear motion, improve the accuracy that cliff detected.
Drawings
FIG. 1 is a flow chart of a cliff detection method according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a cliff detection terminal according to an embodiment of the invention;
FIG. 3 is a schematic diagram of a single-point laser installation location of a cliff detection method according to an embodiment of the invention;
FIG. 4 is a side view of a single point laser installation location for a cliff detection method in accordance with an embodiment of the present invention;
fig. 5 is a schematic diagram of detecting a fall distance by using a single-point laser in the cliff detection method according to the embodiment of the present invention.
Detailed Description
In order to explain technical contents, achieved objects, and effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.
Referring to fig. 1, 3 to 5, an embodiment of the present invention provides a cliff detection method, including:
respectively installing single-point lasers downwards in the front and the rear of left and right driving wheels of a vehicle, and installing the single-point lasers downwards in the front of the vehicle in an inclined mode;
and selecting a corresponding single-point laser group for detection according to the motion state of the vehicle, judging whether the distance detected by one single-point laser in the single-point laser group exceeds a preset distance, if so, triggering a vehicle braking program, and moving towards the direction of the single-point laser of which the detected distance does not exceed the preset distance.
From the above description, the beneficial effects of the present invention are: the method comprises the following steps that single-point lasers are respectively installed downwards in the front and the back of a left driving wheel and a right driving wheel of a vehicle, the single-point lasers are installed downwards in the front of the vehicle in an inclined mode, the cliff situation near the driving wheels can be measured through the single-point lasers near the left driving wheel and the right driving wheel, and the situation that when the vehicle moves forwards, the position detected by the lasers is too close to the front wheels, so that the vehicle cannot stop in time due to inertia when the vehicle is braked; the corresponding single-point laser group is selected for detection according to the motion state of the vehicle, so that irrelevant single-point laser data does not participate in logic in different motion states, and the probability of unsmooth vehicle operation caused by signal false triggering and the like is greatly reduced; if the distance that a single-point laser in the single-point laser group detected surpasss when presetting the distance, then trigger vehicle brake procedure to the direction motion that the single-point laser that the distance that detects does not surpass the preset distance belonged to, consequently, through the setting of a plurality of single-point laser groups and distance threshold value, can make the accurate ground environment around judging of vehicle, help the vehicle pass through narrow road, press close to meticulous motion scenes such as cliff linear motion, improve the accuracy that cliff detected.
Further, the mounting of the single-point laser light downward directly in front of and directly behind left and right drive wheels of the vehicle, respectively, and the mounting of the single-point laser light obliquely downward directly in front of the vehicle includes:
the method comprises the following steps that a first single-point laser is installed right behind a left driving wheel downwards, a second single-point laser is installed right ahead of the left driving wheel and at one end close to the left driving wheel downwards, a third single-point laser is installed right ahead of the left driving wheel and at one end close to a universal wheel downwards, and the universal wheel is arranged at the front middle position of the bottom of the vehicle;
mounting a fourth single-point laser obliquely right in front of the vehicle;
and a fifth single-point laser is downwards installed at one end, close to the universal wheel, right in front of the right driving wheel, a sixth single-point laser is downwards installed at one end, close to the right driving wheel, right in front of the right driving wheel, and a seventh single-point laser is downwards installed at the right rear of the right driving wheel.
As can be seen from the above description, the single-point laser is installed right behind the left and right driving wheels, so that detection of cliffs right behind and left behind can be facilitated when the vehicle backs up or turns in reverse; the single-point laser is arranged at one end which is right in front of the left driving wheel and the right driving wheel and is close to the left driving wheel and the right driving wheel, so that cliffs on the left side and the right side of the left driving wheel and the right driving wheel can be detected, and the detection of the cliffs on the left side and the right side is convenient when the vehicle moves forwards or turns forwards; the single-point laser is arranged at one end, close to the universal wheel, in front of the left and right driving wheels, so that a cliff situation slightly far in front of the left and right driving wheels can be detected, and the cliff situation in front of the left and right of the whole vehicle can be detected; therefore, the six downward single-point lasers are distributed around each wheel, and the uniform distribution of the single-point lasers is ensured; and the fourth single-point laser obliquely installed downwards in the front of the vehicle can avoid that the vehicle cannot be stopped in time due to inertia when the vehicle is braked due to the fact that the position detected by the laser is too close to the front wheel when the vehicle moves forwards, and accuracy of cliff detection is improved.
Further, the selecting the corresponding single-point laser group for detection according to the motion state of the vehicle includes:
if the motion state of the vehicle is forward or forward turning, using second to sixth single-point lasers as a first single-point laser group for detection;
and if the motion state of the vehicle is reversing or reversing and turning, using the first single-point laser and the seventh single-point laser as a second single-point laser group for detection.
As can be seen from the above description, when advancing or advancing and turning, the second to sixth single-point lasers are used to participate in cliff detection, so that the front cliff, the left front cliff and the rear front cliff can be effectively detected; when backing or turning in a backing mode, the first single-point laser and the seventh single-point laser participate in cliff detection, and the front back cliff, the left back cliff and the right back cliff can be effectively detected, so that irrelevant single-point laser data do not participate in detection calculation, the situation of signal false triggering can be briefly described, and smooth running of a vehicle is guaranteed.
Further, before determining whether the distance detected by one single-point laser in the single-point laser group exceeds a preset distance, the method includes:
if the single-point laser is installed downwards, the preset distance t is h1+ l, wherein h1 represents the height of the single-point laser to the ground downwards, and l represents the maximum ground fall of the single-point laser;
if the single-point laser is installed obliquely, the preset distance t is (h2+ l)/sin α, where h2 denotes a height of the oblique single-point laser with respect to the ground, l denotes a maximum ground level of the single-point laser, and α denotes an inclination angle of the single-point laser.
From the above description, in order to avoid false judgments of a cliff caused by slight ground undulation, the maximum ground fall that a vehicle can pass through needs to be considered in the judgments of the cliff, and different preset distance calculation methods are adopted for single-point laser adaptability in different installation directions, so that the flexibility and the accuracy of the preset distance calculation can be improved.
Further, before determining whether the distance detected by one single-point laser in the single-point laser group exceeds the preset distance, the method further includes:
and calculating the maximum ground fall which can be borne by the vehicle according to the structure, the mass and the driving capacity of the vehicle.
According to the description, the maximum ground fall difference value needs to be flexibly set according to the actual structure of the vehicle, the mass of the whole vehicle and the driving capability of the vehicle, and the flexibility and the accuracy of cliff detection are guaranteed.
Referring to fig. 2, another embodiment of the present invention provides a cliff detection terminal, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the following steps:
respectively installing single-point lasers downwards in the front and the rear of left and right driving wheels of a vehicle, and installing the single-point lasers downwards in the front of the vehicle in an inclined mode;
and selecting a corresponding single-point laser group for detection according to the motion state of the vehicle, judging whether the distance detected by one single-point laser in the single-point laser group exceeds a preset distance, if so, triggering a vehicle braking program, and moving towards the direction of the single-point laser of which the detected distance does not exceed the preset distance.
As can be seen from the above description, the single-point lasers are respectively installed downwards right in front of and right behind the left and right driving wheels of the vehicle, the single-point laser is installed downwards obliquely right in front of the vehicle, the cliff situation near the driving wheels can be detected by the single-point laser near the left and right driving wheels, and the situation that the vehicle cannot be stopped in time due to inertia when the vehicle is braked because the position detected by the laser is too close to the front wheels when the vehicle moves forwards can be avoided by the oblique single-point laser right in front of the vehicle; the corresponding single-point laser group is selected for detection according to the motion state of the vehicle, so that irrelevant single-point laser data does not participate in logic in different motion states, and the probability of unsmooth vehicle operation caused by signal false triggering and the like is greatly reduced; if the distance that a single-point laser in the single-point laser group detected surpasss when presetting the distance, then trigger vehicle brake procedure to the direction motion that the single-point laser that the distance that detects does not surpass the preset distance belonged to, consequently, through the setting of a plurality of single-point laser groups and distance threshold value, can make the accurate ground environment around judging of vehicle, help the vehicle pass through narrow road, press close to meticulous motion scenes such as cliff linear motion, improve the accuracy that cliff detected.
Further, the mounting of the single-point laser light downward directly in front of and directly behind left and right drive wheels of the vehicle, respectively, and the mounting of the single-point laser light obliquely downward directly in front of the vehicle includes:
the method comprises the following steps that a first single-point laser is installed right behind a left driving wheel downwards, a second single-point laser is installed right ahead of the left driving wheel and at one end close to the left driving wheel downwards, a third single-point laser is installed right ahead of the left driving wheel and at one end close to a universal wheel downwards, and the universal wheel is arranged at the front middle position of the bottom of the vehicle;
mounting a fourth single-point laser obliquely right in front of the vehicle;
and a fifth single-point laser is downwards installed at one end, close to the universal wheel, right in front of the right driving wheel, a sixth single-point laser is downwards installed at one end, close to the right driving wheel, right in front of the right driving wheel, and a seventh single-point laser is downwards installed at the right rear of the right driving wheel.
As can be seen from the above description, the single-point laser is installed right behind the left and right driving wheels, so that detection of cliffs right behind and left behind can be facilitated when the vehicle backs up or turns in reverse; the single-point laser is arranged at one end which is right in front of the left driving wheel and the right driving wheel and is close to the left driving wheel and the right driving wheel, so that cliffs on the left side and the right side of the left driving wheel and the right driving wheel can be detected, and the detection of the cliffs on the left side and the right side is convenient when the vehicle moves forwards or turns forwards; the single-point laser is arranged at one end, close to the universal wheel, in front of the left and right driving wheels, so that a cliff situation slightly far in front of the left and right driving wheels can be detected, and the cliff situation in front of the left and right of the whole vehicle can be detected; therefore, the six downward single-point lasers are distributed around each wheel, and the uniform distribution of the single-point lasers is ensured; and the fourth single-point laser obliquely installed downwards in the front of the vehicle can avoid that the vehicle cannot be stopped in time due to inertia when the vehicle is braked due to the fact that the position detected by the laser is too close to the front wheel when the vehicle moves forwards, and accuracy of cliff detection is improved.
Further, the selecting the corresponding single-point laser group for detection according to the motion state of the vehicle includes:
if the motion state of the vehicle is forward or forward turning, using second to sixth single-point lasers as a first single-point laser group for detection;
and if the motion state of the vehicle is reversing or reversing and turning, using the first single-point laser and the seventh single-point laser as a second single-point laser group for detection.
As can be seen from the above description, when advancing or advancing and turning, the second to sixth single-point lasers are used to participate in cliff detection, so that the front cliff, the left front cliff and the rear front cliff can be effectively detected; when backing or turning in a backing mode, the first single-point laser and the seventh single-point laser participate in cliff detection, and the front back cliff, the left back cliff and the right back cliff can be effectively detected, so that irrelevant single-point laser data do not participate in detection calculation, the situation of signal false triggering can be briefly described, and smooth running of a vehicle is guaranteed.
Further, before determining whether the distance detected by one single-point laser in the single-point laser group exceeds a preset distance, the method includes:
if the single-point laser is installed downwards, the preset distance t is h1+ l, wherein h1 represents the height of the single-point laser to the ground downwards, and l represents the maximum ground fall of the single-point laser;
if the single-point laser is installed obliquely, the preset distance t is (h2+ l)/sin α, where h2 denotes a height of the oblique single-point laser with respect to the ground, l denotes a maximum ground level of the single-point laser, and α denotes an inclination angle of the single-point laser.
From the above description, in order to avoid false judgments of a cliff caused by slight ground undulation, the maximum ground fall that a vehicle can pass through needs to be considered in the judgments of the cliff, and different preset distance calculation methods are adopted for single-point laser adaptability in different installation directions, so that the flexibility and the accuracy of the preset distance calculation can be improved.
Further, before determining whether the distance detected by one single-point laser in the single-point laser group exceeds the preset distance, the method further includes:
and calculating the maximum ground fall which can be borne by the vehicle according to the structure, the mass and the driving capacity of the vehicle.
According to the description, the maximum ground fall difference value needs to be flexibly set according to the actual structure of the vehicle, the mass of the whole vehicle and the driving capability of the vehicle, and the flexibility and the accuracy of cliff detection are guaranteed.
The cliff detection method and the terminal of the invention are suitable for perfecting the cliff detection function of a vehicle by using a single-point laser sensor, and are explained by the following specific embodiments:
example one
Referring to fig. 1, 3 to 5, a cliff detection method includes the steps of:
and S1, respectively installing single-point lasers downwards at the front and the rear of the left and right driving wheels of the vehicle, and installing the single-point lasers downwards at the front of the vehicle in an inclined mode.
The device comprises a left driving wheel, a right driving wheel, a first single-point laser, a second single-point laser, a third single-point laser and a universal wheel, wherein the first single-point laser is installed downwards in the right rear direction of the left driving wheel, the second single-point laser is installed downwards in the right front direction of the left driving wheel and at one end close to the left driving wheel, the third single-point laser is installed downwards in the right front direction of the left driving wheel and at one end close to the universal wheel, and the universal wheel is arranged in the front middle position of the bottom of the vehicle;
mounting a fourth single-point laser obliquely right in front of the vehicle;
and a fifth single-point laser is downwards installed at one end, close to the universal wheel, right in front of the right driving wheel, a sixth single-point laser is downwards installed at one end, close to the right driving wheel, right in front of the right driving wheel, and a seventh single-point laser is downwards installed at the right rear of the right driving wheel.
Specifically, referring to fig. 3 and 4, the first to seventh single-point lasers correspond to the single-point lasers 1 to 7 in the drawing, wherein the single-point laser 1 is installed right behind the left driving wheel; the single-point laser 2 is arranged right in front of the left driving wheel and close to one end of the left driving wheel; the single-point laser 3 is arranged right in front of the left driving wheel and close to one end of the universal wheel; the single-point laser 4 is arranged right in front of the vehicle; the single-point laser 5 is arranged right in front of the right driving wheel and close to one end of the universal wheel; the single-point laser 6 is arranged right in front of the right driving wheel and close to one end of the right driving wheel; a single point laser 7 is mounted directly behind the right drive wheel.
All single-point laser installation modes are divided into two directions: downwards and obliquely, wherein only the single-point laser 4 is obliquely arranged, so that the situation that the vehicle falls off the cliff due to the fact that inertia cannot stop in time when the vehicle is braked because the position detected by the laser is too close to the universal wheel can be avoided.
S2, selecting a corresponding single-point laser group for detection according to the motion state of the vehicle, judging whether the distance detected by one single-point laser in the single-point laser group exceeds a preset distance, if so, triggering a vehicle braking program, and moving towards the direction of the single-point laser of which the detected distance does not exceed the preset distance.
Wherein, the selecting the corresponding single-point laser group for detection according to the motion state of the vehicle comprises:
if the motion state of the vehicle is forward or forward turning, using second to sixth single-point lasers as a first single-point laser group for detection;
and if the motion state of the vehicle is reversing or reversing and turning, using the first single-point laser and the seventh single-point laser as a second single-point laser group for detection.
Specifically, the motion state of the vehicle can be classified into four types: advancing, advancing turning, backing and backing turning; under various motion states, the threshold value of each single-point laser is not changed.
The range of each single-point laser detection is different:
the single-point laser 1 is used for judging the cliff situation right behind the left driving wheel, namely the left rear part of the whole vehicle;
the single-point laser 2 is used for judging the cliff situation right in front of the left driving wheel and close to the left driving wheel;
the single-point laser 3 is used for judging the cliff situation right in front of the left driving wheel and close to the universal wheel;
the single-point laser 4 is used for judging the cliff condition right in front of the middle universal wheel, namely right in front of the whole vehicle;
the single-point laser 5 is used for judging the cliff situation right in front of the right driving wheel and close to the universal wheel;
the single-point laser 6 is used for judging the cliff situation right in front of the right driving wheel and close to the right driving wheel;
the single-point laser 7 is used for judging the cliff situation right behind the right driving wheel, namely the right rear side of the whole vehicle.
During advancing and advancing turning, the single-point lasers 2, 3, 4, 5 and 6 participate in cliff detection, and can effectively detect the front cliff, the left front cliff and the oil bank; when backing and turning backward, the single-point lasers 1 and 7 participate in cliff detection, and can effectively detect the front back cliff, the left back cliff and the right back cliff.
Wherein, it includes before judging whether the distance that a single point laser in the single point laser group detected surpasses preset distance:
if the single-point laser is installed downwards, the preset distance t is h1+ l, wherein h1 represents the height of the single-point laser to the ground downwards, and l represents the maximum ground fall of the single-point laser;
if the single-point laser is obliquely installed, the preset distance t is (h2+ l)/sin α, wherein h2 represents the ground height of the oblique single-point laser, l represents the maximum ground fall of the single-point laser, and α represents the inclination angle of the single-point laser;
and calculating the maximum ground fall which can be borne by the vehicle according to the structure, the mass and the driving capacity of the vehicle.
Specifically, in order to avoid false cliff determination due to small ground undulations, the preset distance in cliff determination needs to be determined by taking into account the maximum ground fall that can be passed by the vehicle, that is, the single-point laser ground height h and the maximum ground fall l.
Referring to fig. 5, the preset distance of the single-point laser installed downwards is: t is h1+ l, h1 represents the height of the ground of the downward single-point laser;
the preset distance of the obliquely installed single-point laser is as follows: t is (h2+ l)/sin α, h2 represents the height of the inclined single-point laser with respect to the ground, and α represents the inclination angle of the single-point laser.
The maximum ground fall value needs to be flexibly set according to actual conditions such as the actual structure of the vehicle, the mass of the whole vehicle, the driving capability of the vehicle and the like, and in the embodiment, the maximum ground fall is designed to be 30 mm.
When the distance data acquired by any single-point laser sensor on the vehicle exceeds the preset distance, a braking program is immediately triggered, and the vehicle can only move towards the direction of the position of the single-point laser sensor which does not detect the cliff.
Therefore, the method and the device are mainly applied to cliff detection in the vehicle driving process, can quickly and accurately detect the cliff road conditions existing on the vehicle driving route, and provide accurate environmental data for the vehicle to avoid the cliffs.
Example two
Referring to fig. 2, a cliff detection terminal includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to implement the steps of a cliff detection method according to an embodiment.
In summary, according to the cliff detection method and the terminal provided by the invention, the single-point lasers are respectively installed downwards in the front and the back of the left and right driving wheels of the vehicle, the single-point laser is installed downwards in the front of the vehicle in an inclined manner, so that the cliff situation near the driving wheels can be detected through the single-point laser near the left and right driving wheels, and the situation that the vehicle cannot be stopped in time due to inertia when the vehicle is braked because the position detected by the laser is too close to the front wheels when the vehicle moves forwards can be avoided through the inclined single-point laser in the front of the vehicle; the corresponding single-point laser group is selected for detection according to the motion state of the vehicle, so that irrelevant single-point laser data does not participate in logic in different motion states, and the probability of unsmooth vehicle operation caused by signal false triggering and the like is greatly reduced; if the distance detected by one single-point laser in the single-point laser group exceeds the preset distance, triggering a vehicle braking program, and moving towards the direction of the single-point laser of which the detected distance does not exceed the preset distance; the method for calculating the preset distance by the downward-mounted single-point laser and the obliquely-mounted single-point laser is different, and the calculation can be flexibly and accurately performed. Therefore, the vehicle can accurately judge the surrounding ground environment through the arrangement of the plurality of single-point laser groups and the distance threshold value, the vehicle can be helped to pass through narrow roads and approach to fine motion scenes such as straight line motion of the cliff, and the accuracy of cliff detection is improved.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to the related technical fields, are included in the scope of the present invention.
Claims (10)
1. A cliff detection method is characterized by comprising the following steps:
respectively installing single-point lasers downwards in the front and the rear of left and right driving wheels of a vehicle, and installing the single-point lasers downwards in the front of the vehicle in an inclined mode;
and selecting a corresponding single-point laser group for detection according to the motion state of the vehicle, judging whether the distance detected by one single-point laser in the single-point laser group exceeds a preset distance, if so, triggering a vehicle braking program, and moving towards the direction of the single-point laser of which the detected distance does not exceed the preset distance.
2. The cliff detection method according to claim 1, wherein the mounting of the single-point laser light downward directly in front of and directly behind left and right driving wheels of the vehicle, respectively, and the mounting of the single-point laser light obliquely downward directly in front of the vehicle comprises:
the method comprises the following steps that a first single-point laser is installed right behind a left driving wheel downwards, a second single-point laser is installed right ahead of the left driving wheel and at one end close to the left driving wheel downwards, a third single-point laser is installed right ahead of the left driving wheel and at one end close to a universal wheel downwards, and the universal wheel is arranged at the front middle position of the bottom of the vehicle;
mounting a fourth single-point laser obliquely right in front of the vehicle;
and a fifth single-point laser is downwards installed at one end, close to the universal wheel, right in front of the right driving wheel, a sixth single-point laser is downwards installed at one end, close to the right driving wheel, right in front of the right driving wheel, and a seventh single-point laser is downwards installed at the right rear of the right driving wheel.
3. The cliff detection method according to claim 2, wherein the selecting the corresponding group of single-point lasers for detection according to the motion state of the vehicle comprises:
if the motion state of the vehicle is forward or forward turning, using second to sixth single-point lasers as a first single-point laser group for detection;
and if the motion state of the vehicle is reversing or reversing and turning, using the first single-point laser and the seventh single-point laser as a second single-point laser group for detection.
4. The cliff detection method according to claim 2, wherein before determining whether the distance detected by one single-point laser in the single-point laser group exceeds a preset distance, the method comprises:
if the single-point laser is installed downwards, the preset distance t is h1+ l, wherein h1 represents the height of the single-point laser to the ground downwards, and l represents the maximum ground fall of the single-point laser;
if the single-point laser is installed obliquely, the preset distance t is (h2+ l)/sin α, where h2 denotes a height of the oblique single-point laser with respect to the ground, l denotes a maximum ground level of the single-point laser, and α denotes an inclination angle of the single-point laser.
5. The cliff detection method according to claim 4, wherein before determining whether the distance detected by one single-point laser in the single-point laser group exceeds a preset distance, the method further comprises:
and calculating the maximum ground fall which can be borne by the vehicle according to the structure, the mass and the driving capacity of the vehicle.
6. A cliff detection terminal comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor when executing the computer program performs the steps of:
respectively installing single-point lasers downwards in the front and the rear of left and right driving wheels of a vehicle, and installing the single-point lasers downwards in the front of the vehicle in an inclined mode;
and selecting a corresponding single-point laser group for detection according to the motion state of the vehicle, and if the fall distance detected by one single-point laser in the single-point laser group exceeds a preset distance, triggering a vehicle braking program and moving towards the direction of the single-point laser with the detected fall distance not exceeding the preset distance.
7. The cliff detection terminal according to claim 6, wherein the mounting of the single-point laser light downward directly in front of and directly behind left and right driving wheels of the vehicle, respectively, and the mounting of the single-point laser light obliquely downward directly in front of the vehicle comprises:
the method comprises the following steps that a first single-point laser is installed right behind a left driving wheel downwards, a second single-point laser is installed right ahead of the left driving wheel and at one end close to the left driving wheel downwards, a third single-point laser is installed right ahead of the left driving wheel and at one end close to a universal wheel downwards, and the universal wheel is arranged at the front middle position of the bottom of the vehicle;
mounting a fourth single-point laser obliquely right in front of the vehicle;
and a fifth single-point laser is downwards installed at one end, close to the universal wheel, right in front of the right driving wheel, a sixth single-point laser is downwards installed at one end, close to the right driving wheel, right in front of the right driving wheel, and a seventh single-point laser is downwards installed at the right rear of the right driving wheel.
8. The cliff detection terminal of claim 7, wherein the selecting the corresponding group of single point lasers for detection based on the motion state of the vehicle comprises:
if the motion state of the vehicle is forward or forward turning, using second to sixth single-point lasers as a first single-point laser group for detection;
and if the motion state of the vehicle is reversing or reversing and turning, using the first single-point laser and the seventh single-point laser as a second single-point laser group for detection.
9. The cliff detection terminal of claim 7, wherein before determining whether the distance detected by one of the single-point lasers in the single-point laser group exceeds a preset distance comprises:
if the single-point laser is installed downwards, the preset distance t is h1+ l, wherein h1 represents the height of the single-point laser to the ground downwards, and l represents the maximum ground fall of the single-point laser;
if the single-point laser is installed obliquely, the preset distance t is (h2+ l)/sin α, where h2 denotes a height of the oblique single-point laser with respect to the ground, l denotes a maximum ground level of the single-point laser, and α denotes an inclination angle of the single-point laser.
10. The cliff detection terminal of claim 9, wherein before determining whether the distance detected by one of the single-point lasers in the single-point laser group exceeds a preset distance, the method further comprises:
and calculating the maximum ground fall which can be borne by the vehicle according to the structure, the mass and the driving capacity of the vehicle.
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| CN202110985059.0A CN113682276B (en) | 2021-08-25 | 2021-08-25 | Cliff detection method and terminal |
| CN202211288624.9A CN115723718A (en) | 2021-08-25 | 2021-08-25 | Vehicle, cliff detection method and terminal |
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| CN115723718A (en) | 2023-03-03 |
| CN113682276B (en) | 2022-12-13 |
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