Obstacle position identification method, device, terminal equipment and readable storage medium

Abstract

The present application is applicable to the field of automobile technology, and provides an obstacle position identification method, device, terminal equipment and readable storage medium, including: determining a height detection sensor according to a vehicle driving state; calling the height detection sensor to detect a vehicle body position change and obtaining a vehicle body position change parameter; determining the real-time position information of the target identification sensor according to the vehicle body position change parameter and the installation position parameter of the target identification sensor; determining the position of the obstacle according to the real-time position information of the target identification sensor, being able to call the vehicle-mounted sensor in a time-sharing manner to detect a height change of the vehicle suspension, solving the problem of increased target identification information error caused by a suspension height change without increasing the cost of the entire vehicle, improving the accuracy of target object identification, and improving driving safety.

Description

Technical Field

[0001] The present application belongs to the field of automobile technology, and in particular, relates to an obstacle position recognition method, device, terminal equipment and readable storage medium. Background Art

[0002] Automobile suspension is a device that elastically connects the frame and axle of an automobile, and is generally composed of elastic elements, shock absorbers, guide mechanisms, etc. As the most advanced technology in automobile suspension systems, the air suspension system can adjust the height of the automobile suspension in real time according to information such as driving mode, speed change, vehicle posture, and vehicle acceleration to ensure driving safety and comfort.

[0003] Intelligent driving system refers to a control system that assists the driver in manipulating the vehicle by carrying sensors, controllers, actuators, communication modules and other equipment. The intelligent driving system mainly relies on sensors installed on the vehicle body to detect the distance to obstacles. The height information of the sensor is an important parameter for calculating the distance to obstacles.

[0004] Intelligent driving systems usually use fixed height information from sensors to calculate the distance to obstacles. However, in fact, the actual height of the sensor on the vehicle body will change with the height of the vehicle. This will cause the intelligent driving system to have recognition errors when identifying the position of obstacles, which is prone to traffic accidents and poses certain safety hazards. Summary of the invention

[0005] The embodiments of the present application provide an obstacle position identification method, a terminal device, and a computer-readable storage medium to solve the problem of increased target identification information error caused by changes in suspension height.

[0006] In a first aspect, an embodiment of the present application provides a method for identifying an obstacle position, comprising:

[0007] Determine the height detection sensor according to the driving state of the vehicle; the height detection sensor is used to detect the change of the position of the vehicle body;

[0008] Calling the height detection sensor to detect the change in the position of the vehicle body and obtain the parameter of the change in the position of the vehicle body;

[0009] Determining the real-time position information of the target recognition sensor according to the vehicle body position change parameter and the installation position parameter of the target recognition sensor;

[0010] The position of the obstacle is determined according to the real-time position information of the target recognition sensor.

[0011] In an implementation of the first aspect, determining the height detection sensor according to the driving state of the vehicle includes:

[0012] Get the currently enabled driving function;

[0013] The height detection sensor is determined according to the driving function.

[0014] In an implementation of the first aspect, the driving function includes an automatic driving function and an automatic parking function, and determining the height detection sensor according to the driving function includes:

[0015] If the driving function is an automatic driving function, determining that the surround view camera is a height detection sensor;

[0016] If the driving function is an automatic parking function, it is determined that the driving camera is a height detection sensor.

[0017] In an implementation of the first aspect, determining the height sensor according to the driving state of the vehicle includes:

[0018] Get the vehicle's speed;

[0019] The height detection sensor is determined according to the driving speed.

[0020] In an implementation of the first aspect, determining the height detection sensor according to the driving speed includes:

[0021] Determining whether the driving speed is greater than a demarcation point speed;

[0022] If the driving speed is greater than the demarcation point speed, determining that the surround view camera is a height detection sensor;

[0023] If the driving speed is not greater than the demarcation point speed, it is determined that the driving camera is a height detection sensor.

[0024] In an implementation of the first aspect, the vehicle body position change parameter includes a vehicle body height change value, and calling the height detection sensor to detect the vehicle body position change and obtaining the vehicle body position change parameter includes:

[0025] Calling a height detection sensor to detect an actual distance between the height detection sensor and a road feature point;

[0026] Calculating the actual ground distance of the height detection sensor according to the actual distance between the height detection sensor and the road feature point and the installation angle of the height detection sensor;

[0027] The height change value of the vehicle body is calculated according to the actual ground distance of the height detection sensor and the installation height value of the height detection sensor.

[0028] In an implementation of the first aspect, the vehicle body position change parameter includes a vehicle body inclination slope and an installation position parameter of a height detection sensor, the installation position parameter of the height detection sensor includes an installation height and a lateral installation value when the height detection sensor is installed in a preset state of the suspension, and the installation position parameter of the target recognition sensor includes an installation height and a lateral installation value when the target recognition sensor is installed in a preset state of the suspension; determining the real-time position information of the target recognition sensor according to the vehicle body position change parameter and the installation position parameter of the target recognition sensor includes:

[0029] Calculating a height difference between an installation height of the target recognition sensor in the preset state of the suspension and an installation height of the height detection sensor in the preset state of the suspension according to an installation height of the height detection sensor when installed in the preset state of the suspension and an installation height of the target recognition sensor when installed in the preset state of the suspension;

[0030] The real-time height value of the target recognition sensor is calculated based on the lateral installation value of the height detection sensor when installed in the preset state of the suspension, the lateral installation value of the target recognition sensor when installed in the preset state of the suspension, the inclination slope of the vehicle body, and the height difference between the installation height of the target recognition sensor in the preset state of the suspension and the installation height of the height detection sensor in the preset state of the suspension.

[0031] In a second aspect, an embodiment of the present application provides an obstacle position identification device, including:

[0032] A first determining unit is used to determine a height detection sensor according to the driving state of the vehicle; the height detection sensor is used to detect the change of the position of the vehicle body;

[0033] A height detection unit, used for calling the height detection sensor to detect the change of the vehicle body position and obtain the vehicle body position change parameter;

[0034] a second determining unit, configured to determine the real-time position information of the target recognition sensor according to the vehicle body position change parameter and the installation position parameter of the target recognition sensor;

[0035] The target recognition unit is used to determine the position of the obstacle according to the real-time position information of the target recognition sensor.

[0036] In a third aspect, an embodiment of the present application provides a terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the obstacle location identification method as described in any one of the first aspects above are implemented.

[0037] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the obstacle position identification method as described in any one of the above-mentioned first aspects are implemented.

[0038] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product is run on a terminal device, the terminal device can execute the obstacle location identification method described in any one of the above-mentioned first aspects.

[0039] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0040] The embodiments of the present application provide an obstacle position identification method, apparatus, terminal device and computer-readable storage medium. By calling sensors installed on the vehicle in a time-sharing manner, the height detection sensor is called to detect the position change of the vehicle body in real time, and the real-time position of the target identification sensor is updated in real time according to the position change of the vehicle body. The updated real-time position of the target identification sensor is called to identify the position of the obstacle. This can solve the problem of increased error in target identification information caused by changes in suspension height without increasing the cost of the entire vehicle, thereby improving the accuracy of target object identification and improving driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0042] Figure 1 is a structural schematic diagram of a continuously variable damping control air suspension system in an embodiment of the present application;

[0043] Figure 2 A schematic diagram showing the location distribution of multiple sensors in a car is shown;

[0044] Figure 3 A schematic diagram of a vehicle coordinate system is shown;

[0045] Figure 4 A schematic diagram of a scene for obstacle position recognition is shown;

[0046] Figure 5 It is a schematic diagram of an implementation flow of an obstacle position identification method provided in an embodiment of the present application;

[0047] Figure 6A schematic diagram showing the distribution of camera modules on a vehicle suspension in an intelligent driving system is shown;

[0048] Figure 7 A schematic diagram of a scene in which a height detection sensor detects height above the ground in an embodiment of the present application is shown;

[0049] Figure 8 A schematic diagram showing a scenario of determining the real-time height value of a target recognition sensor in an embodiment of the present application

[0050] Fig. 9 is a structural schematic diagram of an obstacle position identification device provided in one embodiment of the present application;

[0051] Fig.10 It is a structural diagram of a terminal device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0052] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0053] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0054] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0055] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0056] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0057] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0058] In order to facilitate understanding of the target location recognition method provided by the present application, the following first introduces the relevant concepts mentioned in the embodiments of the present application:

[0059] 1. Suspension system

[0060] The suspension system is the general term for the force transmission connection device between the frame and the axle of the car. The suspension system is generally composed of elastic elements, shock absorbing elements, guide mechanisms and lateral stabilizers.

[0061] Elastic elements include various types of springs, which mainly play a buffering role; shock-absorbing elements include various types of shock absorbers, which mainly play a shock-absorbing role; guide mechanisms include control arms, etc., which mainly play a force transmission role; lateral stabilizers include lateral anti-roll bars, etc., which are mainly used to reduce excessive body roll.

[0062] 2. Air suspension system

[0063] The air suspension system is generally composed of a variable damping shock absorber, an air spring, an air compressor, a control valve, an actuator and a control device.

[0064] For example, see Figure 1 , Figure 1 FIG. 1 shows a schematic diagram of the structure of a continuously variable damping control air suspension system. Figure 1 As shown, the Continuous Damping Control (CDC) suspension system is mainly composed of 4 CDC shock absorbers with CDC solenoid valves (respectively left front CDC shock absorber, right front CDC shock absorber, left rear CDC shock absorber, right rear CDC shock absorber), 3 body vertical acceleration sensors (left front body vertical acceleration sensor, right front body vertical acceleration sensor, left rear body vertical acceleration sensor), 2 wheel vertical acceleration sensors (left front wheel vertical acceleration sensor, right front wheel vertical acceleration sensor), an actuator (not shown in the figure) and a CDC suspension control unit (not shown in the figure).

[0065] The plurality of sensors are used to collect a plurality of acceleration data, and then the suspension control unit determines a control scheme according to a set algorithm and sends instructions to the execution device to control the state of the suspension.

[0066] The suspension control unit can be equipped with the adjustment system software of the suspension and shock absorber, and can also record the acceleration value in the height direction of the vehicle, the deflection rate (shaking motion) in the longitudinal axis direction and the deflection rate (pitch motion) of the vehicle transverse axis. The specific working principle of the suspension control unit is as follows:

[0067] The suspension control unit selects the suspension height according to the current vehicle speed and the current driving mode, so that the vehicle is in a safe, reliable and comfortable environment. For example, if the driver selects the off-road mode, the height of the car suspension is adjusted to the preset height corresponding to the off-road mode, which is usually 70-90mm higher than the standard height of the normal driving mode to ensure driving comfort. For another example, if the driver selects the high-speed sports mode, the height of the car suspension is adjusted to the preset height corresponding to the high-speed sports mode, which is usually 50-70mm lower than the standard height of the normal driving mode to ensure driving safety. In addition, the suspension control unit will dynamically adjust the height of the suspension according to the vehicle height information monitored by the sensor in real time. When the height of the vehicle changes, the spring airbag is automatically controlled to inflate or deflate, so that the vehicle body is maintained within a fixed height range to ensure driving comfort.

[0068] The process of the suspension control unit controlling the spring airbag to inflate or deflate to adjust the vehicle height according to the vehicle height information is as follows:

[0069] Control the process of raising the car body:

[0070] When the number of passengers or the load weight of the car increases, the height of the car body decreases. The suspension control unit monitors the decrease in height of the car body through the sensor and opens the lifting valve. The compressed air enters the air spring through the solenoid valve. As the air pressure of the air spring increases, the height of the car body also rises. During the inflation process, the suspension control unit monitors the height of the car body in real time. When the height of the car body returns to the set value, the solenoid valve is closed. At this time, the height control valve is in a balanced state again to ensure that the height of the car is maintained at a fixed height.

[0071] Control the process of lowering the car body:

[0072] When the number of passengers or the load mass of the car decreases, the height of the car body rises. When the suspension control unit detects the increase in the height of the car body through the sensor, it will open the lowering valve to discharge the air in the air spring through the solenoid valve. As the air pressure of the air spring decreases, the height of the car body also decreases. During the deflation process, the suspension control unit monitors the height of the car body in real time. When the height of the car body returns to the set value, the solenoid valve is closed. At this time, the height control valve is in a balanced state again to ensure that the height of the car is maintained at a fixed height.

[0073] In summary, the air suspension will adjust the height of the suspension in real time according to the driving mode selection, vehicle speed change, vehicle posture, vehicle acceleration information, etc. to ensure driving safety and comfort. In other words, the vehicle suspension and vehicle height of the vehicle equipped with an air suspension system are dynamically changed.

[0074] 3. Intelligent driving system

[0075] An intelligent driving system refers to a control system that uses sensors, controllers, actuators, communication modules and other equipment to assist the driver in manipulating the vehicle.

[0076] At present, most intelligent driving systems use a multi-sensor fusion solution for target recognition, that is, through a variety of sensor fusion solutions such as camera modules and radar modules to determine the location information of obstacles around the vehicle, in order to improve the safety during driving.

[0077] Among them, cameras are commonly used devices for target recognition because of their advantages such as multiple recognition targets, easy installation, low cost, etc. Usually, multiple cameras can be set up in multiple positions such as the front, back, left, and right of the vehicle body to collect images from multiple directions to serve various functional scenarios.

[0078] The radar module can effectively identify moving targets, so radars can also be installed in the front and rear bumpers of the vehicle to identify obstacles.

[0079] Intelligent driving systems can realize object recognition and object feature collection.

[0080] For example, see Figure 2 , Figure 2 The schematic diagram of the position distribution of multiple sensors in the car shows that during parking, the surround camera can be used to identify obstacles in the area near the car body. When reversing is required, the ultrasonic probe can be used to provide a reversing reminder. During driving, the driving camera (front camera) can be used to detect the vehicle in front and provide a collision warning alarm. The front camera / millimeter wave radar can also be used to determine the relative distance and speed of the vehicle in front.

[0081] In vehicles equipped with intelligent driving systems, the system's multiple sensors are used to collect information about the environment in front of the vehicle, thereby realizing related driving assistance functions. The target characteristic recognition of the sensor requires two of the most important vehicle parameters, namely the sensor's body layout parameters and the vehicle's size parameters.

[0082] The body arrangement parameters of the sensor are used to indicate the installation position of the sensor on the body, which can be specifically expressed in the form of coordinates.

[0083] For example, Figure 3 As shown, a spatial rectangular coordinate system is established based on the vehicle, with the center point of the front axle of the vehicle as the origin, the front direction of the vehicle as the positive direction of the X axis, the left direction of the vehicle as the positive direction of the Y axis, and the top of the vehicle as the positive direction of the Z axis. In this way, the installation position of each sensor can be marked based on the spatial rectangular coordinate system, that is, the installation position of each sensor can be determined based on the coordinates. Assuming that the installation coordinates of a sensor are (X1, Y1, Z1), it means that the sensor is installed at a position where the distance from the center point of the front axle of the vehicle in the front direction is X1, the distance from the center point of the front axle of the vehicle in the left direction is Y1, and the distance from the center point of the front axle of the vehicle in the top direction is Z1.

[0084] The size parameters of the vehicle include but are not limited to the length, height, width, front overhang, rear overhang, etc. The front overhang refers to the distance from the front end of the vehicle to the center point of the front axle, and the rear overhang refers to the distance from the rear end of the vehicle to the center point of the rear axle.

[0085] When an obstacle appears in front of the vehicle, in order to avoid sending a collision, it is necessary to determine the distance between the vehicle and the obstacle in front. Figure 4 , Figure 4 A schematic diagram of a scene for obstacle location recognition is shown. Figure 4 In the figure, the first front vehicle B and the second front vehicle C are obstacles in the forward direction of the vehicle A. A camera P is installed on the vehicle A, and the installation height of the camera is H. Assuming that the projection position of the landing point of the first front vehicle B detection frame is y1, and the projection position of the landing point of the second front vehicle C detection frame is y2, according to the triangle similarity principle, the distance D between the first front vehicle B and the vehicle A can be obtained. A,B =fH / y1, the distance between the second front vehicle C and the vehicle A is D A,C =fH / y2, where f is the focal length of the camera P, which is a fixed parameter of the camera.

[0086] From this we can see that the installation height of the camera is an important parameter for calculating the distance between the obstacle in front and the vehicle.

[0087] It should be noted that the relevant functions of sensors such as ultrasonic probes, surround-view cameras, driving cameras, millimeter-wave radars, and lidars are strongly dependent on their installation height parameters, and in intelligent driving systems, the installation height parameters of these sensors are often fixed values. On vehicles equipped with air suspension, the height of the entire vehicle will change with the adjustment of the air suspension system, which will cause the actual height of the sensor to change. The intelligent driving system still uses the original fixed parameters to identify the position of obstacles, which will lead to inaccurate identification information, increased errors, false alarms or missed reports, thereby increasing the risk of intelligent driving vehicle control, easily causing related accidents, and posing certain safety hazards.

[0088] In order to avoid the above-mentioned problem that the actual height of the sensor set on the vehicle body changes due to the dynamic adjustment process of the vehicle's suspension system, which in turn causes the intelligent driving system to have errors in identifying the position of obstacles. The embodiment of the present application provides an obstacle position identification method, which calls the sensor set on the vehicle in time-sharing, calls the height detection sensor to detect the position change of the vehicle body in real time, and updates the real-time position of the target recognition sensor in real time according to the position change of the vehicle body, and calls the updated real-time position of the target recognition sensor to identify the position of the obstacle. It can solve the problem of increased error in target recognition information caused by changes in suspension height without increasing the cost of the whole vehicle, improve the accuracy of target object recognition, and improve driving safety.

[0089] The following is an exemplary description of the obstacle position recognition method provided by the embodiment of the present application with reference to the accompanying drawings:

[0090] See also Figure 5 , Figure 5 FIG. 1 is a schematic diagram of an implementation flow of an obstacle location identification method provided by an embodiment of the present application. Figure 5 As shown, the obstacle position identification method provided in the embodiment of the present application may include S11 to S14. The execution subject of the embodiment of the present application may be the above-mentioned intelligent driving system. The obstacle position identification method provided in the embodiment of the present application is described below with the intelligent driving system as the execution subject, and the details are as follows:

[0091] S11: Determine the height detection sensor according to the vehicle driving state.

[0092] In the embodiment of the present application, the height detection sensor is used to detect changes in the position of the vehicle body.

[0093] In specific applications, multiple sensors for target identification are installed on the vehicle suspension, and the intelligent driving system can perform multiple functions such as environmental detection and obstacle identification through the above multiple sensors.

[0094] In a specific implementation, the intelligent driving system can first obtain the vehicle's driving status, and according to the vehicle's driving status, determine which sensors are currently used to identify obstacles (i.e., target recognition sensors). After determining which sensors are currently used to identify obstacles, the sensors that are not currently needed to identify obstacles can be called as height detection sensors, and the height detection sensors can be called to detect changes in the vehicle body position.

[0095] In a specific application, the driving state of the vehicle is determined by the driving function currently turned on by the vehicle, wherein the driving function includes but is not limited to the automatic driving function and the automatic parking function.

[0096] It should be noted that the intelligent driving system can automatically drive the vehicle or assist the driver in driving the vehicle. The intelligent driving system generally has driving functions such as automatic driving function, automatic parking function, lane keeping function, automatic brake assist function, etc. The driver can turn on the required driving function through the intelligent driving system when driving the vehicle, so that the intelligent driving system can start the driving function to operate the vehicle. Exemplary. When the driver turns on the automatic driving function during high-speed driving, the intelligent driving system can drive the vehicle according to the automatic driving function. It should be noted that the above-mentioned automatic driving function can be a function of controlling the vehicle to drive automatically, such as controlling the vehicle to travel at a certain speed.

[0097] The embodiment of the present application takes the camera module in the intelligent driving system as an example to illustrate as follows:

[0098] The camera module can include multiple cameras to capture images from multiple directions to serve various functional scenarios.

[0099] The camera module may include a surround view camera and a driving camera. Figure 6 , Figure 6 The figure shows the distribution diagram of the camera module on the vehicle suspension in the intelligent driving system. Figure 6 As shown, the camera module in the intelligent driving system may include a surround view camera and a driving camera.

[0100] Among them, the surround-view camera can include a front surround-view camera 61 and a rear surround-view camera 62. The front surround-view camera 61 can be set on the front center grille of the vehicle, and the rear surround-view camera 62 can be set at the rear position of the entire vehicle. The surround-view camera is mainly used for environmental detection and target recognition near the vehicle body, such as parking space recognition, low-speed pedestrian recognition, etc.

[0101] The driving camera may include a front-view camera 63, a rear-view camera 64, and four side-view cameras (a left front side-view camera 65, a right front side-view camera 66, a left rear side-view camera 67, and a right rear side-view camera 68). The front-view camera 63 may be arranged at the front windshield of the vehicle, the rear-view camera 64 may be arranged on the rear spoiler of the vehicle, and the four side-view cameras may be arranged respectively on the side fenders of the vehicle. The driving camera is mainly used for environmental detection and target recognition at the far end of the vehicle body, such as vehicle and pedestrian detection under high-speed driving conditions.

[0102] Surround view cameras and driving cameras are used in different scenarios. Driving cameras are mainly used for driving functions such as cruise control and lane change, such as Adaptive Cruise Control (ACC), Autonomous Emergency Brake (AEB), Highway Assist (HWA), etc. Surround view cameras are mainly used for target display and recognition in parking scenarios, such as 360-degree surround view target detection and automatic parking.

[0103] In an embodiment of the present application, the above S11 may include the following steps:

[0104] Get the currently enabled driving function;

[0105] The height detection sensor is determined according to the driving function.

[0106] In actual applications, when the vehicle turns on different driving functions, the intelligent driving system will call different sensors to perform target recognition operations. In this way, some sensors will be idle. The sensors in the idle state can be identified as height detection sensors. In this way, the position changes of the vehicle body (vehicle suspension) during driving can be detected by calling the sensors installed on the vehicle in a time-sharing manner without increasing the cost of the entire vehicle.

[0107] The height detection sensor is a sensor used to detect changes in the position of the vehicle body during driving.

[0108] Exemplarily, when the driving function turned on by the vehicle is the automatic driving function, the intelligent driving system will call the driving camera to identify obstacles on the way through the driving camera. Another exemplary example, when the vehicle turns on the automatic parking function, the intelligent driving system will call the surround camera to identify obstacles around the parking through the surround camera. When the intelligent driving system calls the surround camera to identify obstacles, the driving camera is idle, so the driving camera can be called as a height detection sensor to detect changes in the position of the vehicle body. When the intelligent driving system calls the driving camera to identify obstacles, the surround camera is idle, so the surround camera can be called as a height detection sensor to detect changes in the position of the vehicle body.

[0109] In specific applications, the intelligent driving system can first obtain the currently enabled driving function, then determine the driving function to call the sensor for target recognition (ie, the target recognition sensor), and use the remaining sensors as height detection sensors to detect the position changes of the vehicle suspension.

[0110] In the embodiment of the present application, in order to determine the position change of the vehicle suspension as a whole, the cameras arranged at the front and rear of the vehicle body can be used as the height detection sensors. That is, when the intelligent driving system determines that the currently activated driving function is the automatic driving function, the front and rear surround view cameras (i.e. Figure 6 The front surround view camera 61 and the rear surround view camera 62 in the vehicle are used as height detection sensors; when the intelligent driving system determines that the currently activated driving function is the automatic parking function, the front and rear driving cameras (i.e. Figure 6 The front view camera 63 and the rear view camera 64) are used as height detection sensors.

[0111] In another embodiment of the present application, the above S11 may further include the following steps:

[0112] Get the vehicle's speed;

[0113] The height detection sensor is determined according to the driving speed.

[0114] In actual application, the intelligent driving system can also determine which sensors are currently used to identify obstacles based on the vehicle's driving speed, and then use unused sensors as height sensors to detect position changes in the vehicle's suspension.

[0115] In specific applications, the intelligent driving system can first obtain the vehicle's driving speed. If the vehicle's driving speed is greater than the dividing point speed, it is determined that the vehicle is in a high-speed driving state. At this time, the driving camera can be called as a target recognition sensor for identifying obstacles, and the sensor that does not need to perform target recognition (such as a surround-view camera) can be used as a height recognition sensor; if the vehicle's driving speed is not greater than the dividing point speed, it is determined that the vehicle is in a low-speed driving state. At this time, the surround-view camera can be called as a target recognition sensor for identifying obstacles, and the sensor that does not need to perform target recognition (such as a driving camera) can be used as a height recognition sensor.

[0116] For example, assuming that 30Kph is the dividing speed, if the vehicle's driving speed is 20Kph, the surround-view camera is currently used as a sensor for identifying obstacles (i.e., a target sensor), so the driving camera is used as a height recognition sensor; if the vehicle's driving speed is 35Kph, the driving camera is currently used as a sensor for identifying obstacles, so the surround-view camera is used as a height detection sensor.

[0117] It should be noted that the above-mentioned demarcation point speed can be set according to actual application conditions, which is only an example and not a limitation.

[0118] In a specific application, in order to determine the overall position change of the vehicle suspension, the cameras installed at the front and rear of the vehicle body can be used as the height detection sensors. That is, when the vehicle's driving speed is greater than the demarcation point speed, the front and rear surround view cameras (i.e. Figure 6 The front surround view camera 61 and the rear surround view camera 62 in the vehicle are used as height detection sensors; when the vehicle's driving speed is not greater than the demarcation point speed, the front and rear driving cameras (i.e. Figure 6 The front view camera 63 and the rear view camera 64) are used as height detection sensors.

[0119] In specific applications, the intelligent driving system can first detect whether the vehicle has an activated driving function. If the driving function is activated, the height detection sensor is determined by the activated driving function. If the vehicle does not have an activated driving function, the vehicle's driving speed is further obtained, and the height recognition sensor is determined based on the vehicle's driving speed.

[0120] It should be noted that the above is only an example of determining the height detection sensor based on the driving speed. The above-mentioned determination of the height detection sensor based on the vehicle speed can also be: matching the corresponding height detection sensor for each speed interval, that is, pre-dividing the vehicle's driving speed into intervals. For example, 0-20kph can be used as the first speed interval, and in the first speed interval, several sensors are specified as height detection sensors. When the intelligent driving system obtains the current driving speed of the vehicle, it can first determine in which speed interval the driving speed falls, and then determine the height detection sensor corresponding to the speed interval based on the matching relationship. This application does not impose any restrictions on this.

[0121] In the embodiment of the present application, because different cameras are used to identify obstacles when the vehicle is in different driving states, the cameras in front and behind the vehicle can be called in time to detect changes in the position of the vehicle body.

[0122] S12: calling the height detection sensor to detect the change in the position of the vehicle body and obtaining the vehicle body position change parameter.

[0123] In a specific implementation, the height detection sensor can collect the height change of the height detection sensor from the ground in real time, and then determine the vehicle body position change parameter according to the height change of the height detection sensor from the ground.

[0124] In a specific application, the change in the height above the ground of the height detection sensor can be represented by the actual height above the ground of the height detection sensor and the height difference between the actual height above the ground and the installation height.

[0125] In a specific application, the actual ground height of the height detection sensor can be determined by calling the detection characteristics of the sensor, and the installation height of the height detection sensor can be determined according to the factory parameters of the vehicle, which is not limited in this application.

[0126] In an embodiment of the present application, the vehicle body position change parameter includes a vehicle body height change value. Accordingly, the S12 may include the following steps:

[0127] Calling a height detection sensor to detect an actual distance between the height detection sensor and a road feature point;

[0128] Calculating the actual ground distance of the height detection sensor according to the actual distance between the height detection sensor and the road feature point and the installation angle of the height detection sensor;

[0129] The height change value of the vehicle body is calculated according to the actual ground distance of the height detection sensor and the installation height value of the height detection sensor.

[0130] In specific applications, when the height detection sensor detects the actual ground height of the height detection sensor and the height difference between the actual ground height and the installation height, the corresponding vehicle height change value can be calculated, that is, the vehicle height change value is defined as the height difference between the actual ground height of the above-mentioned height detection sensor and the installation height.

[0131] In one embodiment of the present application, the intelligent driving system can call multiple height detection sensors to detect the position change of the vehicle. When the intelligent driving system calls multiple height detection sensors to detect the position change of the vehicle, the height values ​​detected by the multiple height detection sensors can be used to comprehensively represent the position change of the vehicle. Exemplarily, the intelligent driving system can call the front surround camera and the rear surround camera at the same time to detect the position change of the vehicle body. After receiving the call instruction, the front surround camera and the rear surround camera will detect the distance between them and the road feature point and feed back the obtained value to the intelligent driving system. The intelligent driving system obtains the actual ground clearance of the front surround camera and the height difference between the actual ground clearance and the installation height according to the parameters such as the distance between the front surround camera and the road feature point, the installation height of the front surround camera, and the installation angle of the front surround camera; the intelligent driving system can also obtain the actual ground clearance of the rear surround camera and the height difference between the actual ground clearance and the installation height according to the parameters such as the distance between the rear surround camera and the road feature point, the installation height of the rear surround camera, and the installation angle of the rear surround camera.

[0132] It should be noted that the characteristic points of the road surface can be selected based on the actual application scenario, and this application does not impose any restrictions on this.

[0133] In the implementation method of the first embodiment of the present application, the above-mentioned height detection sensor is a camera, and the recognition characteristics of the camera are called, that is, the center line of the optical axis of the camera is called to recognize the feature points of the road surface, and the fixed value of the installation angle of the camera is combined to determine the height of the camera from the ground.

[0134] For example, see Figure 7 , the distance from the optical axis center point pixel P of the camera to the road feature point O is calculated as F, the angle between the camera axis and the vehicle Z axis is θ and the installation height of the Z axis is H. Therefore, the height of the camera above from the ground is H R for:

[0135] H R = F * Cos Θ;

[0136] The height difference between the camera's height from the ground and the camera's installation height is: ΔH = H R -H.

[0137] It should be noted that when ΔH is a positive value, it indicates that the vehicle suspension position at the camera is raised; and when ΔH is a negative value, it indicates that the vehicle suspension position at the camera is lowered.

[0138] In order to more comprehensively show the overall position change of the vehicle, the front and rear cameras can be used as height recognition sensors to obtain the corresponding height changes through the front and rear cameras, and then determine the body position change parameters. For example, when the automatic parking function is turned on or the vehicle is driving at a low speed (for example, the driving speed is not greater than the demarcation speed), the front view camera and rear view camera in the driving camera are used as height sensors to detect the position change of the vehicle body. When the automatic driving function is turned on or the vehicle is driving at a high speed (for example, the driving speed is greater than the demarcation speed), the front surround view camera and rear surround view camera in the surround view camera are used as height sensors to detect the position change of the vehicle body.

[0139] The position change parameters of the vehicle body may include the height change of the front end of the vehicle, the height change of the rear end of the vehicle, the height change of the center point of the vehicle body, the tilt degree of the entire vehicle, etc.

[0140] For example, assuming that the intelligent driving system calls the front surround view camera and the rear surround view camera as height detection sensors, and obtains the height difference between the actual ground height of the front surround view camera and the installation height, and the height difference between the actual ground height of the rear surround view camera and the installation height, the height difference between the actual ground height of the front surround view camera and the installation height can be used to represent the height change of the front end of the vehicle, and the height difference between the actual ground height of the rear surround view camera and the installation height can be used to represent the height change of the rear end of the vehicle. The average of the height difference between the actual ground height of the front surround view camera and the installation height and the actual ground height of the rear surround view camera are used to represent the height change of the center point of the vehicle, and the height difference between the actual ground height of the front surround view camera and the installation height and the actual ground height of the rear surround view camera are used to calculate the degree of inclination of the entire vehicle.

[0141] For example, assuming that the vehicle currently has an automatic driving function activated, the intelligent driving system determines that the height detection sensors according to the automatic driving function are the front surround camera and the rear surround camera. The intelligent driving system calls the front surround camera and the rear surround camera to respectively detect the distance F1 / F2 from the optical axis center point of the camera to the road feature point, and then respectively calculates the actual ground clearance H of the front surround camera. R 1. Actual ground height of the rear surround view camera H R 2. Actual ground height of the front surround view camera H R 1 and the height difference ΔH1 between the installation height H1, the actual ground height H R2 The height difference ΔH2 from the installation height H2.

[0142] In one embodiment of the present application, the above-mentioned vehicle body position change parameter may include a height change value of the vehicle center point.

[0143] In a specific application, the height change of the vehicle body can be determined by the aforementioned height detection sensor for detecting the height of the vehicle, that is, the height change value of the center point of the vehicle can be updated in real time according to the height change value detected by the height detection sensor.

[0144] For example, after calculating the height difference between the actual ground height and the installation height of the front surround view camera and the height difference between the actual ground height and the installation height of the rear surround view camera, the height change value of the center point of the vehicle can be calculated based on these two values.

[0145] In a specific application, the height change value of the center point of the vehicle is calculated based on the height difference between the actual ground height and the installation height of the front surround view camera and the height difference between the actual ground height and the installation height of the rear surround view camera. It can be determined whether the height difference between the actual ground height and the installation height of the front surround view camera is consistent with the height difference between the actual ground height and the installation height of the rear surround view camera. If the height difference between the actual ground height and the installation height of the front surround view camera is consistent with the height difference between the actual ground height and the installation height of the rear surround view camera, the height change value of the center of the vehicle is determined to be any one of the values. If the height difference between the actual ground height and the installation height of the front surround view camera and the height difference between the actual ground height and the installation height of the rear surround view camera are inconsistent, the height change value of the center point of the vehicle is calculated according to a preset algorithm, and the preset algorithm can be an average value algorithm, a weighted mean algorithm, etc. The preset algorithm can be set according to the actual application scenario, and the present application does not limit this.

[0146] In one embodiment of the present application, the intelligent driving system can use the height difference of the front surround view camera and the height difference of the rear surround view camera as

[0147] In one implementation of the embodiment of the present application, the height change value of the center point of the vehicle calculated based on the height difference between the actual ground height and the installation height of the front surround view camera and the height difference between the actual ground height and the installation height of the rear surround view camera can be implemented based on the following formula:

[0148] D = (ΔH1 + ΔH2) / 2;

[0149] Wherein, D is the height change value of the center point of the vehicle, ΔH1 is the height difference between the actual ground height and the installation height of the front surround view camera, and ΔH2 is the height difference between the actual ground height and the installation height of the rear surround view camera.

[0150] In a specific implementation, the height change value of the center point of the vehicle is based on the preset height of the current driving mode. The height change value obtained when it is raised is a positive value, and the height change value obtained when it is lowered is a negative value.

[0151] In one embodiment of the present application, the above-mentioned vehicle position change parameter may also include the vehicle body tilt information. The current vehicle tilt information is calculated and outputted according to the height difference between the actual ground height and the installation height of the front surround view camera and the height difference between the actual ground height and the installation height of the rear surround view camera. If the front of the vehicle is lower, it is forward tilt, and the forward tilt is represented by a positive value. If the rear of the vehicle is lower, it is backward tilt, and the backward tilt is represented by a negative value.

[0152] In one embodiment of the present application, the calculation of the inclination information of the vehicle body according to the height difference between the actual ground height and the installation height of the front surround view camera and the height difference between the actual ground height and the installation height of the rear surround view camera can be implemented based on the following formula:

[0153] K = (ΔH1-ΔH2) / |X1-X2|;

[0154] Wherein, K is the inclination slope of the vehicle body, ΔH1 is the height difference between the actual ground height and the installation height of the front surround view camera, ΔH2 is the height difference between the actual ground height and the installation height of the rear surround view camera, X1 is the lateral installation value of the front surround view camera, and X2 is the lateral installation value of the rear surround view camera.

[0155] It should be noted that the lateral installation value of the front surround view camera and the lateral installation value of the rear surround view camera can be determined according to the factory parameters of the vehicle, and this application will not elaborate on them here.

[0156] S13: Determine the real-time position information of the target recognition sensor according to the vehicle body position change parameter and the installation position parameter of the target recognition sensor.

[0157] In specific applications, the above-mentioned target recognition sensor refers to a sensor used to identify the position of obstacles in the current driving state. For example, when the driving function turned on by the vehicle is the automatic driving function, the intelligent driving system will call the driving camera to identify obstacles on the way through the driving camera, that is, the driving camera is the target recognition sensor in this scene. For another example, when the vehicle turns on the automatic parking function, the intelligent driving system will call the surround view camera to identify obstacles around the parking through the surround view camera, that is, the surround view camera is the target recognition sensor in this scene.

[0158] In a specific application, after determining the body position change parameters, the real-time position information of the target recognition sensor can be determined based on the body position change parameters combined with the installation position parameters of the target recognition sensor, specifically, the real-time height value of the sensor can be updated in real time.

[0159] In one embodiment of the present application, the intelligent driving system can detect the distance of the road feature point according to the height detection sensor, and then calculate the actual height of the height detection sensor from the ground, and then determine the height difference according to the actual height of the height detection sensor from the ground and the installation height, and call the height difference to determine the height change of the front and rear ends of the vehicle, the height change value of the center of the vehicle and the tilt of the vehicle. Then, the real-time height value of the target recognition sensor is determined by using the height change value of the center point of the vehicle and the installation height value of the target recognition sensor in the preset state of the suspension.

[0160] It should be noted that the above-mentioned suspension preset state refers to the suspension state corresponding to the vehicle in normal driving mode.

[0161] It should also be noted that the vehicle can be set with a variety of different driving modes, including but not limited to normal driving mode, high-speed driving mode and off-road mode.

[0162] In a specific application, the installation height value of the target recognition sensor in the preset state of the suspension can be obtained from the vehicle factory parameters. When the vehicle leaves the factory, the installation positions of the various sensors on the vehicle body can be set as follows: Figure 3 The coordinates of the points in the spatial rectangular coordinate system shown are expressed as follows. For details, please refer to Figure 3 To avoid repetition, the description will not be repeated here.

[0163] In one embodiment of the present application, the intelligent driving system can also determine the real-time height value of the target recognition sensor based on the inclination information of the vehicle body, the installation height value of the target recognition sensor in a preset state of the suspension, and the installation lateral installation value.

[0164] It should be noted that the installation height value of the target recognition sensor in the preset state of the suspension can be obtained by the sensor in the following manner: Figure 3 It is expressed as the Z-axis value of the sensor in the spatial rectangular coordinate system shown.

[0165] In one implementation, the calculation formula for determining the real-time height value of the sensor based on the tilt information of the vehicle body, the installation height value of the target recognition sensor in the preset state of the suspension, and the installation lateral installation value is as follows:

[0166] H R 3=|X3-Xm|*K+H3;

[0167] Among them, H R 3 is the real-time height value of the target recognition sensor, X3 is the lateral installation value of the target recognition sensor when it is installed in the preset state of the suspension, Xm is the lateral installation value of the center point of the vehicle, K is the inclination slope of the vehicle body, and H3 is the installation height of the target recognition sensor in the preset state of the suspension.

[0168] It can be understood that the above calculation formula is only an example. The intelligent driving system can also first determine the height change value of the vehicle center point according to the inclination of the vehicle body, and then add the height change value to the installation height of the target recognition sensor in the preset state of the suspension (that is, the value in the Z-axis direction) to obtain the real-time height value of the sensor.

[0169] In one embodiment of the present application, the above S13 can also determine the real-time position information of the target recognition sensor in combination with the installation position parameters of the height detection sensor. Specifically, the body position change parameter may include the body tilt slope, the installation position parameters of the target recognition sensor may include the installation height and lateral installation value of the target recognition sensor when it is installed in the preset state of the suspension, and the installation position parameters of the above height detection sensor may include the installation height and lateral installation value of the height detection sensor when it is installed in the preset state of the suspension. Accordingly, the above S13 may include:

[0170] Calculating a height difference between an installation height of the target recognition sensor in the preset state of the suspension and an installation height of the height detection sensor in the preset state of the suspension according to an installation height of the height detection sensor when installed in the preset state of the suspension and an installation height of the target recognition sensor when installed in the preset state of the suspension;

[0171] The real-time height value of the target recognition sensor is calculated based on the lateral installation value of the height detection sensor when installed in the preset state of the suspension, the lateral installation value of the target recognition sensor when installed in the preset state of the suspension, the inclination slope of the vehicle body, and the height difference between the installation height of the target recognition sensor in the preset state of the suspension and the installation height of the height detection sensor in the preset state of the suspension.

[0172] For example, Figure 8 As shown, Figure 8 A schematic diagram of a scenario for determining the real-time height value of a target recognition sensor is shown. Figure 8 As shown in FIG. 1 , assuming that the front view camera P1 is a height detection sensor and the front surround view camera P2 is a target recognition sensor, then based on Figure 8 For the vehicle shown, the real-time height value of the front surround camera P2 can be expressed as:

[0173] H R 3 = |X3-X1|*K+ΔH3;

[0174] Among them, H R3 is the real-time height value of the target recognition sensor, X3 is the lateral installation value when the target recognition sensor is installed in the preset state of the suspension, X1 is the lateral installation value when the height detection sensor is installed in the preset state of the suspension, K is the inclination slope of the vehicle body, and ΔH3 is the height difference between the installation height of the target recognition sensor in the preset state of the suspension and the installation height of the height detection sensor in the preset state of the suspension.

[0175] It should be noted that the installation position parameters of the target recognition sensor and the height detection sensor in the preset state of the suspension (such as the installation height value and the lateral installation value of the sensor in the preset state of the suspension) can be obtained from the vehicle factory parameters, and this application will not elaborate on them here. Similarly, the position parameters of the vehicle center point (such as the lateral installation value of the vehicle center point) can also be obtained from the vehicle factory parameters, and this application will not elaborate on them here.

[0176] S14: Determine the position of the obstacle according to the real-time position information of the target recognition sensor.

[0177] In specific applications, when identifying the position of an obstacle, using the real-time updated real-time position information to calculate the distance to the obstacle can effectively improve the accuracy of identification.

[0178] It should be noted that the process of determining the position of an obstacle based on the real-time position information of the sensor can be referred to in Figure 4 To avoid repetition, the description will not be repeated here.

[0179] From the above, it can be seen that the obstacle position identification method provided in the embodiment of the present application, by time-sharing calling the sensors installed on the vehicle, calling the height detection sensor to detect the position changes of the vehicle body in real time, and updating the real-time position of the target recognition sensor in real time according to the position changes of the vehicle body, calling the updated real-time position of the target recognition sensor to identify the position of the obstacle, can solve the problem of increased target recognition information error caused by changes in suspension height without increasing the cost of the entire vehicle, thereby improving the accuracy of target object recognition and improving driving safety.

[0180] Corresponding to an obstacle position recognition method in the above embodiment, Figure 8 The structure block diagram of the obstacle position identification device provided by an embodiment of the present application is shown. For the convenience of description, only the part related to the embodiment of the present application is shown. Fig. 9 The obstacle position recognition device 90 includes: a first determination unit 91, a height detection unit 92, a second determination unit 93 and a target recognition unit 94. Among them:

[0181] The first determining unit 91 is used to determine the height detection sensor according to the driving state of the vehicle.

[0182] The height detection unit 92 is used to call the height detection sensor to detect the change of the vehicle body position and obtain the vehicle body position change parameter.

[0183] The second determining unit 93 is used to determine the real-time position information of the target recognition sensor according to the vehicle body position change parameter and the installation position parameter of the target recognition sensor.

[0184] The target recognition unit 94 is used to determine the position of the obstacle according to the real-time position information of the target recognition sensor.

[0185] In one embodiment of the present application, the first determination unit 91 includes a driving function acquisition unit and a sensor determination unit. The driving function acquisition unit is used to acquire the currently enabled driving function. The sensor determination unit is used to determine the height detection sensor according to the driving function.

[0186] In one embodiment of the present application, the driving function includes an automatic driving function and an automatic parking function, and the sensor determination unit is specifically used to determine that the surround-view camera is a height detection sensor if the driving function is an automatic driving function; and to determine that the driving camera is a height detection sensor if the driving function is an automatic parking function.

[0187] In one embodiment of the present application, the first determining unit 91 further includes a speed obtaining unit. The speed obtaining unit is used to obtain the driving speed of the vehicle.

[0188] Correspondingly, the sensor determination unit is also used to determine the height detection sensor according to the driving speed.

[0189] In one embodiment of the present application, the above-mentioned sensor determination unit is specifically used to determine whether the driving speed is greater than the dividing point speed; if the driving speed is greater than the dividing point speed, the surround view camera is determined to be a height detection sensor; if the driving speed is not greater than the dividing point speed, the driving camera is determined to be a height detection sensor.

[0190] In one embodiment of the present application, the vehicle body position change parameter includes a vehicle body height change value, and the height detection unit includes a distance detection unit, a first calculation unit, and a second calculation unit.

[0191] The distance detection unit is used to call the height detection sensor to detect the actual distance between the height detection sensor and the road feature point.

[0192] The first calculation unit is used to calculate the actual distance of the height detection sensor from the ground according to the actual distance between the height detection sensor and the road feature point and the installation angle of the height detection sensor.

[0193] The second calculation unit is used to calculate the height change value of the vehicle body according to the actual ground distance of the height detection sensor and the installation height value of the height detection sensor.

[0194] In one embodiment of the present application, the vehicle body position change parameters include the vehicle body inclination slope and the installation position parameters of the height detection sensor, the installation position parameters of the height detection sensor include the installation height and lateral installation value of the height detection sensor when installed in a preset state of the suspension, and the installation position parameters of the target recognition sensor include the installation height and lateral installation value of the target recognition sensor when installed in a preset state of the suspension; the above-mentioned second determination unit 93 includes a third calculation unit and a fourth calculation unit.

[0195] The third calculation unit is used to calculate the height difference between the installation height of the target recognition sensor in the preset state of the suspension and the installation height of the height detection sensor in the preset state of the suspension based on the installation height of the height detection sensor when installed in the preset state of the suspension and the installation height of the target recognition sensor when installed in the preset state of the suspension.

[0196] The fourth calculation unit is used to calculate the real-time height value of the target recognition sensor based on the lateral installation value of the height detection sensor when installed in the preset state of the suspension, the lateral installation value of the target recognition sensor when installed in the preset state of the suspension, the inclination slope of the vehicle body, and the height difference between the installation height of the target recognition sensor in the preset state of the suspension and the installation height of the height detection sensor in the preset state of the suspension.

[0197] From the above, it can be seen that a terminal device provided in an embodiment of the present application can also call the sensors installed on the vehicle in time-sharing, call the height detection sensor to detect the position changes of the vehicle body in real time, and update the real-time position of the target recognition sensor in real time according to the position changes of the vehicle body, and call the updated real-time position of the target recognition sensor to identify the position of the obstacle. It can solve the problem of increased error in target recognition information caused by changes in suspension height without increasing the cost of the entire vehicle, thereby improving the accuracy of target object recognition and improving driving safety.

[0198] Fig.10 This is a schematic diagram of the structure of a terminal device provided in an embodiment of the present application. Fig.10 As shown, the terminal device 10 of this embodiment includes: at least one processor 100 ( Fig.10 Only one is shown in the figure) a processor, a memory 101, and a computer program 102 stored in the memory 101 and executable on the at least one processor 100, and when the processor 100 executes the computer program 102, the steps in any one of the above-mentioned obstacle position identification method embodiments are implemented.

[0199] Those skilled in the art will understand that Fig.10 It is only an example of the terminal device 10 and does not constitute a limitation on the terminal device 10. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, it may also include input and output devices, network access devices, etc.

[0200] The processor 100 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0201] In some embodiments, the memory 101 may be an internal storage unit of the terminal device 10, such as a hard disk or memory of the terminal device 10. In other embodiments, the memory 101 may also be an external storage device of the terminal device 10, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the terminal device 10. Further, the memory 101 may also include both an internal storage unit of the terminal device 10 and an external storage device. The memory 101 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program. The memory 101 may also be used to temporarily store data that has been output or is to be output.

[0202] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in any one of the above-mentioned obstacle position identification method embodiments can be implemented.

[0203] An embodiment of the present application provides a computer program product. When the computer program product runs on a terminal device, the terminal device can implement the steps of any of the above-mentioned obstacle location identification method embodiments when executing the computer program product.

[0204] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0205] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in any one of the above-mentioned obstacle position identification method embodiments can be implemented.

[0206] An embodiment of the present application provides a computer program product. When the computer program product is run on a terminal device, the terminal device can implement the steps in any one of the above-mentioned obstacle location identification method embodiments when executing the computer program product.

[0207] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a first processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0208] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0209] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0210] In the embodiments provided in the present application, it should be understood that the disclosed water quality grade prediction system and method can be implemented in other ways. For example, the device / terminal equipment embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0211] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0212] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for identifying an obstacle position, characterized in that: include: Determine the height detection sensor according to the driving state of the vehicle; the height detection sensor is used to detect the change of the position of the vehicle body; Calling the height detection sensor to detect the change in the position of the vehicle body and obtain the parameter of the change in the position of the vehicle body; Determining the real-time position information of the target recognition sensor according to the vehicle body position change parameter and the installation position parameter of the target recognition sensor; Determine the position of the obstacle according to the real-time position information of the target recognition sensor; The vehicle body position change parameter includes a vehicle body inclination slope and an installation position parameter of a height detection sensor, the installation position parameter of the height detection sensor includes an installation height and a lateral installation value when the height detection sensor is installed in a preset state of the suspension, and the installation position parameter of the target recognition sensor includes an installation height and a lateral installation value when the target recognition sensor is installed in a preset state of the suspension; determining the real-time position information of the target recognition sensor according to the vehicle body position change parameter and the installation position parameter of the target recognition sensor includes: Calculating a height difference between the installation height of the target recognition sensor in the preset state of the suspension and the installation height of the height detection sensor in the preset state of the suspension according to the installation height of the height detection sensor when installed in the preset state of the suspension and the installation height of the target recognition sensor when installed in the preset state of the suspension; The real-time height value of the target recognition sensor is calculated based on the lateral installation value of the height detection sensor when installed in the preset state of the suspension, the lateral installation value of the target recognition sensor when installed in the preset state of the suspension, the inclination slope of the vehicle body, and the height difference between the installation height of the target recognition sensor in the preset state of the suspension and the installation height of the height detection sensor in the preset state of the suspension.

2. The obstacle position identification method according to claim 1, characterized in that: The height detection sensor is determined according to the vehicle driving state, comprising: Get the currently enabled driving function; The height detection sensor is determined according to the driving function.

3. The obstacle position identification method according to claim 2, characterized in that: The driving function includes an automatic driving function and an automatic parking function, and the height detection sensor is determined according to the driving function, including: If the driving function is an automatic driving function, determining that the surround view camera is a height detection sensor; If the driving function is an automatic parking function, it is determined that the driving camera is a height detection sensor.

4. The obstacle position identification method according to claim 1, characterized in that: The method of determining the height sensor according to the vehicle driving state comprises: Get the vehicle's speed; The height detection sensor is determined according to the driving speed.

5. The obstacle position recognition method according to claim 4, characterized in that: The height detection sensor determined according to the driving speed includes: Determining whether the driving speed is greater than a demarcation point speed; If the driving speed is greater than the demarcation point speed, determining that the surround view camera is a height detection sensor; If the driving speed is not greater than the demarcation point speed, it is determined that the driving camera is a height detection sensor.

6. The obstacle position identification method according to claim 1, characterized in that: The vehicle body position change parameter includes a vehicle body height change value, and the calling of the height detection sensor to detect the vehicle body position change and obtain the vehicle body position change parameter includes: Calling a height detection sensor to detect an actual distance between the height detection sensor and a road feature point; Calculating the actual ground distance of the height detection sensor according to the actual distance between the height detection sensor and the road feature point and the installation angle of the height detection sensor; The height change value of the vehicle body is calculated according to the actual ground distance of the height detection sensor and the installation height value of the height detection sensor.

7. An obstacle position recognition device, characterized in that: include: A first determining unit is used to determine a height detection sensor according to the driving state of the vehicle; the height detection sensor is used to detect the change of the position of the vehicle body; A height detection unit, used for calling the height detection sensor to detect the change of the vehicle body position and obtain the vehicle body position change parameter; a second determining unit, configured to determine the real-time position information of the target recognition sensor according to the vehicle body position change parameter and the installation position parameter of the target recognition sensor; A target recognition unit, used to determine the position of the obstacle according to the real-time position information of the target recognition sensor; The vehicle body position change parameter includes the vehicle body inclination slope and the installation position parameter of the height detection sensor, the installation position parameter of the height detection sensor includes the installation height and lateral installation value of the height detection sensor when installed in the preset state of the suspension, and the installation position parameter of the target recognition sensor includes the installation height and lateral installation value of the target recognition sensor when installed in the preset state of the suspension; the second determination unit is specifically used for: Calculating a height difference between the installation height of the target recognition sensor in the preset state of the suspension and the installation height of the height detection sensor in the preset state of the suspension according to the installation height of the height detection sensor when installed in the preset state of the suspension and the installation height of the target recognition sensor when installed in the preset state of the suspension; The real-time height value of the target recognition sensor is calculated based on the lateral installation value of the height detection sensor when installed in the preset state of the suspension, the lateral installation value of the target recognition sensor when installed in the preset state of the suspension, the inclination slope of the vehicle body, and the height difference between the installation height of the target recognition sensor in the preset state of the suspension and the installation height of the height detection sensor in the preset state of the suspension.

8. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the obstacle position identification method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the obstacle position identification method according to any one of claims 1 to 6 are implemented.

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