CN115782865A - High-altitude obstacle monitoring method and device and vehicle - Google Patents
High-altitude obstacle monitoring method and device and vehicle Download PDFInfo
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Abstract
The application relates to the technical field of auxiliary driving, and discloses a method and a device for monitoring high-altitude obstacles and a vehicle, wherein the method comprises the following steps: acquiring a distance between any two reference positions of a vehicle in a path in a driving process as a first distance; respectively obtaining the distance between the vehicle and the high-altitude obstacle when the vehicle passes through the any two reference positions in the front-back way as a second distance and a third distance; and calculating the detection height of the high-altitude obstacle relative to the vehicle in the direction vertical to the driving ground according to the first distance, the second distance and the third distance. The application can improve the universality and the practicability of monitoring the high-altitude obstacles, and further improves the driving safety.
Description
Technical Field
The application relates to the technical field of auxiliary driving, in particular to a method and a device for monitoring a high-altitude obstacle and a vehicle.
Background
At present, in an application scenario of detecting a high-altitude obstacle by a vehicle, on the premise that the vehicle is supposed to run on a horizontal road surface, a sensor signal is calculated and processed, and whether the vehicle can pass through the front high-altitude obstacle is judged, and the conditions of an uphill road surface and a downhill road surface existing in an actual road condition are not considered at all. However, in reality, the road often has a slope, that is, the actual attitude of the vehicle forms an angle with the horizontal plane. Therefore, the height difference between the high-altitude obstacle and the top end of the vehicle, which is measured by the existing scheme, cannot accurately reflect the actual distance between the current vehicle and the front high-altitude obstacle, so that the driving decision is likely to be wrong, and the driving safety risk exists.
Disclosure of Invention
The application aims to provide a high-altitude obstacle monitoring method, a high-altitude obstacle monitoring device and a vehicle. The application can improve the universality and the practicability of the high-altitude obstacle monitoring to a certain extent, and further improves the driving safety.
Other features and advantages of the present application will be apparent from the following detailed description, or may be learned by practice of the application.
According to an aspect of an embodiment of the present application, there is provided a method for monitoring a high altitude obstacle, the method including: acquiring a distance between any two reference positions of a vehicle in a path in a driving process as a first distance; respectively acquiring the distance between the vehicle and the high-altitude obstacle when the vehicle passes through the any two reference positions in the previous and subsequent ways as a second distance and a third distance; and calculating the detection height of the high-altitude obstacle relative to the vehicle in the direction vertical to the driving ground according to the first distance, the second distance and the third distance.
In an embodiment of the application, based on the foregoing solution, the vehicle is installed with a ranging sensor, the vehicle is defined with vehicle mass points, and the step of respectively acquiring the distance between the vehicle and the high-altitude obstacle when the vehicle passes through the any two reference positions in the past includes: and respectively acquiring the distance between the mass point of the vehicle and the high-altitude obstacle when the vehicle passes through the any two reference positions in the previous and later ways by the ranging sensor, and taking the distance as the distance between the vehicle and the high-altitude obstacle.
In an embodiment of the present application, based on the foregoing solution, the calculating a detected height of the high-altitude obstacle with respect to the vehicle in a direction perpendicular to a traveling surface according to the first distance, the second distance, and the third distance includes: and calculating the height of the high-altitude obstacle relative to the vehicle mass point in the direction perpendicular to the driving ground according to the first distance, the second distance and the third distance, and taking the height of the high-altitude obstacle relative to the vehicle mass point in the direction perpendicular to the driving ground as the detection height of the high-altitude obstacle relative to the vehicle in the direction perpendicular to the driving ground.
In an embodiment of the present application, after calculating the detected height of the high-altitude obstacle with respect to the vehicle in the direction perpendicular to the traveling ground based on the foregoing solution, the method further includes: acquiring the height of a vehicle vertex relative to the vehicle mass point in the direction vertical to the running ground as a reference height; and judging whether the vehicle can pass through the high-altitude obstacle or not according to the detection height and the reference height.
In an embodiment of the present application, based on the foregoing solution, the method further includes: determining that the vehicle can pass the high-altitude obstacle if the detected height is higher than the reference height; determining that the vehicle cannot pass through the high-altitude obstacle if the detected height is lower than or equal to the reference height.
In an embodiment of the present application, based on the foregoing solution, the method further includes: and displaying and/or broadcasting the detected height in real time, and if the vehicle cannot pass through the high-altitude obstacles, giving an alarm to a user.
In an embodiment of this application, based on the aforesaid scheme, the vehicle still includes cam vibration module, cam vibration module sets up in vehicle steering wheel, the suggestion of reporting to the police to the user includes: and the cam vibration module is controlled to vibrate to give an alarm to a user.
In an embodiment of the present application, based on the foregoing solution, it is characterized in that calculating the detected height of the high-altitude obstacle with respect to the vehicle in the direction perpendicular to the running ground by using the following formula includes:
wherein H represents a detected height of the high-altitude obstacle with respect to the vehicle in a direction perpendicular to a running ground; d represents the first distance; d 1 Representing the second distance; d 2 Representing the third distance.
According to an aspect of the embodiments of the present application, there is provided a high-altitude obstacle monitoring device, comprising: the first acquisition unit is used for acquiring the distance between any two reference positions of the way of the vehicle in the driving process as a first distance; the second acquisition unit is used for respectively acquiring the distance between the vehicle and the high-altitude obstacle when the vehicle passes through the any two reference positions in a previous and subsequent way, and the distance is used as a second distance and a third distance; and the calculating unit is used for calculating the detection height of the high-altitude obstacle relative to the vehicle in the direction vertical to the running ground according to the first distance, the second distance and the third distance.
According to an aspect of an embodiment of the present application, there is provided a computer program product or a computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions, so that the computer device executes the monitoring method for the high-altitude obstacle as described in the above embodiments.
According to an aspect of embodiments of the present application, there is provided a computer-readable storage medium having stored thereon a computer program comprising executable instructions which, when executed by a processor, implement a method of monitoring a high-altitude obstacle as described in the above embodiments.
According to an aspect of an embodiment of the present application, there is provided a vehicle including an electronic apparatus including: one or more processors and one or more memories having stored therein at least one program code, the at least one program code being loaded and executed by the one or more processors to implement the method of monitoring high altitude obstacles as described in the above embodiments.
According to the technical scheme of the embodiment of the application, the detection height of the high-altitude obstacle relative to the vehicle in the direction vertical to the running ground can be calculated according to the distance between any two reference positions of the path of the vehicle in the running process and the distance between the vehicle and the high-altitude obstacle when the vehicle passes through the any two reference positions successively. According to the three distances, a triangular model can be constructed, so that the height from a high-altitude barrier to a vehicle mass point can be converted into the height from the vertex to the base of a solved triangle, the influence of the road condition of ascending and descending roads and the influence of the vehicle posture and the horizontal plane included angle on the monitoring of the high-altitude barrier can be overcome, the universality and the practicability of the monitoring of the high-altitude barrier are improved, and the driving safety can be further improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
fig. 1 is a schematic flow chart illustrating a method for monitoring a high-altitude obstacle according to an embodiment of the present application;
fig. 2 is a schematic view showing a state where a vehicle travels on a horizontal road surface according to an embodiment of the present application;
FIG. 3 is a schematic view illustrating a state where a vehicle is traveling on a downhill road according to an embodiment of the present application;
FIG. 4 is a schematic view illustrating a state where a vehicle is traveling on an uphill road according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a high-altitude obstacle monitoring device according to an embodiment of the application;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the application. One skilled in the relevant art will recognize, however, that the subject matter of the present application can be practiced without one or more of the specific details, or with other methods, components, devices, steps, and so forth. In other instances, well-known methods, devices, implementations, or operations have not been shown or described in detail to avoid obscuring aspects of the application.
The block diagrams shown in the figures are functional entities only and do not necessarily correspond to physically separate entities. I.e. these functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor means and/or microcontroller means.
The flow charts shown in the drawings are merely illustrative and do not necessarily include all of the contents and operations/steps, nor do they necessarily have to be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.
It should be noted that: reference herein to "a plurality" means two or more. "and/or" describe the association relationship of the associated objects, meaning that there may be three relationships, e.g., A and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
The implementation details of the technical solution of the embodiment of the present application are set forth in detail below:
the high-altitude obstacle monitoring scheme provided by the embodiment of the application can be applied to various vehicle types to assist in driving decision making. Meanwhile, the traveling direction of the vehicle includes various traveling directions of the vehicle, such as forward, backward, and cornering.
Firstly, the present application provides a method for monitoring a high-altitude obstacle, and fig. 1 is a schematic flow chart of a method for monitoring a high-altitude obstacle according to an embodiment of the present application, where the method for monitoring a high-altitude obstacle may be executed by an apparatus having a computing processing function, and includes at least steps 110 to 120, which are described in detail as follows:
in step 110, a distance between any two reference positions of the route of the vehicle during the traveling process is acquired as a first distance.
In order to make the present application better understood by those skilled in the art, the following description will be made with reference to fig. 2 to 4, which are schematic views illustrating a state where a vehicle travels on a horizontal road, a downhill road, and an uphill road. Reference numeral 10 may be used to refer to a vehicle and reference numeral 12 may be used to refer to a high-altitude obstacle, among others.
In the present application, any two reference positions of the vehicle passing through the course of travel may refer to a reference position a and a reference position B of the vehicle passing through the course of travel. The reference position a and the reference position B may be arbitrarily selected, and the present application is not limited thereto.
In the present application, the distance between any two reference positions of the route of the vehicle during the driving process can be determined by the distance detection module. Specifically, the distance between any two reference positions of the vehicle passing through the road during the driving process CAN be determined based on a preset driving time interval or a driving distance interval, and the driving distance interval is obtained by multiplying the vehicle speed information of the CAN signal carried by the vehicle by the driving time interval, such as the distance d shown in fig. 2 to 4.
For example, the preset travel time interval is 0.1 second, and the vehicle travels at an interval of 0.1 second, two positions, i.e., the reference position a and the reference position B shown in fig. 2 to 4, can be determined in the vehicle traveling direction one after another.
When the running time interval or the running distance interval is set, the interval length can also be adjusted in real time according to needs, for example, when the steering wheel of the vehicle is detected to rotate within the preset time and exceed the preset threshold value, the vehicle can be considered to turn, and in order to improve the accuracy of measurement, the interval length can be shortened, and conversely, the interval length can be prolonged.
With continued reference to fig. 1, in step 120, the distances between the vehicle and the high-altitude obstacle when the vehicle is passing the any two reference positions in the previous path are respectively obtained as the second distance and the third distance.
In one embodiment of the application, the vehicle may be equipped with a distance measuring sensor 11 for measuring the distance between the vehicle and the high-altitude obstacle when the vehicle is passing the arbitrary two reference positions in the following.
In particular, a vehicle mass point may be defined on the body of the vehicle to represent the vehicle so as to characterize a second distance between the vehicle and the high-altitude obstacle when the vehicle is traveling in one reference position of the pathway and a third distance between the vehicle and the high-altitude obstacle when the vehicle is traveling in another reference position of the pathway.
In this application, the vehicle mass point may be defined at the installation position of the distance measuring sensor on the vehicle body, or may be defined at another position of the vehicle body, which is not limited in this application.
Based on the distance, the distance between the vehicle mass point and the high-altitude obstacle when the vehicle passes through the two reference positions in the past can be respectively acquired through the ranging sensor, and the distance is used as the distance between the vehicle and the high-altitude obstacle. Namely, distances D1 and D2 between the ranging sensor 11 and the high-altitude obstacle 12 as shown in fig. 2 to 4.
For ease of understanding, the above two steps are described in detail below with reference to specific examples.
As shown in fig. 2 to 4, a distance measuring sensor 11 is arranged at the front end of the vehicle 10, the position of the distance measuring sensor 11 is used as a vehicle mass point, when a trigger signal is received, the reference position a where the vehicle 10 is located is recorded, the distance D1 from the vehicle mass point to the high-altitude obstacle 12 is measured by starting the distance measuring sensor 11, and the current time is recorded.
After the vehicle 10 travels the predetermined time interval t (for example, 0.1 s), the current position of the vehicle 10 is recorded, and the distance D2 from the vehicle mass point to the high-altitude obstacle 12 is measured by the ranging sensor 11, but of course, the current position of the vehicle may be recorded and the distance from the vehicle mass point to the high-altitude obstacle 12 is measured by the ranging sensor 11 when the vehicle 10 travels the predetermined time interval t again, and this cycle is repeated, and the description is omitted here.
It should be noted that, the vehicle system may automatically identify the location of the vehicle at the latest moment as the current location, and automatically update the location of the vehicle corresponding to the previous moment to the previous location, and thus update iteratively.
With continued reference to fig. 1, in step 130, a detected height of the high-altitude obstacle with respect to the vehicle in a direction perpendicular to a driving surface is calculated based on the first distance, the second distance, and the third distance.
In the present application, based on the above-described scheme, it is understood that the height of the high-altitude obstacle relative to the vehicle mass point in the direction perpendicular to the running ground may be calculated as the detected height of the high-altitude obstacle relative to the vehicle in the direction perpendicular to the running ground, based on the first distance, the second distance, and the third distance.
In one embodiment of the present application, the detected height of the high-altitude obstacle in the direction perpendicular to the traveling ground with respect to the vehicle may be calculated by the following formula, including:
wherein H represents a detected height of the high-altitude obstacle with respect to the vehicle in a direction perpendicular to a running ground; d represents the first distance; d 1 Representing the second distance; d 2 Representing the third distance.
In order to make the present embodiment better understood by those skilled in the art, please continue to refer to fig. 2 to 4, in the present application, the distance between the vehicle mass point and the high altitude obstacle when the vehicle approaches the reference position a and the reference position B in sequence can be measured by a distance measuring sensor 11, and according to the distance between the reference position a and the reference position B, a triangle model can be constructed, so that the height from the high altitude obstacle to the vehicle mass point can be converted into a height from the vertex to the bottom of the triangle.
Therefore, according to the scheme of the embodiment of the application, in the driving process of the vehicle, the height of the high-altitude obstacle can be quickly identified only by detecting the obstacle distance signal twice at intervals through one sensor and combining a simple and efficient calculation algorithm. Compared with the prior art that a plurality of sensors are needed to detect the height of a high-altitude obstacle, the method and the device can greatly reduce the production cost of the vehicle.
Meanwhile, since the distance between two positions in the traveling process of the vehicle is the length of the road surface track on which the vehicle travels, and the road surface track on which the vehicle travels is necessarily consistent with the actual condition of the road surface, as shown in fig. 2 to 4, when the road surface is a horizontal road surface, the road surface track on which the vehicle travels is a horizontal track, when the road surface is a downhill road surface, the road surface track on which the vehicle travels is an uphill road surface, the road surface track on which the vehicle travels is a downhill road surface. Based on the method, when the road surface track of the vehicle is used as the base of the triangle, the high-altitude barrier is used as the peak of the triangle, and the height from the peak to the base is solved, the calculated height of the current vehicle and the high-altitude barrier is the actual height vertical to the road surface, namely various road conditions such as uphill and downhill are covered, the included angle between the vehicle posture and the horizontal plane is comprehensively considered, the universality and the practicability of monitoring the high-altitude barrier can be improved, and the driving safety is further improved.
Therefore, according to the scheme of the embodiment of the application, the sensor is arranged to measure the high-altitude obstacles in the vehicle driving direction, the structure is simple, the cost is low, the heating value is less, the anti-interference capability is strong, various road conditions are comprehensively considered, the applicability is wide, the accuracy is high, reliable information is provided for driving decisions, and the driving safety is improved.
In an embodiment of the present application, after calculating the detected height of the high-altitude obstacle relative to the vehicle in the direction perpendicular to the driving ground, the following steps 141 to 142 may be further performed:
step 141, obtaining the height of the vehicle vertex relative to the vehicle mass point in the direction vertical to the driving ground as a reference height,
and 142, judging whether the vehicle can pass through the high-altitude obstacle or not according to the detection height and the reference height.
In this embodiment, the detected height of the high-altitude obstacle may be compared with a preset comparison table to determine whether the vehicle can pass through the high-altitude obstacle through the comparison result.
Specifically, the preset comparison table may indicate a mapping relationship between a detected height of the high-altitude obstacle relative to the vehicle in a direction perpendicular to the driving ground and whether the vehicle can successfully pass through the high-altitude obstacle, and the predetermined comparison table may be obtained by measuring a reference height of a vertex of the vehicle from a mass point of the vehicle in the test field and storing the reference height. When the method is applied specifically, whether the vehicle can smoothly pass through the high-altitude obstacle can be comprehensively judged by combining the detection height of the high-altitude obstacle relative to the vehicle in the direction vertical to the driving ground and the reference height of the vehicle vertex from the vehicle mass point.
Specifically, in the present embodiment, if the detected height is higher than the reference height, it is determined that the vehicle can pass through the high-altitude obstacle, and if the detected height is lower than or equal to the reference height, it is determined that the vehicle cannot pass through the high-altitude obstacle.
In one embodiment of the application, the detected height can be displayed and/or broadcasted in real time, and if the vehicle is determined not to pass through the high-altitude obstacle, an alarm prompt is given to a user.
Specifically, in this embodiment, the vehicle may further include a cam vibration module, the cam vibration module is disposed on a steering wheel of the vehicle, and the cam vibration module may be driven and controlled by the communication module to vibrate to give an alarm to a user.
The warning information is quickly transmitted to the user through the vibration signal, the uncertainty of capturing the auditory signal and the visual signal caused by a noisy environment or an obstacle is avoided, the absolute effectiveness of early warning is guaranteed, and the driving safety is greatly improved.
Embodiments of the apparatus of the present application are described below, which may be used to perform the method of high altitude obstacle monitoring of the above-described embodiments of the present application. For details which are not disclosed in the embodiments of the apparatus of the present application, please refer to the embodiments of the method for monitoring a high altitude obstacle described above in the present application.
Fig. 5 is a block diagram illustrating a high-altitude obstacle monitoring device according to an embodiment of the present application.
Referring to fig. 5, an apparatus 500 for monitoring high altitude obstacles according to an embodiment of the present application, the apparatus 500 comprising: a first acquisition unit 501, a second acquisition unit 502 and a calculation unit 503.
The first acquiring unit 501 is configured to acquire a distance between any two reference positions of a route of a vehicle during driving as a first distance; a second obtaining unit 502, configured to obtain distances between the vehicle and the high-altitude obstacle when the vehicle approaches the any two reference positions in the past, respectively, as a second distance and a third distance; a calculating unit 503, configured to calculate a detected height of the high-altitude obstacle with respect to the vehicle in a direction perpendicular to a driving ground according to the first distance, the second distance, and the third distance.
As another aspect, the present application also provides a computer-readable storage medium having stored thereon a program product capable of implementing the method for monitoring of a high altitude obstacle described above in the present specification. In some possible embodiments, various aspects of the present application may also be implemented in the form of a program product comprising program code for causing a terminal device to perform the steps according to various exemplary embodiments of the present application described in the section "example methods" above in this description when the program product is run on the terminal device.
According to the program product for implementing the above method according to the embodiment of the present application, it may employ a portable compact disc read only memory (CD-ROM) and include program codes, and may be run on a terminal device, such as a personal computer. However, the program product of the present application is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
A computer readable signal medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., through the internet using an internet service provider).
As another aspect, the present application also provides a vehicle in which the above method is implemented, and an electronic device is installed in the vehicle.
As will be appreciated by one skilled in the art, aspects of the present application may be embodied as a system, method or program product. Accordingly, various aspects of the present application may be embodied in the form of: an entirely hardware embodiment, an entirely software embodiment (including firmware, microcode, etc.), or an embodiment combining hardware and software aspects that may all generally be referred to herein as a "circuit," module "or" system.
An electronic device according to this embodiment of the present application is described below with reference to fig. 6. The electronic device shown in fig. 6 may be an example of an electronic device in a vehicle, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.
As shown in fig. 6, the electronic device is in the form of a general purpose computing device. Components of the electronic device may include, but are not limited to: the at least one processing unit 610, the at least one memory unit 620, and a bus 630 that couples the various system components including the memory unit 620 and the processing unit 610.
Wherein the storage unit stores program code that can be executed by the processing unit 610, so that the processing unit 610 executes the steps according to various exemplary embodiments of the present application described in the section "method of embodiment" mentioned above in this specification.
The storage unit 620 may include readable media in the form of volatile memory units, such as a random access memory unit (RAM) 621 and/or a cache memory unit 622, and may further include a read-only memory unit (ROM) 623.
The storage unit 620 may also include a program/utility 624 having a set (at least one) of program modules 625, such program modules 625 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination thereof may comprise an implementation of a network environment.
The electronic device may also communicate with one or more external devices 1200 (e.g., keyboard, pointing device, bluetooth device, etc.), with one or more devices that enable a user to interact with the electronic device, and/or with any devices (e.g., router, modem, etc.) that enable the electronic device to communicate with one or more other computing devices. Such communication may occur via input/output (I/O) interface 650. Also, the electronic device can communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the internet) via the network adapter 650. As shown, the network adapter 650 communicates with the other modules of the electronic device over a bus 630. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the electronic device, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, and may also be implemented by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to make a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) execute the method according to the embodiments of the present application.
Furthermore, the above-described figures are only schematic illustrations of the processes involved in the methods according to exemplary embodiments of the present application and are not intended to be limiting. It will be readily appreciated that the processes illustrated in the above figures are not intended to indicate or limit the temporal order of the processes. In addition, it is also readily understood that these processes may be performed synchronously or asynchronously, e.g., in multiple modules.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (10)
1. A method of monitoring a high altitude obstacle, the method comprising:
acquiring a distance between any two reference positions of a vehicle in a path in a driving process as a first distance;
respectively acquiring the distance between the vehicle and the high-altitude obstacle when the vehicle passes through the any two reference positions in the previous and subsequent ways as a second distance and a third distance;
and calculating the detection height of the high-altitude obstacle relative to the vehicle in the direction vertical to the driving ground according to the first distance, the second distance and the third distance.
2. The method of claim 1, wherein the vehicle is equipped with a ranging sensor, the vehicle defines vehicle particles, and the obtaining the distance between the vehicle and the high-altitude obstacle when the vehicle passes the any two reference positions in the past comprises:
and respectively acquiring the distance between the mass point of the vehicle and the high-altitude obstacle when the vehicle passes through the any two reference positions in the previous and later ways by the ranging sensor, and taking the distance as the distance between the vehicle and the high-altitude obstacle.
3. The method according to claim 2, wherein said calculating a detected height of the high-altitude obstacle relative to the vehicle in a direction perpendicular to a driving surface based on the first distance, the second distance, and the third distance comprises:
and calculating the height of the high-altitude obstacle relative to the vehicle mass point in the direction perpendicular to the driving ground according to the first distance, the second distance and the third distance, and taking the height of the high-altitude obstacle relative to the vehicle mass point in the direction perpendicular to the driving ground as the detection height of the high-altitude obstacle relative to the vehicle in the direction perpendicular to the driving ground.
4. The method according to claim 3, wherein after calculating the detected height of the high-altitude obstacle relative to the vehicle in the direction perpendicular to the driving surface, the method further comprises:
acquiring the height of a vehicle vertex relative to the vehicle mass point in the direction vertical to the running ground as a reference height;
and judging whether the vehicle can pass through the high-altitude obstacle or not according to the detection height and the reference height.
5. The method of claim 4, further comprising:
determining that the vehicle can pass the high-altitude obstacle if the detected height is higher than the reference height;
determining that the vehicle cannot pass through the high-altitude obstacle if the detected height is lower than or equal to the reference height.
6. The method of claim 5, further comprising:
and displaying and/or broadcasting the detected height in real time, and if the vehicle cannot pass through the high-altitude obstacles, giving an alarm to a user.
7. The method of claim 6, wherein the vehicle further comprises a cam vibration module disposed on a vehicle steering wheel, the alerting a user comprising:
and the cam vibration module is controlled to vibrate to give an alarm prompt to a user.
8. The method according to any one of claims 1 to 7, wherein calculating the detected height of the high-altitude obstacle relative to the vehicle in the direction perpendicular to the running ground by the formula includes:
wherein H represents a detected height of the high-altitude obstacle with respect to the vehicle in a direction perpendicular to a running ground; d represents the first distance; d 1 Representing the second distance; d 2 Representing the third distance.
9. A device for monitoring high altitude obstacles, the device comprising:
the first acquisition unit is used for acquiring the distance between any two reference positions of the way of the vehicle in the driving process as a first distance;
the second acquisition unit is used for respectively acquiring the distance between the vehicle and the high-altitude obstacle when the vehicle approaches any two reference positions in the front-back way as a second distance and a third distance;
and the calculating unit is used for calculating the detection height of the high-altitude obstacle relative to the vehicle in the direction vertical to the driving ground according to the first distance, the second distance and the third distance.
10. A vehicle comprising electronic equipment including one or more processors and one or more memories having stored therein at least one program code, the at least one program code loaded into and executed by the one or more processors to perform operations performed by the method of any one of claims 1 to 8.
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