An obstacle location method, device, equipment and vehicle

Abstract

This application discloses an obstacle localization method, apparatus, device, and vehicle. The method includes: acquiring scanning information from multiple radars of the vehicle, the scanning information describing the distance information from the radar to the obstacles scanned by the radar; determining the equivalent point of the obstacle in an obstacle map based on the scanning information, the obstacle map including the coordinate information of the obstacle, and the obstacle map covering the outer area of ​​the vehicle; when the equivalent point is not within the scanning range of the radar, retaining the equivalent point in the obstacle map for obstacle localization based on the equivalent point. When it is determined that the obstacle is not within the scanning range of the radar, that is, the obstacle has entered the radar's blind zone. By establishing an obstacle map covering the outer area of ​​the vehicle, this application can determine the equivalent point of the obstacle in the obstacle map. After the obstacle enters the radar's blind zone, it can achieve obstacle tracking and localization, thereby ensuring the safe driving of the vehicle.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology, and in particular to an obstacle localization method, device, equipment and vehicle. Background Technology

[0002] In recent years, intelligent driving technology has received widespread attention from the industry, among which vehicle obstacle avoidance is particularly important. Vehicle obstacle avoidance refers to determining the location of obstacles by identifying them, planning the vehicle's driving route based on the location of the obstacles, and driving according to the planned route.

[0003] Ultrasonic radar possesses advantages such as good directionality, strong adaptability, and strong penetration capabilities, making it frequently integrated into autonomous vehicles for obstacle avoidance. Specifically, ultrasonic radar installed on a vehicle can identify obstacles to determine their location. However, ultrasonic radar can only identify obstacles within a specified area; that is, if an obstacle is within the radar's blind spot, its presence will not be detected.

[0004] Therefore, when an obstacle enters the blind spot of the ultrasonic radar, there is a possibility of a collision between the vehicle and the obstacle, which poses a threat to the safe driving of the vehicle. Summary of the Invention

[0005] To address the aforementioned technical problems, this application provides an obstacle localization method that can track and locate obstacles in radar blind spots, thereby improving vehicle driving safety.

[0006] The embodiments of this application disclose the following technical solutions:

[0007] In a first aspect, this application provides an obstacle localization method, the method comprising:

[0008] Acquire scanning information from multiple radars of the vehicle, wherein the scanning information is used to describe the distance information from the radar to the obstacles scanned by the radar;

[0009] The equivalent point of the obstacle on the obstacle map is determined based on the scanning information. The obstacle map includes the coordinate information of the obstacle and covers the outer area of ​​the vehicle.

[0010] When the equivalent point is not within the scanning range of the radar, the equivalent point in the obstacle map is retained so that the obstacle can be located based on the equivalent point.

[0011] Optionally, the method further includes:

[0012] When the equivalent point is within the scanning range of the radar, the equivalent point is deleted from the obstacle map.

[0013] Optionally, determining the equivalent point of the obstacle on the obstacle map based on the scan information includes:

[0014] The distance between the obstacle and the radar is calculated based on the coordinate information of the obstacle in the obstacle map;

[0015] The calculated distance value and the detected distance value indicated by the distance information are compared;

[0016] Based on the smaller distance value indicated in the comparison results, an equivalent point is generated in the direction of the vehicle's travel in the obstacle map.

[0017] Optionally, determining the equivalent point of the obstacle on the obstacle map based on the scan information includes:

[0018] If the scan information is empty, obtain the scan information of the previous frame, and determine the equivalent point of the obstacle in the obstacle map based on the equivalent point of the previous frame determined by the scan information of the previous frame.

[0019] If the scan information is not empty and meets the single radar triangulation positioning conditions, a single radar triangulation positioning point is established; the single radar triangulation positioning point is used as the equivalent point of the obstacle in the obstacle map;

[0020] If the scanning information is not empty and does not meet the single radar triangulation positioning conditions, an equivalent point is generated on the angle bisector of the radar's scanning range in the obstacle map.

[0021] Optionally, the method further includes:

[0022] When the difference between the calculated distance between the obstacle and the radar, determined based on the coordinate information of the obstacle in the obstacle map, and the distance detection value indicated by the distance information is greater than or equal to a preset distance error value, it is determined that the equivalent point is not within the scanning range of the radar.

[0023] When the difference between the calculated distance between the obstacle and the radar, determined based on the coordinate information of the obstacle in the obstacle map, and the distance detection value indicated by the distance information is less than a preset distance error value, the equivalent point is determined to be within the scanning range of the radar.

[0024] Optionally, when it is determined that the equivalent point is within the scanning range of the radar and the scanning information is empty, the method further includes:

[0025] The scanning angle targeted by narrowing the scanning range of the radar.

[0026] Optionally, the radar is located at least in the following locations on the vehicle:

[0027] The front of the vehicle, the rear of the vehicle, the four corners of the vehicle, and the sides of the vehicle doors.

[0028] Secondly, embodiments of this application provide an obstacle positioning device, comprising:

[0029] An acquisition module is used to acquire scanning information from multiple radars of the vehicle, wherein the scanning information is used to describe the distance information from the radar to the obstacles scanned by the radar;

[0030] An equivalent point module is used to determine the equivalent point of the obstacle on the obstacle map based on the scanning information. The obstacle map includes the coordinate information of the obstacle and covers the outer area of ​​the vehicle.

[0031] A point retention module is used to retain the equivalent point in the obstacle map when the equivalent point is not within the scanning range of the radar, so as to locate the obstacle based on the equivalent point.

[0032] Thirdly, embodiments of this application provide an obstacle location device, including:

[0033] A memory for storing computer programs and transferring the computer programs to the processor;

[0034] A processor is configured to execute the obstacle localization method described above according to instructions in the computer program.

[0035] Fourthly, embodiments of this application provide a vehicle including the aforementioned obstacle location device.

[0036] As can be seen from the above technical solution, this application has the following advantages:

[0037] This application provides an obstacle localization method, apparatus, device, and vehicle. The method includes: acquiring scanning information from multiple radars of the vehicle, the scanning information describing the distance information from the radar to an obstacle scanned by the radar; determining the equivalent point of the obstacle in an obstacle map based on the scanning information, the obstacle map including the coordinate information of the obstacle, the obstacle map covering the outer area of ​​the vehicle; when the equivalent point is not within the scanning range of the radar, retaining the equivalent point in the obstacle map for obstacle localization. When the equivalent point is not within the scanning range of the radar, it can be determined that the obstacle is not within the radar's scanning range, i.e., the obstacle has entered the radar's blind zone. This application, by establishing an obstacle map covering the outer area of ​​the vehicle, can determine the equivalent point of the obstacle in the obstacle map, enabling obstacle tracking and localization even when the obstacle enters the radar's blind zone, thereby ensuring safe vehicle operation.

[0038] Furthermore, after tracking and locating obstacles based on equivalent points, the obstacle localization system can send the resulting location data to the Autonomous Emergency Braking (AEB) system. AEB then uses this location data to automatically brake the vehicle, thereby improving driving safety. For example, when parking is required, the obstacle localization system can send the location data to AEB, which then automatically controls the vehicle to park in an available parking space. This avoids safety hazards caused by blind spots in the vehicle's radar during automatic parking. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 A system architecture diagram of an obstacle localization system provided in this application embodiment;

[0041] Figure 2 A schematic diagram of an obstacle map provided in an embodiment of this application;

[0042] Figure 3 A schematic diagram illustrating the process of generating equivalent points of an obstacle, as provided in an embodiment of this application;

[0043] Figure 4 A schematic diagram of a single radar triangulation point provided in an embodiment of this application;

[0044] Figure 5 A schematic diagram of a single radar equivalent point provided in an embodiment of this application;

[0045] Figure 6 A flowchart illustrating an obstacle localization method provided in this application embodiment;

[0046] Figure 7 This is a schematic diagram of an obstacle positioning device provided in an embodiment of this application. Detailed Implementation

[0047] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0048] First, some technical terms involved in the embodiments of this application will be introduced.

[0049] Obstacle localization involves determining the location of obstacles based on information identified by radar, such as ultrasonic radar. Once the obstacle's location is determined, the vehicle can use navigation technology to generate a corresponding driving route to avoid it, thus enabling the vehicle to achieve obstacle avoidance. However, all of the above solutions are limited by whether the radar can identify the obstacle. If the radar cannot identify the obstacle, the vehicle will not be able to generate a corresponding driving route to avoid it. For example, when an obstacle enters the radar's blind spot, the radar will not be able to detect its presence, thus posing a risk of collision between the vehicle and the obstacle.

[0050] In view of this, embodiments of this application provide an obstacle localization method. This method can be implemented using an obstacle localization system. Specifically, the obstacle localization system acquires scanning information from multiple radars of the vehicle. This scanning information describes the distance information from the radar to the obstacles scanned by the radar, and this distance information can be the distance detection value from the obstacle to the radar. The obstacle localization system determines the equivalent point of the obstacle in an obstacle map based on the scanning information including the distance information. The obstacle map includes the coordinate points of the obstacles and covers the outer area of ​​the vehicle. When the equivalent point is not within the radar's scanning range, the obstacle localization system retains the equivalent point in the obstacle map and uses this equivalent point to locate the obstacle. The radar's scanning range can be the radar's field of view (FOV).

[0051] This method establishes a 360-degree obstacle map based on the vehicle body, covering the outer area of ​​the vehicle. Then, it determines the equivalent points of obstacles within the obstacle map using radar scanning information. When an equivalent point is outside the radar's scanning range (i.e., the obstacle enters a blind spot), the equivalent point is retained. The obstacle is tracked and located based on these equivalent points. Since the obstacle map includes the obstacle's coordinate information, the absolute position of the obstacle can be determined, improving the accuracy of tracking and positioning.

[0052] Furthermore, after tracking and locating obstacles based on equivalent points, the obstacle localization system can send the resulting location data to the Autonomous Emergency Braking (AEB) system. AEB then uses this location data to automatically brake the vehicle, thereby improving driving safety. For example, when parking is required, the obstacle localization system can send the location data to AEB, which then automatically controls the vehicle to park in an available parking space. This avoids safety hazards caused by blind spots in the vehicle's radar during automatic parking.

[0053] An obstacle location system can be a software system; specifically, it can be deployed as computer software on a computing device to perform obstacle location functions. In some embodiments, the obstacle location system can also be a hardware system, which includes physical devices for performing specific obstacle location functions.

[0054] This obstacle localization system can be deployed in an end device, which can be the vehicle's onboard computer. By running the obstacle localization system on the onboard computer, obstacles can be tracked and located.

[0055] The obstacle localization system tracks and locates obstacles through subsystems with different functions and units with different capabilities. This application does not limit the division of the internal subsystems of the obstacle localization system; the following describes the process in conjunction with... Figure 1 An exemplary division method will be introduced.

[0056] See Figure 1 This figure is a system architecture diagram of an obstacle location system provided in an embodiment of this application.

[0057] The obstacle localization system 100 includes a radar subsystem 120 and a localization subsystem 140. The radar subsystem 120 acquires scanning information from multiple radars of the vehicle to determine whether the equivalent point of an obstacle in the obstacle map is within the radar's scanning range. The localization subsystem 140 determines the equivalent point of an obstacle in the obstacle map, and when the equivalent point is not within the radar's scanning range, retains the equivalent point and tracks and locates the obstacle based on it.

[0058] The radar subsystem 120 includes a communication unit 122. The communication unit 122 acquires scanning information from multiple radars of the vehicle. This scanning information describes the distance from obstacles detected by the radars to the radars, and the communication unit sends this information to the positioning subsystem. The radars can be located at the front of the vehicle, the rear of the vehicle, the four corners of the vehicle, or the sides of the vehicle doors. Radars at different locations can acquire scanning information of obstacles in different directions, i.e., they can obtain the directional information of the obstacles. In some embodiments, the radars are located at all the locations described above, thus providing radar coverage in all directions of the vehicle.

[0059] The positioning subsystem 140 includes a communication unit 142, an equivalent point unit 144, and a reserved point unit 146. The communication unit 142 receives scanning information transmitted by the radar subsystem. The equivalent point unit 144 determines the equivalent points of obstacles in the obstacle map based on the scanning information. For ease of understanding, the following explanation is combined with... Figure 2 This is an example of an obstacle map.

[0060] See Figure 2 This figure is a schematic diagram of an obstacle map provided in an embodiment of this application.

[0061] The obstacle map includes the coordinates of obstacles, thus determining their absolute positions within the map. As shown in the diagram, the obstacle map covers the area surrounding the vehicle. Specifically, u0-u11 are radars located on the vehicle; u0, u3, u4, and u7 are corner radars; u1 and u2 are the center radars at the front of the vehicle; u5 and u6 are the center radars at the rear of the vehicle; and u8, u9, u10, and u11 are side radars.

[0062] In some implementations, the equivalent point unit 144 is specifically used to determine the distance calculation value between the obstacle and the radar based on the coordinate information of the obstacle in the obstacle map; compare the distance calculation value with the distance detection indicated by the distance information; and generate an equivalent point in the vehicle's travel direction in the obstacle map based on the smaller distance value indicated in the comparison result.

[0063] Understandably, due to the inherent error in radar identification, the smaller distance value can be determined by comparing the calculated distance value and the detected distance value, and an equivalent point can be generated based on this smaller value. The radar needs to identify the obstacle closest to it so that the vehicle can avoid that obstacle.

[0064] For details on the equivalent process, please refer to [link / reference]. Figure 3 The diagram illustrates the process of generating equivalent points for obstacles. This illustration uses the center radar at the front of the vehicle as an example; the process is similar for other radars.

[0065] In the diagram, u1 and u2 are the central radars at the front of the vehicle, the shaded area 300 represents the blind spots for u1 and u2, A is an obstacle, and B is an equivalent point. The equivalent point B is generated from obstacle A based on the smaller distance value. As can be seen from the diagram, the equivalent point B is on the vehicle's direction of travel, specifically on the middle helix line of the line segment formed by points u1 and u2.

[0066] In another implementation, when the scan information is empty, the equivalent point unit 144 obtains the scan information of the previous frame, determines the equivalent point of the obstacle in the obstacle map based on the equivalent point of the previous frame determined by the scan information of the previous frame. That is, when the scan information of the current frame is empty, the equivalent point at the current moment is determined by determining the equivalent point according to the method of determining the equivalent point at the historical moment.

[0067] When the scan information is not empty and the single radar triangulation positioning condition is met, the equivalent point unit 144 establishes a single radar triangulation positioning point and uses the single radar triangulation positioning point as the equivalent point of the obstacle in the obstacle map.

[0068] See Figure 4 The figure is a schematic diagram of a single radar triangulation positioning point provided in an embodiment of this application.

[0069] In the diagram, C represents the triangulation point of a single radar, u0 represents its position at time t, and u01 represents its position at time t+1. This diagram uses the corner radar u0 as an example for illustration; the situation is similar for other radars on the vehicle.

[0070] When the scanning information is not empty and the single radar triangulation positioning condition is not met, the equivalent point element 144 generates an equivalent point on the angle bisector of the radar's scanning range in the obstacle map.

[0071] See Figure 5 The figure is a schematic diagram of a single radar equivalent point provided in an embodiment of this application.

[0072] Where u0 is the angle radar, Xu0Y constitutes the scanning range of the angle radar, and D is the equivalent point of a single radar. The equivalent point D is on the angle bisector of the angle formed by Xu0Y. The distance between the equivalent point D and u0 is determined according to the distance information indicated in the scanning information. That is, the distance detection value indicated by the distance information is the distance between the equivalent point D and u0.

[0073] The point retention unit 146 is used to retain the equivalent point in the obstacle map when the equivalent point is not within the scanning range of the radar, so that the obstacle localization system 100 can locate the obstacle based on the equivalent point.

[0074] In some possible implementations, the positioning subsystem 140 further includes a point deletion unit 148. The point deletion unit is used to delete equivalent points from the obstacle map when the equivalent point is within the radar's scanning range. It is understood that when an obstacle's equivalent point is within the radar's scanning range, the radar can accurately identify the obstacle's location, and at this point, the equivalent point can be deleted from the obstacle map, thereby reducing resource utilization and improving the operational efficiency of the positioning subsystem 140.

[0075] The radar subsystem 120 further includes a judgment unit 124 and a correction unit 126. The judgment unit 124 is used to determine whether the equivalent point is within the radar's scanning range. The correction unit 126 is used to adjust the radar's scanning range.

[0076] In some possible implementations, the judgment unit 124 is specifically used to determine that if the difference between the calculated distance between the obstacle and the radar, determined based on the coordinate information of the obstacle in the obstacle map, and the detected distance indicated by the distance information, is greater than or equal to a preset distance error value, it indicates that the difference between the calculated distance value and the detected distance value is large, and it can be determined that the radar may have a large recognition error. To avoid this recognition error affecting the safe driving of the vehicle, the equivalent point can be determined to be outside the scanning range of the radar, thereby achieving tracking and positioning of the equivalent point.

[0077] In some other possible implementations, the judgment unit 124 is specifically used to determine that when the difference between the distance calculation value between the obstacle and the radar determined according to the coordinate information of the obstacle in the obstacle map and the distance detection value indicated by the distance information is less than a preset distance error value, it indicates that the difference between the distance calculation value and the distance detection value is small, and it can be determined that the radar recognition error is small or the radar recognition is normal, and then the equivalent point is determined to be within the scanning range of the radar.

[0078] In actual operation, when an obstacle is not within the radar's scanning range, but due to equivalent errors or single-radar triangulation positioning errors, the equivalent point is determined to be within the radar's scanning range, the radar subsystem 120 may mistakenly delete the equivalent point. The correction unit 126 can reduce the scanning angle targeted by the radar's scanning range, thereby making the equivalent point no longer within the radar's scanning range, thus corresponding to the actual operating conditions.

[0079] To make the technical solution of this application clearer and easier to understand, the obstacle positioning method provided in the embodiments of this application will be described in detail below from the perspective of the obstacle positioning system 100.

[0080] See Figure 6 The figure is a flowchart of an obstacle localization method provided in an embodiment of this application. The method includes:

[0081] S602: The obstacle location system 100 acquires scanning information from multiple radars of the vehicle.

[0082] The obstacle localization system 100 acquires scanning information from multiple radars of the vehicle. This scanning information describes the distance information from obstacles detected by the radars to the radars. The radars are located at least in the following positions on the vehicle: the front of the vehicle, the rear of the vehicle, the four corners of the vehicle, and the sides of the vehicle doors.

[0083] S604: The obstacle positioning system 100 determines the equivalent point of the obstacle on the obstacle map based on the scanning information. The obstacle map includes the coordinate information of the obstacle and covers the outer area of ​​the vehicle.

[0084] Because the obstacle map covers the area surrounding the vehicle, the obstacle localization system 100 can determine the absolute position of the obstacle based on its equivalent points. The obstacle localization system 100 determines the equivalent points of the obstacle on the obstacle map based on scanning information in two main ways.

[0085] The first method will be introduced below. The obstacle localization system 100 determines the calculated distance between the obstacle and the radar based on the coordinate information of the obstacle in the obstacle map. The obstacle localization system 100 compares the calculated distance with the distance detection value indicated by the distance information. Based on the smaller distance value indicated in the comparison result, the obstacle localization system 100 generates an equivalent point in the vehicle's direction of travel on the obstacle map. For details, please refer to [link to documentation]. Figure 3 As shown, it will not be elaborated further here.

[0086] The second approach presents three distinct scenarios.

[0087] Scenario 1: If the scan information is empty, the obstacle localization system 100 obtains the scan information of the previous frame, and determines the equivalent point of the obstacle in the obstacle map based on the equivalent point of the previous frame determined by the scan information of the previous frame.

[0088] Case 2: If the scan information is not empty and meets the single radar triangulation positioning conditions, the obstacle positioning system 100 establishes a single radar triangulation positioning point; the single radar triangulation positioning point is used as the equivalent point of the obstacle in the obstacle map.

[0089] Case 3: If the scanning information is not empty and does not meet the single radar triangulation positioning conditions, the obstacle positioning system 100 generates an equivalent point on the angle bisector of the scanning range of the radar in the obstacle map.

[0090] The above describes two different methods for generating equivalent points. For different radars, one method can be selected to determine the location of the equivalent point according to its own needs. For example, the equivalent points of the center radar (including the center radar at the front and rear of the vehicle) are generated using the first method described above. The equivalent points of the corner radars and side radars are generated using the second method described above. This application does not limit this, and those skilled in the art can determine the method by which the obstacle positioning system 100 generates equivalent points according to actual conditions.

[0091] S606: When the equivalent point is not within the scanning range of the radar, the obstacle localization system 100 retains the equivalent point in the obstacle map so as to locate the obstacle based on the equivalent point.

[0092] Specifically, the obstacle location system 100 can determine whether the equivalent point is within the radar's scanning range by means of the following method.

[0093] When the difference between the calculated distance between the obstacle and the radar, determined based on the coordinate information of the obstacle in the obstacle map, and the distance detection value indicated by the distance information is greater than or equal to a preset distance error value, the obstacle positioning system 100 determines that the equivalent point is not within the scanning range of the radar.

[0094] When the difference between the calculated distance and the detected distance is large, the obstacle localization system 100 can determine that the radar may have a large recognition error. To avoid this recognition error affecting the safe driving of the vehicle, the obstacle localization system 100 can determine that the equivalent point is not within the scanning range of the radar, thereby achieving tracking and positioning of the equivalent point.

[0095] This application establishes an obstacle map covering the vehicle's perimeter, enabling the determination of the obstacle's equivalent point within the map. When the distance between a historical equivalent point and the vehicle is less than a preset value, and the radar's scanning information is empty, it is determined that the obstacle is outside the radar's scanning range, i.e., the obstacle has entered the radar's blind spot. Because an obstacle map covering the vehicle's perimeter is established, obstacle tracking and positioning are possible even after the obstacle enters the radar's blind spot, thus ensuring safe vehicle operation.

[0096] S608: When the equivalent point is within the scanning range of the radar, the obstacle localization system 100 deletes the equivalent point from the obstacle map.

[0097] When the difference between the calculated distance between the obstacle and the radar, determined based on the coordinate information of the obstacle in the obstacle map, and the distance detection value indicated by the distance information is less than a preset distance error value, the obstacle positioning system 100 determines that the equivalent point is within the scanning range of the radar.

[0098] When the difference between the calculated distance value and the detected distance value is large, the obstacle location system 100 can determine the equivalent point as being within the scanning range of the radar.

[0099] S610: The obstacle location system 100 reduces the scanning angle targeted by the radar's scanning range.

[0100] In practical applications, when an obstacle is outside the radar's scanning range, but due to equivalent errors or single-radar triangulation errors, the equivalent point is determined to be within the radar's scanning range, the obstacle localization system may mistakenly delete the equivalent point. The obstacle localization system can mitigate this by reducing the scanning angle targeted by the radar's scanning range, thus preventing the equivalent point from being mistakenly deleted due to the obstacle being located at the boundary of the radar's scanning range (i.e., in an unstable region).

[0101] As can be seen from the above technical solution, this method establishes a 360-degree obstacle map based on the vehicle body, covering the outer area of ​​the vehicle. Then, it determines the equivalent points of obstacles in the obstacle map using radar scanning information. When an equivalent point is outside the radar's scanning range (i.e., the obstacle enters the recognition blind zone), the equivalent point is retained, and the obstacle is tracked and located based on the equivalent point. Since the obstacle map includes the obstacle's coordinate information, the absolute position of the obstacle can be determined, improving the accuracy of tracking and positioning.

[0102] The steps S608 and S610 described above are optional. In some implementations, S608 and S610 may not be implemented. Those skilled in the art can choose whether to implement S608 and S610 according to the actual situation.

[0103] This application also provides an obstacle positioning device, see [link to relevant documentation]. Figure 7 The device includes:

[0104] The acquisition module 701 is used to acquire scanning information from multiple radars of the vehicle, wherein the scanning information is used to describe the distance information from the obstacles scanned by the radars to the radars.

[0105] The equivalent point module 702 is used to determine the equivalent point of the obstacle on the obstacle map based on the scanning information. The obstacle map includes the coordinate information of the obstacle and covers the outer area of ​​the vehicle.

[0106] The point retention module 703 is used to retain the equivalent point in the obstacle map when the equivalent point is not within the scanning range of the radar, so as to locate the obstacle based on the equivalent point.

[0107] This application also provides an obstacle location device, including:

[0108] A memory for storing computer programs and transferring the computer programs to the processor;

[0109] A processor is configured to execute the obstacle localization method described above according to instructions in the computer program.

[0110] This application also provides a vehicle that includes the above-described equipment.

[0111] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on its differences from other embodiments. In particular, the device embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments. The system embodiments described above are merely illustrative. The units and modules described as separate components may or may not be physically separate. Furthermore, some or all of the units and modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0112] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0113] The above are merely preferred embodiments of this application and are not intended to limit the application in any way. Although this application has disclosed preferred embodiments above, it is not intended to limit the application. Any person skilled in the art can make many possible variations and modifications to the technical solutions of this application using the methods and techniques disclosed above, or modify them into equivalent embodiments with equivalent changes, without departing from the scope of the technical solutions of this application. Therefore, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of this application without departing from the content of the technical solutions of this application shall still fall within the protection scope of the technical solutions of this application.

Claims

1. An obstacle localization method, characterized in that, The method includes: Acquire scanning information from multiple radars of the vehicle, wherein the scanning information is used to describe the distance information from the radar to the obstacles scanned by the radar; The equivalent point of the obstacle on the obstacle map is determined based on the scanning information. The obstacle map includes the coordinate information of the obstacle and covers the outer area of ​​the vehicle. When the equivalent point is not within the scanning range of the radar, the equivalent point in the obstacle map is retained so that the obstacle can be located based on the equivalent point; The equivalent point is not within the scanning range of the radar, including: The difference between the calculated distance from the equivalent point to the radar and the detected distance indicated by the distance information is greater than or equal to a preset distance error value; The method further includes: When the difference between the calculated distance between the obstacle and the radar, determined based on the coordinate information of the obstacle in the obstacle map, and the distance detection value indicated by the distance information is less than the preset distance error value, the equivalent point is determined to be within the scanning range of the radar. When the radar is an angle radar or a side radar, determining the equivalent point of the obstacle on the obstacle map based on the scanning information includes: If the scan information is empty, obtain the scan information of the previous frame, and determine the equivalent point of the obstacle in the obstacle map based on the equivalent point of the previous frame determined by the scan information of the previous frame. If the scan information is not empty and meets the single radar triangulation positioning conditions, a single radar triangulation positioning point is established; the single radar triangulation positioning point is used as the equivalent point of the obstacle in the obstacle map; If the scanning information is not empty and does not meet the single radar triangulation positioning conditions, an equivalent point is generated on the angle bisector of the radar's scanning range in the obstacle map.

2. The method according to claim 1, characterized in that, The method further includes: When the equivalent point is within the scanning range of the radar, the equivalent point is deleted from the obstacle map.

3. The method according to claim 1, characterized in that, When the radar is an intermediate radar, determining the equivalent point of the obstacle on the obstacle map based on the scanning information includes: The distance between the obstacle and the radar is calculated based on the coordinate information of the obstacle in the obstacle map; The calculated distance value and the detected distance value indicated by the distance information are compared; Based on the smaller distance value indicated in the comparison results, an equivalent point is generated in the direction of the vehicle's travel in the obstacle map.

4. The method according to any one of claims 1-3, characterized in that, When it is determined that the equivalent point is within the scanning range of the radar and that the scanning information is empty, the method further includes: The scanning angle targeted by narrowing the scanning range of the radar.

5. The method according to claim 1, characterized in that, The radar is located at least in the following positions on the vehicle: The front of the vehicle, the rear of the vehicle, the four corners of the vehicle, and the sides of the vehicle doors.

6. An obstacle positioning device, characterized in that, include: The acquisition module is used to acquire scanning information from multiple radars of the vehicle, wherein the scanning information is used to describe the distance information from the radar to the obstacles scanned by the radar; An equivalent point module is used to determine the equivalent point of the obstacle on the obstacle map based on the scanning information. The obstacle map includes the coordinate information of the obstacle and covers the outer area of ​​the vehicle. A point retention module is used to retain the equivalent point in the obstacle map when the equivalent point is not within the scanning range of the radar, so as to locate the obstacle based on the equivalent point; The equivalent point is not within the scanning range of the radar, including: The difference between the calculated distance from the equivalent point to the radar and the detected distance indicated by the distance information is greater than or equal to a preset distance error value; The device further includes a determining module, which is used to determine that the equivalent point is within the scanning range of the radar when the difference between the calculated distance between the obstacle and the radar determined based on the coordinate information of the obstacle in the obstacle map and the distance detection value indicated by the distance information is less than the preset distance error value. When the radar is an angle radar or a side radar, the equivalent point module is specifically used to: if the scan information is empty, obtain the scan information of the previous frame, determine the equivalent point of the obstacle in the obstacle map based on the equivalent point of the previous frame determined by the scan information of the previous frame; if the scan information is not empty and the single radar triangulation positioning condition is met, establish a single radar triangulation positioning point; use the single radar triangulation positioning point as the equivalent point of the obstacle in the obstacle map; if the scan information is not empty and the single radar triangulation positioning condition is not met, generate an equivalent point on the angle bisector of the scan range of the radar in the obstacle map.

7. An obstacle positioning device, characterized in that, include: A memory for storing computer programs and transferring the computer programs to a processor; The processor is configured to execute the obstacle localization method according to any one of claims 1 to 5, based on instructions in the computer program.

8. A vehicle, characterized in that, Includes the obstacle positioning device as described in claim 7.

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