Vehicle outer contour dimension detection method, system and storage medium

Abstract

The embodiment of the present invention discloses a vehicle outer contour size detection method, system and storage medium. The method includes: determining the position coordinates of the radar data in a target coordinate system based on radar data scanned by at least two laser radars on a vehicle during driving; wherein the at least two laser radars are staggered along the upper side and directly above the road on which the vehicle is traveling; determining the vehicle contour line based on the position coordinates of the radar data in the target coordinate system; determining the current outer contour size of the vehicle based on the position coordinates of the vehicle contour line in the target coordinate system. The technical solution of the present invention can realize automatic and accurate vehicle outer contour size detection, reduce detection costs, improve detection efficiency, and provide a new idea for vehicle outer contour size detection.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of laser radar technology, and in particular, to a vehicle outer contour dimension detection method, system and storage medium. Background Art

[0002] Motor vehicles are an indispensable means of transportation in the rapid development of social economy, and they undertake functions such as cargo transportation and passenger transfer. In order to reduce transportation costs, some motor vehicle users privately modify the size of the vehicle to increase the vehicle's single transportation volume. Privately modified vehicles seriously violate the safety standards for vehicle use. In order to ensure the safety of the vehicle, it is necessary to regularly inspect the vehicle's outer contour (such as the length, width and height of the vehicle). At present, the detection of vehicle outer contour dimensions is mainly based on manual measurement, which is inefficient, costly and inaccurate, and urgently needs to be improved. Summary of the invention

[0003] The embodiments of the present invention provide a vehicle outer contour dimension detection method, system and storage medium, which can realize automatic and accurate vehicle outer contour dimension detection, reduce detection costs, improve detection efficiency, and provide a new idea for vehicle outer contour dimension detection.

[0004] In a first aspect, an embodiment of the present invention provides a method for detecting the outer contour size of a vehicle, comprising:

[0005] Determine the position coordinates of the radar data in a target coordinate system based on radar data scanned by at least two laser radars on a vehicle during driving; wherein the at least two laser radars are arranged in a staggered manner above and to the side of a driving road of the vehicle;

[0006] Determining a vehicle contour line according to the position coordinates of the radar data in a target coordinate system;

[0007] The current outer contour size of the vehicle is determined according to the position coordinates of the vehicle contour straight line in the target coordinate system.

[0008] In a second aspect, an embodiment of the present invention further provides a vehicle outer contour dimension detection device, the device comprising:

[0009] A position coordinate determination module, for determining the position coordinates of the radar data in a target coordinate system based on radar data scanned by at least two laser radars on a vehicle during driving; wherein the at least two laser radars are arranged in a staggered manner above and to the side of the vehicle driving road;

[0010] A contour line determination module, used to determine a vehicle contour line according to the position coordinates of the radar data in a target coordinate system;

[0011] The outline size determination module is used to determine the current outer outline size of the vehicle according to the position coordinates of the vehicle outline straight line in the target coordinate system.

[0012] In a third aspect, an embodiment of the present invention further provides a vehicle outer contour dimension detection system, the system comprising at least two laser radars and a processing device; the processing device is connected to the at least two laser radars, and the at least two laser radars are arranged in a staggered manner along the upper side and directly above the vehicle driving road; the processing device comprises:

[0013] one or more processors;

[0014] A storage device for storing one or more programs;

[0015] When the one or more programs are executed by the one or more processors, the one or more processors implement any of the vehicle outer contour dimension detection methods described in the first aspect for each laser radar.

[0016] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the vehicle outer contour dimension detection methods described in the first aspect.

[0017] The embodiment of the present invention provides a vehicle outer contour size detection method, system and storage medium, wherein at least two laser radars are staggeredly arranged above and to the side of the vehicle's driving road, and the radar data is scanned for the vehicle during driving, and the position coordinates of the radar data in the target coordinate system are determined, and the vehicle contour line is determined according to the position coordinates of the radar data in the target coordinate system, and then the current outer contour size of the vehicle is determined according to the position coordinates of the vehicle contour line in the target coordinate system. The technical solution of the embodiment of the present invention does not require manual measurement, and at least two laser radars can be used to automatically and accurately detect the outer contour size of the vehicle, which reduces the detection cost, improves the detection efficiency, and provides a new idea for vehicle outer contour size detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0019] Figure 1A is a flow chart of a vehicle outer contour dimension detection method in Embodiment 1 of the present invention;

[0020] Figure 1Bis a simplified schematic diagram of the installation position of the laser radar according to an embodiment of the present invention;

[0021] Figure 1C is a schematic diagram of the effect of the vehicle contour straight line in the horizontal plane in the first embodiment of the present invention;

[0022] Figure 1D is a schematic diagram of the effect of the vehicle contour line in the vertical plane where the vehicle driving direction is located in the first embodiment of the present invention;

[0023] Figure 2 is a flow chart of a vehicle outer contour dimension detection method in Embodiment 2 of the present invention;

[0024] Figure 3A is a flow chart of a vehicle outer contour dimension detection method in Embodiment 3 of the present invention;

[0025] Figure 3B is a schematic diagram of the effect of projecting the truck point cloud onto a horizontal plane in the third embodiment of the present invention;

[0026] Figure 3C is a schematic diagram of the effect of the vehicle outer contour point cloud of the truck in the horizontal plane in the third embodiment of the present invention;

[0027] Figure 3D is a schematic diagram showing the effect of the vehicle contour straight line of the truck in the horizontal plane in the third embodiment of the present invention;

[0028] Figure 4A is a flow chart of a vehicle outer contour dimension detection method in Embodiment 4 of the present invention;

[0029] Figure 4B is a principle block diagram of the vehicle outer contour dimension verification process in the fourth embodiment of the present invention;

[0030] Figure 5 It is a structural schematic diagram of a vehicle outer contour dimension detection device in Embodiment 5 of the present invention;

[0031] Fig. 6A It is a structural schematic diagram of a vehicle outer contour dimension detection system in Embodiment 6 of the present invention;

[0032] Figure 6B It is a structural schematic diagram of a processing device of a vehicle outer contour dimension detection system in Embodiment 6 of the present invention. DETAILED DESCRIPTION

[0033] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0034] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. At the same time, in the description of the present invention, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0035] Embodiment 1

[0036] Figure 1A is a flow chart of a vehicle outer contour dimension detection method in Embodiment 1 of the present invention; Figure 1B is a simplified schematic diagram of the installation position of the laser radar according to an embodiment of the present invention; Figure 1C is a schematic diagram of the effect of the vehicle contour straight line in the horizontal plane in the first embodiment of the present invention; Figure 1D This is a schematic diagram of the effect of the vehicle contour line in the vertical plane where the vehicle travel direction is located in the first embodiment of the present invention. This embodiment is applicable to the case where at least two laser radars are used to automatically detect the outer contour size of a moving vehicle. The method can be executed by the vehicle outer contour size detection device of the embodiment of the present invention, and the device can be implemented in software and / or hardware. Figures 1A-1D As shown, the method specifically comprises the following steps:

[0037] S101, determining position coordinates of the radar data in a target coordinate system based on radar data obtained by at least two laser radars scanning a vehicle during driving.

[0038] The at least two laser radars used in the embodiment of the present invention may be high-speed laser radars for ranging. The at least two laser radars are arranged staggered along the upper side and directly above the road on which the vehicle is traveling. Specifically, the at least two laser radars may be installed on columns arranged staggered along the upper side and directly above the road on which the vehicle is traveling. For example, Figure 1B The figure shows the deployment of three laser radars, wherein the laser radars 10A and 10B are installed on the columns 12A and 12B on both sides of the vehicle driving road 11, so that the laser radars are located above the side of the vehicle driving road 11, and the laser radar 10C is installed on the gantry 12C directly above the vehicle driving road 11 in a staggered manner with the laser radars 10A and 10B on the side. The laser radar 10C can be located in the middle of the vehicle driving road. Optionally, the laser radar 10C can be located in the middle area of ​​the road 11. Figure 1BAs shown, the distance between the laser radar 10C and the laser radar 10A in the horizontal direction is D, which is the offset distance between the two laser radars. The purpose of staggered arrangement of at least two laser radars along the upper side and directly above the vehicle's driving road in the embodiment of the present invention is to subsequently determine the vehicle's driving speed. Optionally, the at least two laser radars in this embodiment can be single-line laser radars or multi-line laser radars. If the laser radar is a single-line laser radar, when installing at least two single-line laser radars, the laser radar located above the vehicle's driving road (such as Figure 1B The rotation axis of the laser radar 10A and 10B in the figure needs to be parallel to the horizontal plane, that is, the scanning surface of the single-line laser radar is a vertical plane; the laser radar located directly above the vehicle's driving road (such as Figure 1B The laser radar 10C in the embodiment needs to have a certain inclination angle between its rotation axis and the horizontal plane, that is, the outgoing light of the single-line laser radar is tilted downward, so that the scanning plane of the single-line laser radar is at a certain angle to the horizontal plane. If the laser radar is a multi-line laser radar, when at least two multi-line laser radars are installed, their rotation axes can be parallel to the horizontal plane or perpendicular to the horizontal plane, that is, the scanning plane of the multi-line laser radar is a two-dimensional plane, and the scanning of the three-dimensional space is realized by rotation. This embodiment is mainly described by taking the laser radar as a single-line laser radar as an example.

[0039] When the laser radar in this embodiment is a single-line laser radar, the radar data obtained by scanning can be the distance information and angle information between the spatial point cloud and the center of the laser radar. Specifically, the distance information is the distance between the line connecting the spatial point cloud and the center of the laser radar, and the angle information is the angle between the line connecting the spatial point cloud and the center of the laser radar and the horizontal or vertical direction. When the laser radar in this embodiment is a multi-line laser radar, the radar data obtained by scanning can be the three-dimensional coordinate value of the spatial point cloud relative to the center of the laser radar, that is, (x, y, z).

[0040] Optionally, in an embodiment of the present invention, when a vehicle to be detected passes through a road where a laser radar is arranged, the laser radar arranged above and directly above the road on which the vehicle is traveling will emit a laser beam to scan the radar data of the spatial point cloud during the vehicle's driving process. The processing device of the vehicle outer contour dimension detection system obtains radar data scanned by at least two laser radars, and then determines the three-dimensional position coordinates of the spatial point cloud corresponding to the radar data in the target coordinate system based on the radar data.

[0041] In an embodiment of the present invention, the radar data acquired by the processing device is collected by multiple laser radars, and the initial coordinate system corresponding to the radar data collected by each laser radar is the coordinate system where the laser radar is located. The target coordinate system in this embodiment can be the coordinate system where any laser radar among the multiple laser radars is located; it can also be other spatial coordinate systems, such as the geocentric coordinate system. In this step, when determining the position coordinates of the radar data in the target coordinate system according to the radar data scanned by at least two laser radars on the vehicle during driving, it can be: first determine the position coordinates of the radar data in the initial coordinate system according to the radar data scanned by at least two laser radars on the vehicle during driving; then convert the position coordinates of the radar data in the initial coordinate system to the target coordinate system to obtain the position coordinates of the radar data in the target coordinate system. Specifically, it can be first determined according to the radar data scanned by at least two laser radars on the driving vehicle, the position coordinates corresponding to each radar data in its initial coordinate system, and then based on the conversion relationship between each initial coordinate system and the target coordinate system, the position coordinates in each initial coordinate system are converted to a unified target coordinate system to obtain the position coordinates of the spatial point cloud corresponding to each radar data in the target coordinate system.

[0042] Optionally, in this embodiment, since the scanning surface of the multi-line laser radar is a two-dimensional plane, scanning and detection of the three-dimensional space can be achieved by rotation, so that as long as the vehicle enters the scanning field of view of the multi-line laser radar, its point cloud data can be obtained through a single frame scan. Of course, in order to ensure the accuracy of the judgment, the multi-frame scanning results can also be used for data processing. Therefore, if the at least two laser radars are multi-line laser radars, when determining the position coordinates of the radar data in its initial coordinate system, the position coordinates of the radar data in the initial coordinate system can be extracted from the radar data scanned by at least two laser radars on the vehicle during driving. Specifically, the three-dimensional position coordinates (x, y, z) can be extracted from the radar data scanned by the multi-line laser radar as the x coordinate value, y coordinate value and z coordinate value of the spatial point cloud corresponding to the radar data in the multi-line laser radar coordinate system. Since the scanning surface of a single-line laser radar is a vertical surface, if the at least two laser radars are single-line laser radars, when determining the position coordinates of the radar data in its initial coordinate system, only the distance information and angle information in the radar data can be used to solve the position coordinates of the radar data in two dimensions in the three-dimensional space. Therefore, this step also requires determining the driving speed of the vehicle to be detected, and then determining the position coordinates in the third dimension based on the vehicle driving speed. The specific determination method will be described in detail in the subsequent embodiments.

[0043] S102, determining a vehicle contour line according to the position coordinates of the radar data in the target coordinate system.

[0044] Among them, the vehicle contour can be a straight line used to characterize the outer contour of the vehicle. Optionally, in an embodiment of the present invention, the vehicle outer contour straight line at least includes a vehicle contour straight line projected onto a horizontal plane, and may also include a vehicle contour straight line projected onto a vertical plane along the vehicle's driving direction.

[0045] Optionally, this step can analyze the positions of each spatial point cloud corresponding to the radar data according to the position coordinates of the radar data in the target coordinate system, and determine the vehicle contour line that can represent the outer contour of the vehicle. Specifically, this step can first determine the point cloud representing the outer contour of the vehicle from the spatial point cloud corresponding to the radar data according to the position coordinates of the radar data in the target coordinate system, and then perform straight line fitting on the point cloud representing the outer contour of the vehicle to obtain the vehicle contour line. However, since there may be non-vehicle noise point clouds in the radar data scanned by the laser radar, in order to improve the accuracy of the wheel point cloud extraction in this step, this step can also be to first extract the vehicle point cloud from the spatial point cloud, and then further extract the point cloud representing the outer contour of the vehicle from the extracted vehicle point cloud, and then fit the vehicle contour line. Optionally, how to extract the vehicle point cloud from the spatial point cloud in this step, how to extract the point cloud representing the outer contour of the vehicle, and the specific implementation process of fitting the vehicle contour line will be described in detail in subsequent embodiments.

[0046] It should be noted that, in this step, when determining the vehicle contour line according to the position coordinates of the radar data in the target coordinate system, only the vehicle contour line in the horizontal plane can be determined (i.e. Figure 1C The straight lines S1-S4 shown in the figure); it can also be that the vehicle contour straight line of the vehicle in the horizontal plane is determined, and the vehicle contour straight line of the vehicle in the vertical plane where the vehicle travels (ie, as shown in the figure) is determined. Figure 1D The vehicle contour lines shown).

[0047] S103, determining the current outer contour size of the vehicle according to the position coordinates of the vehicle contour straight line in the target coordinate system.

[0048] Among them, the current outer contour size includes at least one of the outer contour length, width and height of the vehicle. Specifically, the outer contour length can be the distance between two vertical planes that are perpendicular to the longitudinal symmetry plane of the vehicle and respectively abut against the outermost protruding parts of the front and rear of the vehicle, that is, the distance between the front end and the rear end of the vehicle along the driving direction of the vehicle. The outer contour width can be the distance between two planes that are parallel to the longitudinal symmetry plane of the vehicle and respectively abut against the fixed protruding parts on both sides of the vehicle, that is, the distance from the leftmost end to the rightmost end of the vehicle. The outer contour height can be the distance between the vehicle support plane and the horizontal plane against which the highest protruding part of the vehicle abuts, that is, the distance between the highest point and the lowest point of the vehicle.

[0049] Optionally, when determining the vehicle contour line from the spatial point cloud in S102, at least the vehicle contour line projected onto the horizontal plane needs to be determined. For a motor vehicle, whether it is a car, a truck or a bus, the projection of its outer contour onto the horizontal plane can be approximated as a rectangle, that is, the positional relationship of the four vehicle contour lines on the horizontal plane is a rectangle. At this time, this step can detect the current outer contour size of the vehicle by the following method:

[0050] 1. Current outer contour width detection method: According to the position coordinates of the lateral vehicle contour lines in the horizontal plane in the target coordinate system, determine the first distance between the lateral vehicle contour lines in the horizontal plane, and use the first distance as the current outer contour width of the vehicle. Specifically, the two lateral vehicle contour lines fitted in the horizontal plane can be used as the leftmost end of the vehicle (i.e., the left door end) and the rightmost end of the vehicle (i.e., the right door end), and then the spacing between the two fitted lateral vehicle contour lines is calculated according to the calculation formula for the spacing between the two lines (i.e., the first distance), and the first distance is used as the current outer contour width of the vehicle. For example, Figure 1C The two transverse vehicle contour lines in the figure, namely S1 and S3, are respectively used as the leftmost end and the rightmost end of the vehicle, and the distance d1 between S1 and S3 is calculated as the current outer contour width.

[0051] 2. Current outer contour length detection method: According to the position coordinates of the longitudinal vehicle contour lines in the horizontal plane in the target coordinate system, determine the second distance between the longitudinal vehicle contour lines in the horizontal plane, and use the second distance as the current outer contour length of the vehicle. Specifically: the two longitudinal vehicle contour lines fitted in the horizontal plane can be used as the front end of the vehicle (i.e. the front end) and the rear end of the vehicle (i.e. the rear end), and then the spacing between the two longitudinal vehicle contour lines is calculated according to the calculation formula for the spacing between the two lines (i.e. the second distance), and the second distance is used as the current outer contour length of the vehicle. For example, Figure 1C The two longitudinal vehicle contour lines in the figure, namely S2 and S4, are respectively used as the front end and the rear end of the vehicle, and the distance d2 between S2 and S4 is calculated as the current outer contour length.

[0052] 3. The current outer contour length detection method depends on the plane to which the vehicle contour line determined by S102 belongs. If S102 only determines the vehicle contour line in the horizontal plane, then the current outer contour height of the vehicle can be determined based on the position coordinates of the lateral vehicle contour line in the horizontal plane in the target coordinate system, that is, the maximum position coordinate value and the minimum position coordinate value of the lateral vehicle contour line in the direction perpendicular to the horizontal plane are determined based on the position coordinates of the lateral vehicle contour line in the horizontal plane in the target coordinate system; the difference between the maximum position coordinate value and the minimum position coordinate value is used as the current outer contour height of the vehicle. Specifically, the lateral vehicle contour line in the horizontal plane represents the straight line from the front to the rear of the vehicle. At this time, the maximum value (that is, the highest point of the vehicle) and the minimum value (that is, the lowest point of the vehicle) in the Z-axis direction can be found based on the position coordinates of the two lateral vehicle contour lines in the horizontal plane in the target coordinate system perpendicular to the horizontal plane (that is, the Z-axis direction), and then the distance difference between the highest point and the lowest point is used as the current outer contour height of the vehicle. Exemplarily, from Figure 1C In the point cloud corresponding to the two lateral vehicle contour lines (i.e., S1 and S3), find the maximum and minimum points of the Z coordinate value, and calculate the Z coordinate position difference between the maximum and minimum points as the current outer contour height of the vehicle.

[0053] If S102 determines the vehicle contour lines in the horizontal plane and the vertical plane where the vehicle's driving direction is located, then the current outer contour height of the vehicle can be determined based on the position coordinates of the transverse vehicle contour lines in the vertical plane where the vehicle's driving direction is located in the target coordinate system, that is, the third distance between the transverse vehicle contour line farthest from the ground in the vertical plane and the ground is determined based on the position coordinates of the transverse vehicle contour line in the vertical plane where the vehicle's driving direction is located in the target coordinate system, and the third distance is used as the current outer contour height of the vehicle. Specifically: the transverse vehicle contour line farthest from the ground in the vertical plane where the vehicle's driving direction is located can be used as the line where the highest point of the vehicle is located, and the ground can be used as the line where the lowest point of the vehicle is located. According to the calculation formula for the distance between the two straight lines, the distance between the fitted straight line where the highest point of the vehicle is located and the straight line where the lowest point of the vehicle is located (i.e., the third distance) is calculated, and the third distance is used as the current outer contour height of the vehicle. Exemplarily, Figure 1D The straight line S5 farthest from the ground is taken as the straight line where the highest point of the vehicle is located, and the ground S6 is taken as the straight line where the lowest point of the vehicle is located. The distance d3 between S5 and S6 is calculated as the current outer contour height.

[0054] It should be noted that, in the embodiment of the present invention, the number of laser radars that collect radar data is at least two, and the more laser radars there are, the more accurate the determined vehicle contour straight line is, and thus the more accurate the determined current outer contour dimension number of the vehicle is.

[0055] The vehicle outer contour size detection method provided by the embodiment of the present invention has at least two laser radars arranged in a staggered manner on the upper side and directly above the road on which the vehicle is traveling, and the radar data is scanned for the vehicle during driving, and the position coordinates of the radar data in the target coordinate system are determined, and the vehicle contour line is determined according to the position coordinates of the radar data in the target coordinate system, and then the current outer contour size of the vehicle is determined according to the position coordinates of the vehicle contour line in the target coordinate system. The technical solution of the embodiment of the present invention does not require manual measurement, and at least two laser radars can be used to automatically and accurately detect the outer contour size of the vehicle, which reduces the detection cost, improves the detection efficiency, and provides a new idea for vehicle outer contour size detection.

[0056] Embodiment 2

[0057] Figure 2 This is a flow chart of a vehicle outer contour dimension detection method in the second embodiment of the present invention. This embodiment is based on the above embodiment and is further optimized. It specifically describes how to determine the position coordinates of the radar data in the target coordinate system based on the radar data of at least two laser radars scanning the vehicle during driving when the laser radar is a single-line laser radar. Specifically, Figure 2 As shown, the operation process includes the following steps:

[0058] S201, determining the vehicle's driving speed based on multiple frames of radar data scanned by at least two laser radars on the vehicle during driving and the offset distance between at least two laser radars.

[0059] Specifically, a vehicle position point that can be captured by the staggered laser radars on the side and directly above the vehicle's driving road can be selected as a reference point, such as the front position of the vehicle as a reference point, and at least a set of laser radar pairs scanning the reference point are obtained, wherein a set of laser radar pairs is composed of two laser radars distributed on the side and directly above the vehicle's driving road and staggered in the horizontal direction. For example, Figure 1B The laser radar 10A and laser radar 10C in the figure are a pair of laser radars; laser radar 10B and laser radar 10C are also a pair of laser radars. Then, based on the distance between the two laser radars in each pair of laser radars in the horizontal plane in the direction of vehicle travel and the timestamps when the two laser radars scanned the reference point, the vehicle's travel speed can be calculated. For example, assuming Figure 1BThe time stamp of the laser radar 10A scanning the front position of the vehicle is t1, the time stamp of the laser radar 10C scanning the front position of the vehicle is t2, and the distance between the laser radar 10A and the laser radar 10C in the horizontal plane in the direction of vehicle travel is D (that is, the offset distance between the two laser radars). At this time, the vehicle's travel speed V can be calculated by the formula D=|t1-t2|×V.

[0060] Optionally, when two laser radars have the same specifications and are started strictly at the same time, when this embodiment calculates the vehicle's driving speed, it can also be based on the distance D between the two laser radars in each group of laser radar pairs in the horizontal plane in the direction of vehicle travel, the number of scanning frames when the two laser radars scan the reference point (i.e., S1 and S2), and the scanning frequency H of the laser radar, according to the formula D=|S1-S2|×1 / H×V to calculate the vehicle's driving speed V.

[0061] It should be noted that when this step determines the vehicle speed based on at least two groups of laser radar pairs, a vehicle speed can be calculated based on each group of laser radar pairs according to the method introduced above, and then the calculated multiple vehicle speeds are integrated, such as averaging, or according to preset screening rules, the most accurate vehicle speed is screened out as the final vehicle speed.

[0062] S202, determining the position coordinates of the radar data in the initial coordinate system according to the vehicle speed, distance information and angle information in the radar data.

[0063] Specifically, this step can be to calculate the coordinate value of the radar data on the coordinate axis of the vehicle driving direction in the initial coordinate system according to the vehicle driving speed and the timestamp (or scanning frame number and scanning frequency) corresponding to the laser radar scanning the radar data for the space point cloud corresponding to each radar data; and calculate the coordinate value of the radar data on the other two coordinate axes except the vehicle driving direction in the initial coordinate system according to the geometric position relationship between the space point cloud corresponding to the radar data and the center point of the laser radar scanning the radar data. Exemplarily, assuming that the coordinate axis of the vehicle driving direction is the X axis, the vehicle driving speed is V, the distance information in a certain radar data scanned by the laser radar is d, the angle information (i.e., the angle between the line connecting the space point cloud and the center of the laser radar and the horizontal direction) is α, the timestamp when the laser radar scans the radar data is t, the scanning frame number is S, and the scanning frame rate of the laser radar is H, then the X-axis coordinate of the space point cloud corresponding to the radar data in its initial coordinate system is: X=t×V, or X=S×1 / H×V; the Y-axis coordinate is Y=d×cosα; and the Z-axis coordinate is Z=d×sinα.

[0064] S203, converting the position coordinates of the radar data in the initial coordinate system into the target coordinate system to obtain the position coordinates of the radar data in the target coordinate system.

[0065] Among them, since the radar data in this embodiment is scanned by at least two laser radars, and the coordinate system of each laser radar is a radar coordinate system constructed with its center point as the origin, the position coordinates determined by the point cloud data scanned by different laser radars in S202 are located in different radar coordinate systems. For example, the initial coordinate system where the position coordinates corresponding to the position of the front of the vehicle determined by the point cloud data collected by the laser radar 10A are located is a radar coordinate system constructed with the center of the laser radar 10A as the origin; the initial coordinate system where the position coordinates corresponding to the position of the front of the vehicle determined by the point cloud data collected by the laser radar 10C are located is a radar coordinate system constructed with the center of the laser radar 10C as the origin. Therefore, this step needs to convert the position coordinates in different coordinate systems to the same target coordinate system, so that the position coordinates of each spatial point cloud can be analyzed in the same target coordinate system later to detect the outer contour size of the vehicle.

[0066] Specifically, in this step, the position coordinates of the radar data in the initial coordinate system are converted to the target coordinate system. The position coordinates of the radar data in the initial coordinate system can be uniformly converted to the geocentric coordinate system; or the position coordinates of the radar data in the initial coordinate system can be uniformly converted to the radar coordinate system of any one of the at least two laser radars (i.e., any initial coordinate system). This embodiment is not limited to this. When performing the position coordinate conversion, the position coordinates in each initial coordinate system can be converted to the target coordinate system based on the coordinate conversion relationship (such as a coordinate conversion matrix) between each initial coordinate system and the target coordinate system to be converted to, so as to obtain the position coordinates of each radar data in the target coordinate system.

[0067] S204, determining a vehicle contour line according to the position coordinates of the radar data in the target coordinate system.

[0068] S205, determining the current outer contour size of the vehicle according to the position coordinates of the vehicle contour straight line in the target coordinate system.

[0069] The vehicle outer contour size detection method provided by the embodiment of the present invention is that if at least two single-line laser radars are staggeredly arranged on the upper side and directly above the road on which the vehicle is traveling, the radar data is scanned for the vehicle during driving, and the vehicle speed is determined based on the scanned multi-frame radar data and the staggered distance of at least two laser radars. Based on the vehicle speed, the distance information and angle information in the radar data, the position coordinates of the radar data in the initial coordinate system are determined, and then converted to the target coordinate system. According to the position coordinates of the radar data in the target coordinate system, the vehicle contour line is determined, and then the current outer contour size of the vehicle is determined according to the position coordinates of the vehicle contour line in the target coordinate system. The technical solution of the embodiment of the present invention can accurately determine the position coordinates of the radar data, provide a guarantee for the subsequent accurate determination of the vehicle contour line for vehicle outer contour size detection, and provide a new idea for vehicle outer contour size detection.

[0070] Embodiment 3

[0071] Figure 3A FIG. 1 is a flow chart of a vehicle outer contour dimension detection method in Embodiment 3 of the present invention. Figure 3B is a schematic diagram of the effect of projecting the truck point cloud onto a horizontal plane in the third embodiment of the present invention; Figure 3C is a schematic diagram of the effect of the vehicle outer contour point cloud of the truck in the horizontal plane in the third embodiment of the present invention; Figure 3D Schematic diagram of the effect of the vehicle contour line of the truck in the horizontal plane in the third embodiment of the present invention. This embodiment is based on the above embodiments and is further optimized. It specifically provides a detailed description of how to determine the vehicle contour line according to the position coordinates of the radar data in the target coordinate system. Specifically, Figures 3A-3D As shown, the operation process includes the following steps:

[0072] S301, determining the position coordinates of the radar data in a target coordinate system based on radar data obtained by at least two laser radars scanning a vehicle during driving.

[0073] The at least two laser radars are arranged in a staggered manner above and to the side of the vehicle's driving road.

[0074] S302, extracting a vehicle point cloud according to the position coordinates of the radar data in the target coordinate system.

[0075] Optionally, since the ground point cloud contained in the spatial point cloud corresponding to the radar data will seriously interfere with the accuracy of the vehicle point cloud extraction, this step may first remove the ground point cloud in the spatial point cloud before extracting the vehicle point cloud, and then extract the vehicle point cloud from the remaining spatial point cloud.

[0076] Optionally, when removing the ground point cloud from the spatial point cloud in this step, the ground point cloud can be removed from the spatial point cloud by using a random sampling consensus algorithm (RANSAC algorithm) based on the position coordinates of all spatial point clouds in the target coordinate system; or the ground point cloud can be removed from the spatial point cloud by using a ground fitting algorithm based on the position coordinates of all spatial point clouds in the target coordinate system. This is not limited in this embodiment. When extracting the vehicle point cloud from the remaining spatial point cloud in this step, the vehicle point cloud can be extracted from the remaining spatial point cloud after removing the ground point cloud based on a clustering algorithm; or the remaining spatial point cloud can be input into a pre-trained vehicle point cloud extraction model to obtain the vehicle point cloud output by the vehicle point cloud extraction model, etc. This is not limited in this embodiment.

[0077] S303: Project the position coordinates of the vehicle point cloud in the target coordinate system onto a preset plane.

[0078] The preset plane is a horizontal plane, or a vertical plane where the horizontal plane and the vehicle's driving direction are located.

[0079] Optionally, if the vehicle's driving direction is the X-axis direction, then when this step projects the position coordinates of the vehicle point cloud extracted by S302 in the target coordinate system to the horizontal plane, the position coordinates of the vehicle point cloud in the target coordinate system may be projected into the XOY plane; when this step projects the position coordinates of the vehicle point cloud extracted by S302 in the target coordinate system to the vertical plane where the vehicle's driving direction is located, the position coordinates of the vehicle point cloud in the target coordinate system may be projected into the X0Z plane where the X-axis is located.

[0080] For example, Figure 3B The figure shows a schematic diagram of the projection effect after the truck point cloud extracted in S302 is projected onto a horizontal plane when the vehicle to be detected is a truck. The projection data shown in box 1 in the figure is the rearview mirror area of ​​the truck; the projection data shown in box 2 is the front area of ​​the truck, and the projection data shown in box 3 is the cargo box area of ​​the truck.

[0081] It should be noted that this step at least projects the position coordinates of the vehicle point cloud in the target coordinate system into the horizontal plane. The vertical plane where the vehicle is traveling can be projected or not. Different preset planes projected in this step will result in different ways of detecting the current outer contour size of the vehicle in the subsequent process.

[0082] S304, extracting the outer contour point cloud of the vehicle on the preset plane according to the projection data of the vehicle point cloud on the preset plane.

[0083] Optionally, this step may be to extract the point cloud corresponding to the outer contour boundary of the vehicle, i.e., the outer contour point cloud, based on the projection data of the vehicle point cloud on the preset plane. A specific extraction method may be to use an image edge extraction algorithm to analyze the projection data projected into the preset plane, and determine the data points corresponding to the outer contour boundary of the vehicle in the projection data as the outer contour point cloud of the vehicle in the preset plane. Figure 3B After the projection data of the truck point cloud in the horizontal plane is extracted from the outer contour point cloud, we get Figure 3C The schematic diagram of the effect of the vehicle outline point cloud of the truck in the horizontal plane is shown.

[0084] It should be noted that if the preset plane is a horizontal plane, this step only extracts the outer contour point cloud of the vehicle on the horizontal plane; if the preset plane is a horizontal plane and a vertical plane in the direction of vehicle travel, this step not only extracts the outer contour point cloud of the vehicle on the horizontal plane, but also extracts the outer contour point cloud of the vehicle on the vertical plane in the direction of vehicle travel.

[0085] S305 , performing straight line segmentation and fitting on the position coordinates of the outer contour point cloud in the target coordinate system to determine the vehicle contour straight line of the vehicle in the preset plane.

[0086] Optionally, the outer contour point cloud of the vehicle extracted in S304 may contain some interference areas that may affect the outer contour size detection, such as Figure 3C The rearview mirror area (i.e., the area where box 1 is located) in the outer contour point cloud of the vehicle extracted is the interference area. Therefore, in order to remove the interference of the rearview mirror area, this step can be to segment the outer contour point cloud by boundary lines for each preset plane according to the position coordinates of the outer contour point cloud in the preset plane in the target coordinate system, and obtain a straight line point cloud that is connected end to end and in a closed state, and then perform straight line fitting on the segmented straight line point cloud to obtain the vehicle contour line in the preset plane. For example, Figure 3C After performing straight line segmentation and straight line fitting on the vehicle contour point cloud in Figure 3D The vehicle contour lines of the truck in the horizontal plane are shown, namely S1, S2, S3 and S4.

[0087] It should be noted that if the preset plane is a horizontal plane, this step only determines the vehicle contour line of the vehicle in the horizontal plane based on the outer contour point cloud of the horizontal plane; if the preset plane is a horizontal plane and a vertical plane where the vehicle's driving direction is located, this step not only determines the vehicle contour line of the vehicle in the horizontal plane based on the outer contour point cloud of the horizontal plane; it also determines the vehicle contour line of the vehicle in the vertical plane based on the outer contour point cloud of the vertical plane where the vehicle is in its driving direction.

[0088] S306, determining the current outer contour size of the vehicle according to the position coordinates of the vehicle contour straight line in the target coordinate system.

[0089] The vehicle outer contour size detection method provided by the embodiment of the present invention determines the position coordinates of the radar data in the target coordinate system based on the radar data of the moving vehicle scanned by the laser radar arranged staggered above and along the side of the vehicle's driving road, and then removes the noise point cloud from the spatial point cloud corresponding to the radar data to extract the vehicle point cloud, and then projects the vehicle point cloud into a preset plane, extracts the outer contour point cloud from the projection data in the preset plane, and performs straight line segmentation and fitting to obtain the vehicle contour line of the vehicle in the preset plane, and then determines the current outer contour size parameters of the vehicle based on the position coordinates of the vehicle contour line in the target coordinate system. The technical solution of the embodiment of the present invention greatly improves the accuracy of the vehicle outer contour line extraction, and provides a guarantee for the subsequent accurate and efficient determination of the current vehicle outer contour size.

[0090] Embodiment 4

[0091] Figure 4A is a flow chart of a vehicle outer contour dimension detection method in Embodiment 4 of the present invention; Figure 4B This is a principle block diagram of the vehicle outer contour dimension verification process in the fourth embodiment of the present invention. This embodiment is based on the above embodiments and is further optimized. It specifically provides a preferred example of implementing the vehicle outer contour dimension verification process based on vehicle outer contour dimension detection. Specifically, Figure 4A-4B As shown, the method of this embodiment specifically includes the following steps:

[0092] S401, determining the position coordinates of the radar data in a target coordinate system based on radar data obtained by at least two laser radars scanning a vehicle during driving.

[0093] The at least two laser radars are arranged in a staggered manner above and to the side of the vehicle's driving road.

[0094] For example, Figure 4B During the driving process of the vehicle to be detected, the laser radar of the vehicle outer contour size detection part scans the radar data of the current space and sends it to the processing device. The position coordinate determination module, contour line determination module and contour size determination module in the processing device determine the current outer contour size of the vehicle to be detected by executing S401-S403 operations.

[0095] S402, determining a vehicle contour line according to the position coordinates of the radar data in the target coordinate system.

[0096] S403, determining the current outer contour size of the vehicle according to the position coordinates of the vehicle contour straight line in the target coordinate system.

[0097] S404, determining a two-dimensional plane view of the vehicle according to the position coordinates of the vehicle point cloud in the target coordinate system.

[0098] The two-dimensional plane view may be an orthographic projection view of the vehicle on the two-dimensional plane, for example, may include at least one of a front view and a top view of the vehicle.

[0099] Optionally, this step can be to determine the two-dimensional plane view of the vehicle based on the position coordinates of the vehicle point cloud in the target coordinate system: extract the vehicle point cloud from the spatial point cloud corresponding to the radar data, and then project the position coordinates of the vehicle point cloud in the target coordinate system into the horizontal plane to obtain a top view of the vehicle; project the position coordinates of the vehicle point cloud in the target coordinate system into the vertical plane where the vehicle is traveling, to obtain a front view of the vehicle. It should be noted that the method of extracting the vehicle point cloud from the spatial point cloud corresponding to the radar data has been introduced in the above embodiment, and will not be repeated in this embodiment.

[0100] S405, displaying the two-dimensional plane view of the vehicle and the current outer contour size of the vehicle.

[0101] Optional, in order to improve the visualization effect of this vehicle outer contour dimension detection, Figure 4B After determining the current outer contour size, the vehicle outer contour size detection part in the processing device can perform S404 and S405 to determine the two-dimensional plane view of the vehicle, and display the two-dimensional plane view and the current outer contour size of the vehicle; in order to better manage the current vehicle outer contour size, such as Figure 4B As shown, this embodiment can also send the displayed two-dimensional plan view of the vehicle and the current vehicle outer contour size of the vehicle to the background management module, and the background management module stores the original radar data collected by the laser radar, the two-dimensional plan view of the vehicle and the current vehicle outer contour size, so as to be used in the subsequent S406 to verify the outer contour size of the vehicle.

[0102] S406, based on a preset evaluation standard and the current outer contour size of the vehicle, verify the outer contour size of the vehicle.

[0103] The preset evaluation standard may be a standard for evaluating whether a vehicle meets the requirements for safe driving of the vehicle. For example, it may be used to determine whether a vehicle violates the requirements for safe driving of the vehicle due to a change in the vehicle's outer contour dimensions. Optionally, the preset evaluation standard may be the factory standard outer contour dimensions of the corresponding model of the vehicle to be detected; or it may be the historical outer contour dimensions of the vehicle to be detected that have been detected in the past.

[0104] This optional step is based on the preset evaluation criteria and the current outer contour dimensions of the vehicle. The process of checking the outer contour dimensions of the vehicle can be performed by Figure 4B The vehicle outer contour dimension verification part in the process is executed. Specifically, the data verification module in the processing device may obtain the preset evaluation standard and the current outer contour dimension of the vehicle from the background management module through the data interface, and compare the current outer contour dimension with the vehicle outer contour dimension recorded in the preset evaluation standard (i.e., the factory standard outer contour dimension and / or the historical outer contour dimension) to determine whether the current outer contour dimension of the vehicle is consistent with the preset evaluation standard. If so, the verification passes, otherwise, the verification fails. Then, a verification report is generated based on the verification results. For example, the inspection report may display a two-dimensional plane view of the vehicle, the current outer contour dimension of the vehicle, the pre-evaluation standard, and whether the verification passes.

[0105] Optionally, this step is based on the preset evaluation criteria and the current outer dimensions of the vehicle. The process of verifying the outer dimensions of the vehicle can be the process of annual inspection of motor vehicles by the vehicle management office, that is, Figure 4B The vehicle outer contour dimension verification part is the part controlled by vehicle management.

[0106] It should be noted that the purpose of the above-mentioned S404-S405 operations is to facilitate the visual display of the verification results. This process can be omitted when the actual vehicle outer contour dimension is detected. For example, after executing S403 to determine the current outer contour dimension of the vehicle, the original radar data collected by the lidar and the detected current outer contour dimension are stored in the background management module. When S406 is subsequently executed, the current outer contour dimension of the vehicle is directly obtained from the background management module, and the outer contour dimension of the vehicle is inspected based on the preset evaluation criteria and the current outer contour dimension of the vehicle.

[0107] The vehicle outer contour size detection method provided by the embodiment of the present invention determines the position coordinates of the radar data in the target coordinate system based on the radar data of the traveling vehicle scanned by the laser radar arranged staggered above and along the side of the vehicle's driving road, determines the vehicle contour line based on each position coordinate, and then determines the current outer contour size of the vehicle based on the position coordinates of the vehicle contour line in the target coordinate system; determines the two-dimensional plane view of the vehicle based on the vehicle point cloud, and visually displays the two-dimensional plane view of the vehicle and the current outer contour size, which is convenient for users to view the detection results more intuitively. Based on the preset evaluation criteria and the current outer contour size of the vehicle, the outer contour size of the vehicle is checked. After the embodiment of the present invention automatically detects the outer contour size of the current vehicle, the outer contour size of the vehicle is automatically checked based on the detected current vehicle outer contour size and the preset evaluation criteria. The entire process does not require manual intervention, is efficient, low-cost, and highly accurate, and ensures the fairness and objectivity of the vehicle outer contour size verification process, avoiding the occurrence of artificial data falsification.

[0108] Embodiment 5

[0109] Figure 5 This is a schematic diagram of the structure of a vehicle outer contour dimension detection device provided in Embodiment 5 of the present invention. The device can execute the vehicle outer contour dimension detection method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. Figure 5 As shown, the device specifically includes:

[0110] The position coordinate determination module 501 is used to determine the position coordinates of the radar data in the target coordinate system according to the radar data scanned by at least two laser radars on the vehicle during driving; wherein the at least two laser radars are arranged in a staggered manner above and to the side of the vehicle driving road;

[0111] A contour line determination module 502 is used to determine a vehicle contour line according to the position coordinates of the radar data in a target coordinate system;

[0112] The outline size determination module 503 is used to determine the current outer outline size of the vehicle according to the position coordinates of the vehicle outline straight line in the target coordinate system.

[0113] The vehicle outer contour size detection device provided by the embodiment of the present invention has at least two laser radars arranged in a staggered manner on the upper side and directly above the road on which the vehicle is traveling, and the radar data is scanned for the vehicle during driving, and the position coordinates of the radar data in the target coordinate system are determined, and the vehicle contour line is determined according to the position coordinates of the radar data in the target coordinate system, and then the current outer contour size of the vehicle is determined according to the position coordinates of the vehicle contour line in the target coordinate system. The technical solution of the embodiment of the present invention does not require manual measurement, and at least two laser radars can be used to automatically and accurately detect the outer contour size of the vehicle, which reduces the detection cost, improves the detection efficiency, and provides a new idea for vehicle outer contour size detection.

[0114] Furthermore, the position coordinate determination module 501 includes:

[0115] A position coordinate determination unit, used to determine the position coordinates of the radar data in an initial coordinate system based on radar data scanned by at least two laser radars on a vehicle during driving; wherein the initial coordinate system of each radar data is the coordinate system of the laser radar that collects each radar data;

[0116] The position coordinate conversion unit is used to convert the position coordinates of the radar data in the initial coordinate system to the target coordinate system to obtain the position coordinates of the radar data in the target coordinate system.

[0117] Furthermore, the above-mentioned position coordinate determination unit is specifically used for:

[0118] If the at least two laser radars are multi-line laser radars, extracting the position coordinates of the radar data in the initial coordinate system from the radar data scanned by the at least two laser radars on the vehicle during driving;

[0119] If the at least two laser radars are single-line laser radars, the vehicle speed is determined based on multi-frame radar data scanned by at least two laser radars on the vehicle during driving and the offset distance of at least two laser radars; the position coordinates of the radar data in the initial coordinate system are determined based on the vehicle speed and the distance information and angle information in the radar data.

[0120] Furthermore, the above-mentioned contour straight line determination module 502 is specifically used for:

[0121] Extracting a vehicle point cloud according to the position coordinates of the radar data in a target coordinate system;

[0122] Projecting the position coordinates of the vehicle point cloud in the target coordinate system into a preset plane; wherein the preset plane is a horizontal plane, or a vertical plane where the horizontal plane and the vehicle travel direction are located;

[0123] Extracting the outer contour point cloud of the vehicle on the preset plane according to the projection data of the vehicle point cloud on the preset plane;

[0124] Linear segmentation and fitting are performed on the position coordinates of the outer contour point cloud in the target coordinate system to determine the vehicle contour line of the vehicle in the preset plane.

[0125] Furthermore, the above outline dimension determination module 503 includes:

[0126] a contour width determination unit, configured to determine a first distance between the transverse vehicle contour lines in the horizontal plane according to the position coordinates of the transverse vehicle contour lines in the horizontal plane in the target coordinate system, and use the first distance as the current outer contour width of the vehicle;

[0127] a contour length determination unit, configured to determine a second distance between longitudinal vehicle contour lines in a horizontal plane according to position coordinates of the longitudinal vehicle contour lines in a target coordinate system, and use the second distance as a current outer contour length of the vehicle;

[0128] The contour height determination unit is used to determine the current outer contour height of the vehicle according to the position coordinates of the transverse vehicle contour line in the horizontal plane in the target coordinate system, or according to the position coordinates of the transverse vehicle contour line in the vertical plane where the vehicle's driving direction is located in the target coordinate system.

[0129] Furthermore, when the above-mentioned profile height determination unit determines the current outer profile height of the vehicle according to the position coordinates of the transverse vehicle profile straight line in the horizontal plane in the target coordinate system, it is specifically used to:

[0130] Determine the maximum position coordinate value and the minimum position coordinate value of the transverse vehicle contour line in a direction perpendicular to the horizontal plane according to the position coordinate of the transverse vehicle contour line in the target coordinate system;

[0131] The difference between the maximum position coordinate value and the minimum position coordinate value is used as the current outer contour height of the vehicle.

[0132] Furthermore, when the above-mentioned contour height determination unit determines the current outer contour height of the vehicle according to the position coordinates of the transverse vehicle contour line in the vertical plane where the vehicle driving direction is located in the target coordinate system, it is specifically used to:

[0133] According to the position coordinates of the transverse vehicle contour line in the vertical plane where the vehicle's driving direction is located in the target coordinate system, the third distance between the transverse vehicle contour line farthest from the ground in the vertical plane and the ground is determined, and the third distance is used as the current outer contour height of the vehicle.

[0134] Furthermore, the above device also includes:

[0135] A view parameter display module, used to: determine the two-dimensional plane view of the vehicle according to the position coordinates of the vehicle point cloud in the target coordinate system, and display the two-dimensional plane view of the vehicle and the current outer contour size parameters of the vehicle; and / or,

[0136] The vehicle verification module is used to verify the outer contour dimensions of the vehicle based on a preset evaluation standard and the current outer contour dimensions of the vehicle.

[0137] Embodiment 6

[0138] Fig. 6A A schematic diagram of the structure of a vehicle outer contour dimension detection system provided in Embodiment 6 of the present invention, Figure 6B A schematic diagram of the structure of a processing device of a vehicle outer contour dimension detection system provided in Embodiment 5 of the present invention. Fig. 6A The vehicle outer contour dimension detection system 6 shown includes at least two laser radars 61 and a processing device 60. The at least two laser radars 61 are arranged staggered along the upper side and directly above the vehicle travel road; and the processing device 60 is connected to each laser radar 61. The installation positions of the at least two laser radars 61 have been described in detail in the above embodiment 1. Figure 6B A block diagram of an exemplary processing device 60 suitable for use in implementing embodiments of the present invention is shown. Figure 6B The processing device 60 shown is only an example and should not limit the functionality and scope of use of the embodiments of the present invention. Figure 6B As shown, the processing device 60 is in the form of a general-purpose computing device. The components of the processing device 60 may include, but are not limited to: one or more processors or processing units 601, a system memory 602, and a bus 603 connecting different system components (including the system memory 602 and the processing unit 601).

[0139] Bus 603 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus structures. For example, these architectures include but are not limited to Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus and Peripheral Component Interconnect (PCI) bus.

[0140] The processing device 60 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the processing device 60, including volatile and non-volatile media, removable and non-removable media.

[0141] System memory 602 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 604 and / or cache memory 605. Processing device 60 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 606 may be used to read and write non-removable, non-volatile magnetic media ( Figure 6B not shown, usually called a "hard drive"). Although Figure 6B Not shown in the figure, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 603 via one or more data medium interfaces. The system memory 602 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the embodiments of the present invention.

[0142] A program / utility 608 having a set (at least one) of program modules 607 may be stored, for example, in system memory 602, such program modules 607 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 may include an implementation of a network environment. Program modules 607 generally perform the functions and / or methods of the embodiments described herein.

[0143] The processing device 60 may also communicate with one or more external devices 609 (e.g., a keyboard, a pointing device, a display 610, etc.), one or more devices that enable a user to interact with the device, and / or any device that enables the processing device 60 to communicate with one or more other computing devices (e.g., a network card, a modem, etc.). Such communication may be performed through an input / output (I / O) interface 611. Furthermore, the processing device 60 may also 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) through a network adapter 612. Figure 6B As shown, the network adapter 612 communicates with other modules of the processing device 60 via the bus 603. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with the processing device 60, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0144] The processing unit 601 executes various functional applications and data processing by running the programs stored in the system memory 602, such as implementing the vehicle outer contour dimension detection method provided by any embodiment of the present invention for each laser radar.

[0145] Embodiment 7

[0146] Embodiment 7 of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the vehicle outer contour dimension detection method described in the above embodiment can be implemented.

[0147] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer 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 disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0148] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0149] The program code embodied on the computer 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.

[0150] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0151] The serial numbers of the above embodiments are only for description and do not represent the advantages or disadvantages of the embodiments.

[0152] It should be understood by those skilled in the art that each module or operation of the above-mentioned embodiment of the present invention can be implemented by a general-purpose computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, optionally, they can be implemented by a program code executable by a computer device, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or multiple modules or operations therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0153] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0154] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for detecting the outer contour dimensions of a vehicle, characterized in that: include: Determine the position coordinates of the radar data in a target coordinate system based on radar data scanned by at least two laser radars on a vehicle during driving; wherein the at least two laser radars are arranged in a staggered manner above and to the side of a driving road of the vehicle; Determining a vehicle contour line according to the position coordinates of the radar data in a target coordinate system; Determining the current outer contour size of the vehicle according to the position coordinates of the vehicle contour straight line in the target coordinate system; Determining a vehicle contour line according to the position coordinates of the radar data in a target coordinate system includes: Extracting a vehicle point cloud according to the position coordinates of the radar data in a target coordinate system; Projecting the position coordinates of the vehicle point cloud in the target coordinate system into a preset plane; wherein the preset plane is a horizontal plane, or a vertical plane where the horizontal plane and the vehicle travel direction are located; Extracting the outer contour point cloud of the vehicle on the preset plane according to the projection data of the vehicle point cloud on the preset plane; Linear segmentation and fitting are performed on the position coordinates of the outer contour point cloud in the target coordinate system to determine the vehicle contour line of the vehicle in the preset plane.

2. The method according to claim 1, characterized in that Determining the position coordinates of the radar data in a target coordinate system according to radar data scanned by at least two laser radars on a vehicle during driving, including: Determine the position coordinates of the radar data in an initial coordinate system based on radar data scanned by at least two laser radars on the vehicle during driving; wherein the initial coordinate system of each radar data is the coordinate system where the laser radar that collects each radar data is located; The position coordinates of the radar data in the initial coordinate system are converted to the target coordinate system to obtain the position coordinates of the radar data in the target coordinate system.

3. The method according to claim 2, characterized in that Determining the position coordinates of the radar data in an initial coordinate system according to radar data scanned by at least two laser radars on a vehicle during driving includes: If the at least two laser radars are multi-line laser radars, extracting the position coordinates of the radar data in the initial coordinate system from the radar data scanned by the at least two laser radars on the vehicle during driving; If the at least two laser radars are single-line laser radars, the vehicle speed is determined based on multi-frame radar data scanned by at least two laser radars on the vehicle during driving and the offset distance of at least two laser radars; the position coordinates of the radar data in the initial coordinate system are determined based on the vehicle speed and the distance information and angle information in the radar data.

4. The method according to claim 1, characterized in that: Determining the current outer contour size of the vehicle according to the position coordinates of the vehicle contour straight line in the target coordinate system includes: Determine a first distance between the transverse vehicle contour lines in the horizontal plane according to the position coordinates of the transverse vehicle contour lines in the horizontal plane in the target coordinate system, and use the first distance as the current outer contour width of the vehicle; Determine a second distance between the longitudinal vehicle contour lines in the horizontal plane according to the position coordinates of the longitudinal vehicle contour lines in the target coordinate system, and use the second distance as the current outer contour length of the vehicle; The current outer contour height of the vehicle is determined according to the position coordinates of the transverse vehicle contour line in the horizontal plane in the target coordinate system, or according to the position coordinates of the transverse vehicle contour line in the vertical plane where the vehicle travel direction is located in the target coordinate system.

5. The method according to claim 4, characterized in that Determining the current outer contour height of the vehicle according to the position coordinates of the transverse vehicle contour line in the horizontal plane in the target coordinate system includes: Determine the maximum position coordinate value and the minimum position coordinate value of the transverse vehicle contour line in a direction perpendicular to the horizontal plane according to the position coordinate of the transverse vehicle contour line in the target coordinate system; The difference between the maximum position coordinate value and the minimum position coordinate value is used as the current outer contour height of the vehicle.

6. The method according to claim 4, characterized in that Determining the current outer contour height of the vehicle according to the position coordinates of the transverse vehicle contour straight line in the vertical plane where the vehicle travel direction is located in the target coordinate system includes: According to the position coordinates of the transverse vehicle contour line in the vertical plane where the vehicle's driving direction is located in the target coordinate system, the third distance between the transverse vehicle contour line farthest from the ground in the vertical plane and the ground is determined, and the third distance is used as the current outer contour height of the vehicle.

7. The method according to claim 1, characterized in that After determining the current outer contour size of the vehicle according to the position coordinates of the vehicle contour straight line in the target coordinate system, the method further includes: Determine a two-dimensional plane view of the vehicle according to the position coordinates of the vehicle point cloud in the target coordinate system, and display the two-dimensional plane view of the vehicle and the current outer contour size of the vehicle; and / or Based on a preset evaluation standard and the current outer contour size of the vehicle, the outer contour size of the vehicle is checked.

8. A vehicle outer contour dimension detection system, characterized in that: The invention comprises at least two laser radars and a processing device; the processing device is connected to the at least two laser radars, and the at least two laser radars are arranged staggered above and to the side of the vehicle driving road; the processing device comprises: one or more processors; A storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle outer contour dimension detection method as described in any one of claims 1-7 for each laser radar.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the vehicle outer contour dimension detection method as described in any one of claims 1-7 is implemented.

Images