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 computer-readable storage medium, including: obtaining a height change parameter of a vehicle suspension; determining a vehicle body position change parameter according to the height change parameter of the vehicle suspension; determining the real-time position information of the sensor according to the vehicle body position change parameter and the installation position parameter of the sensor; determining the position of the obstacle according to the real-time position information of the sensor, and solving the problem of increased target identification information error caused by suspension height change without increasing the cost of the whole vehicle, thereby 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 may easily lead to traffic accidents and pose certain safety hazards. Summary of the invention

[0005] The embodiments of the present application provide an obstacle position identification method, apparatus, terminal device and 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] Obtain height change parameters of vehicle suspension;

[0008] determining a vehicle body position change parameter according to a height change parameter of the vehicle suspension;

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

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

[0011] In an implementation of the first aspect, the height change parameter of the vehicle suspension includes a front suspension height change value and a rear suspension height change value; the vehicle body position change parameter includes a height change value of a vehicle center point, and determining the vehicle body position change parameter according to the vehicle suspension height change parameter includes:

[0012] A height change value of the center of the vehicle is calculated according to the front suspension height change value and the rear suspension height change value.

[0013] In an implementation of the first aspect, calculating the height change value of the center point of the vehicle according to the front suspension height change value and the rear suspension height change value includes:

[0014] If the front suspension height change value is consistent with the rear suspension height change value, determining the height change value of the vehicle center as the front suspension height change value or the rear suspension height change value;

[0015] If the front suspension height change value and the rear suspension height change value are inconsistent, the height change value of the vehicle center point is calculated according to a preset algorithm.

[0016] In an implementation of the first aspect, the vehicle body position change parameter includes tilt information of the vehicle body, and determining the vehicle body position change parameter according to the height change parameter of the vehicle suspension includes:

[0017] The inclination information of the vehicle body is calculated according to the front suspension height change value and the rear suspension height change value.

[0018] In an implementation of the first aspect, the body position change parameter includes a height change value of a center point of the vehicle, the sensor installation position parameter includes an installation height value of the sensor in a preset state of the suspension, and determining the real-time position information of the sensor according to the body position change parameter and the sensor installation position parameter includes:

[0019] The real-time height value of the sensor is calculated according to the height change value of the center point of the vehicle and the installation height value of the sensor in a preset state of the suspension.

[0020] In an implementation of the first aspect, the vehicle body position change parameter includes tilt information of the vehicle body, the sensor installation position parameter includes an installation height value and an installation lateral position value of the sensor in a preset state of the suspension, and determining the real-time position information of the sensor according to the vehicle body position change parameter and the sensor installation position parameter includes:

[0021] The real-time height value of the sensor is calculated according to the inclination information of the vehicle body, the installation height value of the sensor in a preset state of the suspension, and the installation lateral position value.

[0022] In an implementation of the first aspect, a calculation formula for calculating a real-time height value of the sensor according to the inclination information of the vehicle body, an installation height value of the sensor in a preset state of the suspension, and an installation lateral position value is:

[0023] Z = |X1-X2|*K+Z1;

[0024] Among them, Z is the real-time height value of the sensor, X1 is the lateral position value of the sensor when installed in the preset state of the suspension, X2 is the lateral installation value of the center point of the vehicle, K is the inclination slope of the vehicle body, and Z1 is the installation height value of the sensor in the preset state of the suspension.

[0025] In a second aspect, an embodiment of the present application provides an obstacle position identification device, including:

[0026] An acquisition unit, used for acquiring a height variation parameter of a vehicle suspension;

[0027] a first determining unit, configured to determine a vehicle body position change parameter according to a height change parameter of the vehicle suspension;

[0028] a second determining unit, configured to determine the real-time position information of the sensor according to the vehicle body position change parameter and the sensor installation position parameter;

[0029] The identification unit is used to determine the position of the obstacle according to the real-time position information of the sensor.

[0030] 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.

[0031] 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 first aspects above are implemented.

[0032] 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.

[0033] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0034] An obstacle position identification method, terminal device and computer-readable storage medium provided in the embodiments of the present application update the real-time position information of the sensor according to the height parameters of the vehicle's suspension system, and then identify the position of the obstacle based on the updated real-time position information of the sensor. Without increasing the cost of the entire vehicle, the problem of increased error in target identification information caused by changes in suspension height is solved, the accuracy of target object identification is improved, and driving safety is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] 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.

[0036] Figure 1 is a structural schematic diagram of a continuously variable damping control air suspension system in an embodiment of the present application;

[0037] Figure 2 A schematic diagram showing the location distribution of multiple sensors in a car is shown;

[0038] Figure 3 A schematic diagram of a vehicle coordinate system is shown;

[0039] Figure 4 A schematic diagram of a scene for obstacle position recognition is shown;

[0040] 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;

[0041] Figure 6 A schematic diagram showing the position distribution of a vehicle height sensor of a vehicle suspension system is shown;

[0042] Figure 7 A schematic diagram of an application scenario of an obstacle position recognition method is shown;

[0043] Figure 8 is a structural schematic diagram of an obstacle position identification device provided in one embodiment of the present application;

[0044] Fig. 9 It is a structural diagram of a terminal device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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:

[0052] 1. Suspension system

[0053] 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.

[0054] 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.

[0055] 2. Air suspension system

[0056] 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.

[0057] 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).

[0058] 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.

[0059] 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:

[0060] 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.

[0061] 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:

[0062] Control the process of raising the car body:

[0063] 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.

[0064] Control the process of lowering the car body:

[0065] 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.

[0066] 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.

[0067] 3. Intelligent driving system

[0068] 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.

[0069] At present, most intelligent driving systems use a multi-sensor fusion solution for target recognition, that is, through the fusion of multiple sensors such as radar and camera to determine the location information of obstacles around the vehicle, so as to improve the safety during driving.

[0070] Among them, visible light 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.

[0071] Radar can effectively identify moving targets, so radars can also be installed in the front and rear bumpers of the vehicle to identify obstacles.

[0072] Intelligent driving systems can realize object recognition and object feature collection.

[0073] For example, see Figure 2 , Figure 2 The schematic diagram of the location distribution of multiple sensors in the car shows that during the car's formation, the surround camera can be used to identify obstacles in the driving area, the ultrasonic probe can be used to provide a reversing reminder when reversing is required, the front camera can be used to provide a collision warning alarm during driving, and the front camera / millimeter wave radar can be used to determine the relative distance and relative speed of the vehicle in front.

[0074] In vehicles equipped with intelligent driving systems, the system's multiple sensors are used to collect information about the vehicle's front environment, 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.

[0075] 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.

[0076] For example, Figure 3As 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.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] It should be noted that the relevant functions of sensors such as ultrasonic probes, surround-view 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.

[0081] 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 errors in the intelligent driving system when identifying the position of obstacles. The embodiment of the present application provides an obstacle position identification method, which updates the real-time position information of the sensor according to the height parameter of the vehicle's suspension system, and then identifies the position of the obstacle based on the updated real-time position information of the sensor. Under the premise of not increasing the cost of the whole vehicle, it solves the problem of increased error in target identification information caused by changes in suspension height, improves the accuracy of target object identification, and improves driving safety.

[0082] 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:

[0083] 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, which are described in detail as follows:

[0084] S11: Obtain height variation parameters of the vehicle suspension.

[0085] In a specific application, a sensor may be provided on the vehicle suspension, and the height change of the vehicle suspension may be determined by using the sensor on the vehicle suspension, thereby obtaining the height change parameter of the vehicle suspension.

[0086] In a specific application, the sensor provided on the vehicle suspension may be a vehicle height sensor. The vehicle height sensor is used to convert the vehicle height (i.e., the position of the vehicle suspension) into an electrical signal and send it to the suspension control unit. The number of vehicle height sensors installed is related to the control type of the suspension system equipped on the vehicle, and this application does not limit this. For example, please refer again to Figure 1 ,like Figure 1 The CDC suspension system shown in the figure is equipped with 13 body vertical acceleration sensors as body height sensors to detect the height change of the vehicle suspension, and the detected height change of the vehicle suspension is represented in the form of an electrical signal, and the electrical signal is transmitted to the suspension control unit via a communication data line such as a CAN bus, and the suspension control unit obtains the corresponding vehicle suspension height change parameter according to the electrical signal conversion.

[0087] For example, see Figure 6 , Figure 6 A schematic diagram showing the position distribution of a vehicle height sensor of a vehicle suspension system is shown. Figure 6As shown, the vehicle suspension system may include two vehicle height sensors, namely, a front axle vehicle height sensor and a rear axle vehicle height sensor. One side of the front axle vehicle height sensor is connected to the vehicle frame, and the other side is connected to the front suspension, so as to collect the electric signal of the height change of the front suspension of the vehicle; one side of the rear axle height sensor is connected to the vehicle frame, and the other side is connected to the rear suspension, so as to collect the electric signal of the height change of the rear suspension of the vehicle.

[0088] In one embodiment of the present application, the height change parameter of the vehicle suspension includes a front suspension height change value and a rear suspension height change value.

[0089] In the specific implementation, the front axle body height sensor collects the vehicle's front suspension height change electrical signal in real time, and transmits the collected front suspension height change electrical signal to the suspension control unit through the CAN bus, and the suspension control unit determines the front suspension height change value of the vehicle suspension based on the electrical signal; the rear axle height sensor collects the vehicle's rear suspension height change electrical signal in real time, and then transmits the collected rear suspension height change electrical signal to the suspension control unit through the CAN bus, and the suspension control unit determines the rear suspension height change value of the vehicle suspension based on the electrical signal.

[0090] In a specific application, taking the preset height of the current driving mode as a reference, the height change value obtained when the vehicle body is raised is a positive value, and the height change value obtained when the vehicle body is lowered is a negative value.

[0091] S12: Determine a vehicle body position change parameter according to the height change parameter of the vehicle suspension.

[0092] 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.

[0093] In specific applications, since the sensors on the vehicle suspension can detect the height changes of the vehicle body, the height change value of the vehicle center point can be updated in real time based on the feedback value of the sensor.

[0094] In a specific application, when the height change parameter of the vehicle suspension system includes a front suspension height change value and a rear suspension height change value, the height change value of the vehicle center point can be calculated based on the front suspension height change value and the rear suspension height change value.

[0095] In a specific application, the height change value of the center point of the vehicle calculated based on the front suspension height change value and the rear suspension height change value can be first determined whether the front suspension height change value is consistent with the rear suspension height change value. If the front suspension height change value is consistent with the rear suspension height change value, the height change value of the center of the vehicle is determined to be any one of the values. If the front suspension height change value and the rear suspension height change value 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 this application does not limit this.

[0096] In one implementation of the embodiment of the present application, the above calculation of the height change value of the center point of the vehicle according to the front suspension height change value and the rear suspension height change value can be implemented based on the following formula:

[0097] D=(Z q +Z h ) / 2;

[0098] Where D is the height change of the vehicle center point, Z q is the change in front suspension height, Z h is the rear suspension height change.

[0099] In a specific implementation, the height change value of the center point of the vehicle is also 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.

[0100] In one embodiment of the present application, the above-mentioned body position change parameter may also include body tilt information, that is, the current tilt information of the vehicle is calculated and output according to the front suspension height change value and the rear suspension height change value, if the front suspension is lower, it is forward tilt, and the forward tilt is represented by a positive value, if the rear suspension is lower, it is backward tilt, and the backward tilt is represented by a negative value.

[0101] In an embodiment of the present application, the calculation of the inclination information of the vehicle body according to the front suspension height change value and the rear suspension height change value may be implemented based on the following formula:

[0102] K=(Z q -Z h ) / Y;

[0103] Among them, K is the inclination slope of the vehicle body, Z q is the change in front suspension height, Z h is the height change of the rear suspension, and Y is the length of the vehicle body.

[0104] It should be noted that the body length is a dimensional parameter of the entire vehicle, which can be determined based on the vehicle's factory parameters and will not be elaborated in this application.

[0105] S13: Determine the real-time position information of the sensor according to the vehicle body position change parameter and the sensor installation position parameter.

[0106] In a specific application, after the body position change parameters are determined, the real-time position information of the sensor can be determined based on the body position change parameters combined with the sensor installation position parameters, and specifically, the real-time height value of the sensor can be updated in real time.

[0107] In specific applications, the above-mentioned sensors refer to sensors installed on the vehicle body for identifying obstacles, including but not limited to front-view cameras, surround-view cameras, millimeter-wave radars, etc., and this application does not impose any restrictions on this.

[0108] In one embodiment of the present application, the intelligent driving system can determine the real-time height value of the sensor based on the height change value of the vehicle center point determined by the suspension control unit and the installation height value of the sensor in a preset state of the suspension.

[0109] It should be noted that the above-mentioned suspension preset state refers to the suspension state corresponding to the vehicle in normal driving mode.

[0110] 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.

[0111] In specific applications, the installation height value of the 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.

[0112] In one embodiment of the present application, the intelligent driving system can also determine the real-time height value of the sensor based on the inclination information of the vehicle body, the installation height value of the sensor in a preset state of the suspension, and the installation lateral position value.

[0113] It should be noted that the installation height value of the 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.

[0114] 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 sensor in the preset state of the suspension, and the installation lateral position value is as follows:

[0115] Z = |X1-X2|*K+Z1;

[0116] Among them, Z is the real-time height value of the sensor, X1 is the lateral position value of the sensor when installed in the preset state of the suspension, X2 is the lateral installation value of the center point of the vehicle, K is the inclination slope of the vehicle body, and Z1 is the installation height value of the sensor in the preset state of the suspension.

[0117] 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 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.

[0118] It should be noted that the installation position parameters of the sensor in the preset state of the suspension (such as the installation height value and the installation lateral position 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.

[0119] S14: Determine the position of the obstacle according to the real-time position information of the sensor.

[0120] 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.

[0121] It should be noted that the process of determining the position of the 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.

[0122] In order to explain the obstacle position recognition method provided in the embodiment of the present application in detail, the application scenario of the obstacle position recognition method is exemplarily explained below:

[0123] like Figure 7 As shown, the front axle vehicle height sensor 71 collects the height information of the front suspension of the vehicle in real time, and the rear axle vehicle height sensor 72 collects the height information of the rear suspension of the vehicle in real time, and then sends the collected front suspension height information and rear suspension height information to the suspension control unit 73. The suspension control unit 73 obtains the height change value of the center point of the vehicle and the current tilt information of the whole vehicle according to the above-mentioned front suspension height information and rear suspension height information. The suspension control unit 73 sends the obtained height change value of the center point of the vehicle and the current tilt information of the whole vehicle to the intelligent driving system 74. The intelligent driving system 74 can determine the real-time position information of the sensor according to the height change value of the center point of the vehicle and the current tilt information of the whole vehicle, and then identify the position of the obstacle through the real-time position information of the sensor.

[0124] It should be noted that the front axle vehicle height sensor 71 and the rear axle vehicle height sensor 72 can communicate with the suspension control unit 73 via the CAN bus. The suspension control unit 73 and the intelligent driving system 74 can be connected to each other via wired communication or wireless communication, which is not limited in this application.

[0125] Realizing communication connection by wired communication means may specifically be to realize communication between devices by connecting the communication interface of the device through an adapted data line. Realizing communication connection by wireless communication means may specifically be to realize communication between devices based on a wireless communication network. Wherein, the above-mentioned wireless communication network may be a local area network, or a wide area network transferred by a relay device. When the communication network is a local area network, exemplarily, the communication network may be a short-range communication network such as a wifi hotspot network, a wifi P2P network, a Bluetooth network, a zigbee network, or a near field communication (NFC) network. When the communication network is a wide area network, exemplarily, the communication network may be a third-generation wireless telephone technology (3G) network, a fourth-generation mobile communication technology (4G) network, a fifth-generation mobile communication technology (5G) network, a future-evolved public land mobile network (PLMN) or the Internet, etc. It can be understood that the communication network and business scenarios described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided in the embodiments of the present application.

[0126] From the above, it can be seen that the obstacle position identification method provided in the embodiment of the present application can update the real-time position information of the sensor according to the height parameters of the vehicle's suspension system, and then identify the position of the obstacle based on the updated real-time position information of the sensor. Without increasing the cost of the entire vehicle, it solves the problem of increased error in target identification information caused by changes in suspension height, improves the accuracy of target object identification, and improves driving safety.

[0127] Corresponding to an obstacle position recognition method in the above embodiment, Figure 8The 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. Figure 8 The obstacle position recognition device 80 includes: an acquisition unit 81, a first determination unit 82, a second determination unit 83 and a recognition unit 84. Among them:

[0128] The acquisition unit 81 is used to acquire the height variation parameter of the vehicle suspension.

[0129] The first determining unit 82 is used to determine a vehicle body position change parameter according to a height change parameter of the vehicle suspension.

[0130] The second determining unit 83 is used to determine the real-time position information of the sensor according to the vehicle body position change parameter and the sensor installation position parameter.

[0131] The identification unit 84 is used to determine the position of the obstacle according to the real-time position information of the sensor.

[0132] In one embodiment of the present application, the height change parameter of the vehicle suspension includes a front suspension height change value and a rear suspension height change value, the vehicle body position change parameter includes a height change value of the vehicle center point, and the first determination unit includes a first calculation unit.

[0133] The first calculation unit is used to calculate a height change value of the vehicle center according to the front suspension height change value and the rear suspension height change value.

[0134] In one embodiment of the present application, the above-mentioned first calculation unit is specifically used to determine the height change value of the vehicle center as the front suspension height change value or the rear suspension height change value if the front suspension height change value is consistent with the rear suspension height change value; if the front suspension height change value and the rear suspension height change value are inconsistent, calculate the height change value of the vehicle center point according to a preset algorithm.

[0135] In one embodiment of the present application, the vehicle body position change parameter includes tilt information of the vehicle body, and the first determination unit includes a second calculation unit.

[0136] The second calculation unit is used to calculate the inclination information of the vehicle body according to the front suspension height change value and the rear suspension height change value.

[0137] In one embodiment of the present application, the vehicle body position change parameter includes a height change value of a vehicle center point, and the sensor installation position parameter includes an installation height value of the sensor in a preset state of the suspension. The second determination unit includes a third calculation unit.

[0138] The third calculation unit is used to calculate the real-time height value of the sensor according to the height change value of the center point of the vehicle and the installation height value of the sensor in a preset state of the suspension.

[0139] In one embodiment of the present application, the vehicle body position change parameter includes the inclination information of the vehicle body, the sensor installation position parameter includes the installation height value and the installation lateral position value of the sensor in a preset state of the suspension, and the above-mentioned second determination unit includes a fourth calculation unit.

[0140] The fourth calculation unit is used to calculate the real-time height value of the sensor according to the inclination information of the vehicle body, the installation height value of the sensor in a preset state of the suspension, and the installation lateral position value.

[0141] In one embodiment of the present application, the calculation formula of the fourth calculation unit is:

[0142] Z = |X1-X2|*K+Z1;

[0143] Among them, Z is the real-time height value of the sensor, X1 is the lateral position value of the sensor when installed in the preset state of the suspension, X2 is the lateral installation value of the center point of the vehicle, K is the inclination slope of the vehicle body, and Z1 is the installation height value of the sensor in the preset state of the suspension.

[0144] From the above, it can be seen that an obstacle position identification device provided in an embodiment of the present application can also update the real-time position information of the sensor according to the height parameters of the vehicle's suspension system, and then identify the position of the obstacle based on the updated real-time position information of the sensor. Without increasing the cost of the entire vehicle, it solves the problem of increased error in target identification information caused by changes in suspension height, improves the accuracy of target object identification, and improves driving safety.

[0145] Fig. 9 This is a schematic diagram of the structure of a terminal device provided in an embodiment of the present application. Fig. 9 As shown, the terminal device 9 of this embodiment includes: at least one processor 90 ( Fig. 9 Only one is shown in the figure) a processor, a memory 91, and a computer program 92 stored in the memory 91 and executable on the at least one processor 90, and when the processor 90 executes the computer program 92, the steps in any one of the above-mentioned obstacle position identification method embodiments are implemented.

[0146] Those skilled in the art will understand that Fig. 9 It is only an example of the terminal device 9 and does not constitute a limitation on the terminal device 9. 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.

[0147] The processor 90 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.

[0148] In some embodiments, the memory 91 may be an internal storage unit of the terminal device 9, such as a hard disk or memory of the terminal device 9. In other embodiments, the memory 91 may also be an external storage device of the terminal device 9, 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 9. Further, the memory 91 may also include both an internal storage unit of the terminal device 9 and an external storage device. The memory 91 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 91 may also be used to temporarily store data that has been output or is to be output.

[0149] 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.

[0150] 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.

[0151] 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.

[0152] 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.

[0153] 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.

[0154] 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.

[0155] 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.

[0156] 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.

[0157] 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.

[0158] 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.

[0159] 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: Acquiring a height variation parameter of a vehicle suspension; the height variation parameter of the vehicle suspension includes a front suspension height variation value and a rear suspension height variation value; Determining a body position change parameter according to the height change parameter of the vehicle suspension; the body position change parameter includes a height change value of a vehicle center point and inclination information of the vehicle body; The step of determining the vehicle body position change parameter according to the height change parameter of the vehicle suspension comprises: Calculating a height change value of a center point of a vehicle according to the front suspension height change value and the rear suspension height change value; Calculating the inclination information of the vehicle body according to the front suspension height change value and the rear suspension height change value; Determining the real-time position information of the sensor according to the vehicle body position change parameter and the sensor installation position parameter; The position of the obstacle is determined according to the real-time position information of the sensor.

2. The obstacle position identification method according to claim 1, characterized in that: The calculating the height change value of the center point of the vehicle according to the front suspension height change value and the rear suspension height change value comprises: If the front suspension height change value is consistent with the rear suspension height change value, determining the height change value of the vehicle center as the front suspension height change value or the rear suspension height change value; If the front suspension height change value and the rear suspension height change value are inconsistent, the height change value of the vehicle center point is calculated according to a preset algorithm.

3. The obstacle position identification method according to claim 1, characterized in that: The body position change parameter includes a height change value of a center point of the vehicle, the sensor installation position parameter includes an installation height value of the sensor in a preset state of the suspension, and the real-time position information of the sensor is determined according to the body position change parameter and the sensor installation position parameter, including: The real-time height value of the sensor is calculated according to the height change value of the center point of the vehicle and the installation height value of the sensor in a preset state of the suspension.

4. The obstacle position identification method according to claim 1, characterized in that: The body position change parameter includes the inclination information of the body, the sensor installation position parameter includes the installation height value and the installation lateral position value of the sensor in a preset state of the suspension, and the real-time position information of the sensor is determined according to the body position change parameter and the sensor installation position parameter, including: The real-time height value of the sensor is calculated according to the inclination information of the vehicle body, the installation height value of the sensor in a preset state of the suspension, and the installation lateral position value.

5. The obstacle position recognition method according to claim 4, characterized in that: The calculation formula for calculating the real-time height value of the sensor according to the inclination information of the vehicle body, the installation height value of the sensor in the preset state of the suspension, and the installation lateral position value is: Z = |X1-X2|*K+Z1; Among them, Z is the real-time height value of the sensor, X1 is the lateral position value of the sensor when installed in the preset state of the suspension, X2 is the lateral installation value of the center point of the vehicle, K is the inclination slope of the vehicle body, and Z1 is the installation height value of the sensor in the preset state of the suspension.

6. An obstacle position recognition device, characterized in that: include: An acquisition unit, used for acquiring a height variation parameter of a vehicle suspension; A first determining unit, configured to determine a vehicle body position change parameter according to a height change parameter of the vehicle suspension; the height change parameter of the vehicle suspension includes a front suspension height change value and a rear suspension height change value; A second determination unit is used to determine the real-time position information of the sensor according to the vehicle body position change parameter and the installation position parameter of the sensor; the vehicle body position change parameter includes a height change value of the vehicle center point and the inclination information of the vehicle body; The second determination unit is used to calculate the height change value of the center point of the vehicle according to the front suspension height change value and the rear suspension height change value; Calculating the inclination information of the vehicle body according to the front suspension height change value and the rear suspension height change value; The identification unit is used to determine the position of the obstacle according to the real-time position information of the sensor.

7. 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 5 are implemented.

8. 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 5 are implemented.

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