Obstacle ranging method and device, vehicle and medium

Abstract

This application discloses an obstacle ranging method, device, vehicle, and medium. The method includes: when an obstacle is determined to exist in the vehicle's driving direction based on a captured first driving image, determining the obstacle's area information and combining it with the current vehicle speed to determine a beam emission mode; controlling the left and right radio frequency mechanisms on the vehicle to emit a beam in the beam emission mode; adjusting the beam spot focusing parameters of the beam spot with a beam focusing mode matching the beam emission mode to obtain a second driving image containing the adjusted beam spot; and determining the distance between the vehicle and the obstacle based on the second driving image. This method emits a beam with a beam emission mode and beam spot focusing mode matching the obstacle area information and vehicle speed, analyzes the image containing the beam spot, and determines the distance. Based on visual perception, it achieves intelligent tracking and accurate ranging of obstacles, reducing hardware architecture costs compared to radar ranging methods.

Description

Technical Field

[0001] This application relates to the field of visual perception technology, and in particular to obstacle ranging methods, devices, vehicles and media. Background Technology

[0002] With the development of highway transportation, especially the expressway system, the traffic accident rate is also on the rise, and traffic safety is increasingly becoming a focus of public attention. Therefore, researching vehicle safety assistance technologies to provide vehicles with safe driving assistance functions can provide intelligent technological services to reduce traffic accidents caused by driver subjectivity.

[0003] In existing technologies, pure visual perception technology is used for distance measurement. It identifies obstacles in the image based on the preset obstacle type and determines the distance of the obstacle based on the image. However, pure visual perception technology has the problem of not being able to achieve intelligent tracking and accurate distance measurement. Therefore, existing technologies require external equipment such as ultrasonic radar. However, external equipment such as ultrasonic radar cannot be combined with specific obstacles for intelligent tracking and accurate distance measurement, and the detection range is limited.

[0004] Application content

[0005] This application provides an obstacle ranging method, device, vehicle, and medium to achieve obstacle ranging based on pure vision.

[0006] According to a first aspect of this application, an obstacle ranging method is provided, the method comprising:

[0007] When it is determined from the captured first driving image that there is an obstacle in the vehicle's driving direction, the obstacle area information of the obstacle is determined.

[0008] The beam emission method is determined based on the current vehicle speed and the information about the obstacle area;

[0009] The left and right radio frequency mechanisms on the vehicle are controlled to emit a beam in the aforementioned beam emission manner;

[0010] By adjusting the beam spot focusing parameters of the beam spot in a beam spot focusing mode that matches the beam emission mode, a second driving image containing the adjusted beam spot is obtained;

[0011] Based on the second driving image, determine the distance between the vehicle and the obstacle;

[0012] The beam spot is the point where the beam falls in the emission direction.

[0013] According to a second aspect of this application, an obstacle ranging device is provided, the device comprising:

[0014] The information determination module is used to determine the obstacle area information of the obstacle when it is determined from the captured first driving image that there is an obstacle in the direction of vehicle travel.

[0015] The method determination module is used to determine the beam emission method based on the current vehicle speed and the obstacle area information;

[0016] A beam emission module is used to control the left and right radio frequency mechanisms on the vehicle to emit beams in the aforementioned beam emission mode;

[0017] The image acquisition module is used to adjust the spot focusing parameters of the beam spot in a spot focusing mode that matches the beam emission mode, so as to obtain a second driving image containing the adjusted beam spot.

[0018] The distance determination module is used to determine the distance between the vehicle and the obstacle based on the second driving image;

[0019] The beam spot is the point where the beam falls in the emission direction.

[0020] According to a third aspect of this application, a vehicle is provided, the vehicle comprising:

[0021] At least one controller;

[0022] Radio frequency rotating components;

[0023] Light spot focusing chip;

[0024] as well as

[0025] A memory that is communicatively connected to the at least one controller;

[0026] The radio frequency rotating component is connected to the left and right radio frequency mechanisms and is used to control the beam emission mode of the left and right radio frequency mechanisms.

[0027] The beam focusing chip is used to adjust the beam focusing parameters of the beam spot.

[0028] The memory stores a computer program that can be executed by the at least one controller, which enables the at least one controller to perform the obstacle ranging method according to any embodiment of this application.

[0029] According to another aspect of this application, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the obstacle ranging method according to any embodiment of this application.

[0030] The technical solution of this application embodiment determines the beam emission mode by combining the obstacle area information with the current vehicle speed when an obstacle is determined in the direction of the vehicle's travel based on a captured first driving image. The left and right radio frequency mechanisms on the vehicle are then controlled to emit a beam in the beam emission mode. The beam focusing parameters are adjusted using a beam focusing method that matches the beam emission mode to obtain a second driving image containing the adjusted beam spots. The distance between the vehicle and the obstacle is determined based on the second driving image. This method emits a beam with a beam emission mode and beam focusing method that match the obstacle area information and vehicle speed, analyzes the image containing the beam spots, and determines the distance. Based on visual perception, intelligent tracking and accurate ranging of obstacles are achieved, reducing hardware architecture costs compared to radar ranging methods.

[0031] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this application, nor is it intended to limit the scope of this application. Other features of this application will become readily apparent from the following description. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a flowchart of an obstacle ranging method provided in Embodiment 1 of this application;

[0034] Figure 2 This is a flowchart of an obstacle ranging method provided in Embodiment 2 of this application;

[0035] Figure 3 This is an example image of the first vehicle image in an obstacle ranging method provided in Embodiment 2 of this application;

[0036] Figure 4a This is an example diagram illustrating the method for determining the interval distance based on the area of ​​a beam spot in an obstacle ranging method provided in Embodiment 2 of this application;

[0037] Figure 4b This is an example diagram illustrating the method for determining the interval distance based on the angle in an obstacle ranging method provided in Embodiment 2 of this application;

[0038] Figure 5 This is a schematic diagram of the structure of an obstacle ranging device provided in Embodiment 3 of this application;

[0039] Figure 6This is a schematic diagram of the structure of a vehicle that implements the obstacle ranging method of the embodiments of this application. Detailed Implementation

[0040] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0041] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0042] Example 1

[0043] Figure 1 This application provides a flowchart of an obstacle ranging method according to Embodiment 1. This embodiment is applicable to obstacle distance measurement based on pure vision. The method can be executed by an obstacle ranging device, which can be implemented in hardware and / or software and can be configured in a vehicle. Figure 1 As shown, the method includes:

[0044] S110. When it is determined from the captured first driving image that there is an obstacle in the vehicle's driving direction, determine the obstacle area information of the obstacle.

[0045] In this embodiment, the first driving image can be understood as an image captured by a front-facing camera while the vehicle is moving. The vehicle's driving direction can be understood as the direction in which the vehicle is moving. An obstacle can be understood as an object in the vehicle's driving direction that may obstruct the vehicle's movement. Obstacle area information can be understood as image information obtained by marking the area where the obstacle is located and the outline information of the obstacle.

[0046] Specifically, the vehicle's camera can capture images of the vehicle's driving direction, transmitting video via a bus or other means. When the executing entity receives the first driving image, it can break the video down into individual frames, each frame serving as the first driving image captured by the camera. Analyzing this first driving image, if an object with distinct environmental features appears and obstructs the driving direction (e.g., an object with height), it can be interpreted as an obstacle in the driving direction. This obstacle can be assumed to require distance measurement, and its range and outline can be marked in the first driving image, serving as the obstacle area information.

[0047] S120. Determine the beam emission method based on the current vehicle speed and obstacle area information.

[0048] In this embodiment, the current vehicle speed can be understood as the vehicle's current travel speed. The beam emission method can be understood as different angles at which the beam is emitted; the beam can preferably be a beam emitted by an infrared lamp, etc. This embodiment only uses a beam emitted by an infrared lamp as an example of a beam and does not limit the type of beam.

[0049] Specifically, when there is an obstacle in the vehicle's direction of travel, a speed acquisition command can be sent to the corresponding sensor, and the current speed transmitted by the sensor can be received. The current speed can be compared with a preset speed threshold. If the current speed is less than or equal to the preset speed threshold, it can be considered that the vehicle speed is too slow, and the obstacle may be a pedestrian, etc. If the beam emission angle is too high, it may shine into the eyes of pedestrians and cause injury. In this case, the beam can be emitted onto the outline of the obstacle on the ground, and the beam can be controlled to track the outline of the obstacle. If the current speed is greater than the preset speed threshold, it can be considered that the vehicle speed is too fast, and the obstacle may be a vehicle. In this case, the beam can be emitted at a 90-degree angle to the vehicle, that is, parallel to the ground where the vehicle is located, so that the beam can illuminate the surface of the obstacle, such as illuminating the rear of the vehicle.

[0050] S130, Control the left and right radio frequency mechanisms on the vehicle to emit beams in a beam emission mode.

[0051] In this embodiment, the left and right radio frequency mechanisms can be understood as mechanisms that emit light beams, such as those that can be located at the left and right headlights.

[0052] It is important to know that since the left and right radio frequency mechanisms only emit beams and cannot adjust the beam emission angle, a radio frequency rotation component needs to be added to control the rotation of the left and right radio frequency mechanisms.

[0053] Specifically, once the beam emission method is determined based on the current vehicle speed, the radio frequency rotating component can be controlled to rotate according to the beam emission method. A corresponding rotation angle command can be generated according to the beam emission method and transmitted to the radio frequency rotating component, so that the radio frequency rotating component rotates at the corresponding angle to control the left and right radio frequency mechanisms to rotate to the corresponding angle to emit the beam.

[0054] For example, the beam emission method can be to emit the beam at a 90-degree angle with the vehicle itself. In this case, the radio frequency rotating component can be controlled to rotate the left and right radio frequency mechanisms to a 90-degree angle with the ground, so that the beams emitted by the left and right radio frequency mechanisms illuminate the surface of the obstacle. Alternatively, the beam emission method can be to emit the left beam at a 60-degree angle with the vehicle and the right beam at a 30-degree angle with the vehicle. In this case, the obstacle is tilted to the right. In this case, the radio frequency rotating component can be controlled to rotate the left radio frequency mechanism to a 60-degree angle with the ground and the right radio frequency mechanism to a 30-degree angle with the ground, so that the beams emitted by the left and right radio frequency mechanisms illuminate the outline of the obstacle on the ground.

[0055] S140. Adjust the beam spot focusing parameters of the beam spot using a beam spot focusing method that matches the beam emission method to obtain a second driving image containing the adjusted beam spot.

[0056] In this embodiment, the beam spot focusing method can be understood as the method of adjusting the beam spot focusing parameters. Here, the beam spot is the point where the beam falls in the emission direction, that is, the spot that appears when the beam encounters an obstacle in the emission direction. The beam spot focusing parameters can be understood as parameters used to adjust the beam intensity and size. The second driving image can be understood as the image captured after adjusting the beam spot focusing parameters.

[0057] It is important to know that the left and right radio frequency mechanisms only emit beams and cannot adjust the beam's focusing parameters. Therefore, a beam focusing chip needs to be added to adjust the beam's focusing parameters.

[0058] Specifically, when the beam is emitted at a 90-degree angle to the vehicle, the beam focusing parameters can be adjusted based on the clarity of the beam spot in the driving image to ensure clear display. This can be achieved through preset focusing levels, each with different parameters. The appropriate level can be determined based on the current beam spot clarity or a roughly calculated distance to the obstacle. The focusing chip can then adjust the beam focusing parameters to the target level. When the beam is emitted onto the obstacle's outline on the ground and the beam tracks the obstacle's outline, the focusing parameters can be adjusted using a preset threshold. In this case, clarity in the driving image is not critical; only the presence of the beam spot is required. If no beam spot is visible, indicating the obstacle is too far away, the focusing chip can be used to adjust the parameters again. After adjustment, a second driving image containing the adjusted beam spot is obtained from the camera.

[0059] S150. Determine the distance between the vehicle and the obstacle based on the second driving image.

[0060] In this embodiment, the interval distance can be understood as the distance between the closest points of the vehicle and the obstacle.

[0061] Specifically, when the vehicle speed exceeds a set threshold, a size detection command can be sent to a pre-set spot size detection unit. This unit then periodically detects the spot area in the second driving image, obtaining the spot areas of the left and right light plates. The spot areas and corresponding parameters are then input into a pre-set first interval distance formula to calculate the distance between the vehicle and the obstacle. When the vehicle speed is less than or equal to a set threshold, an angle detection command can be sent to a pre-set angle detection unit. This unit periodically detects the angle between the left and right radio frequency mechanisms and the vehicle. The angle value and the pre-determined height of the left and right radio frequency mechanisms are then input into a pre-set second interval distance formula to calculate the distance between the vehicle and the obstacle. This distance can be displayed on the corresponding screen in the vehicle. For example, the distance between the vehicle and the obstacle can be marked on the left and right auxiliary lines (like the auxiliary lines in a reversing camera) on the central control screen, allowing the driver to visually understand the distance.

[0062] For example, when the obstacle is tilted relative to the vehicle, the corresponding left and right side light spot areas are different or the corresponding left and right side radio frequency mechanisms are different, so the left and right side interval distances are different. The side with the closest interval distance can be used as the interval distance between the obstacle and the vehicle, or the two interval distances between the vehicle and the obstacle on the left and right sides can be displayed at the same time.

[0063] This embodiment provides an obstacle ranging method. When an obstacle is determined to exist in the vehicle's direction of travel based on a captured first driving image, the obstacle area information is combined with the current vehicle speed to determine the beam emission mode. The left and right radio frequency mechanisms on the vehicle are controlled to emit a beam using this mode. The beam focusing parameters are adjusted using a beam focusing method matching the emission mode to obtain a second driving image containing the adjusted beam. The distance between the vehicle and the obstacle is determined based on the second driving image. This method emits a beam using a beam emission mode and beam focusing method matching the obstacle area information and vehicle speed, analyzes the image containing the beam, and determines the distance. Based on visual perception, intelligent tracking and accurate ranging of obstacles are achieved, reducing hardware architecture costs compared to radar ranging methods.

[0064] Example 2

[0065] Figure 2 This is a flowchart of an obstacle ranging method provided in Embodiment 2 of this application. This embodiment is a further optimization based on the above embodiments. Figure 2 As shown, the method includes:

[0066] S201. When it is determined from the captured first driving image that there is an obstacle in the vehicle's driving direction, determine the obstacle area information of the obstacle.

[0067] To facilitate understanding, an example is provided to illustrate the obstacle area information in the first vehicle image. Figure 3 This is an example image of the first driving image in an obstacle ranging method provided in Embodiment 2 of this application. a represents a vehicle, b represents an obstacle, and c represents a baseline. The obstacle area information of the obstacle can be determined based on the first driving image.

[0068] like Figure 3 As shown, the upper layer is the first driving image captured by the camera. The image includes an irregularly shaped obstacle b whose contour has been calibrated, and a baseline c obtained by connecting the two points of the irregular obstacle closest to the vehicle a, thereby obtaining obstacle area information.

[0069] S202, Obtain the vehicle's current speed.

[0070] Specifically, when there is an obstacle in the direction of the vehicle's travel, a speed acquisition command can be sent to the corresponding sensor, and the current speed can be received from the corresponding sensor.

[0071] S203. Determine whether the current vehicle speed is greater than the preset speed threshold.

[0072] In this embodiment, the speed threshold can be understood as a threshold used to determine whether the vehicle speed is too fast.

[0073] Specifically, a speed threshold can be preset. When the current vehicle speed is received from the sensor, it can be compared with the preset speed threshold to determine whether the current vehicle speed is greater than the preset speed threshold.

[0074] S204. If the current vehicle speed is greater than the preset speed threshold, the beam will be emitted at a 90-degree angle to the vehicle.

[0075] Specifically, when the current vehicle speed is greater than the preset speed threshold, it can be considered that the vehicle speed is relatively fast and the obstacle may be a vehicle. In this case, the beam can be emitted at a 90-degree angle with the vehicle itself, that is, parallel to the ground where the vehicle is located, so that the beam can illuminate the surface of the obstacle, such as the rear of the vehicle.

[0076] S205. Otherwise, based on the obstacle area information, determine the baseline corresponding to the obstacle, and use the beam spot landing point on the baseline as the beam emission method.

[0077] In this embodiment, the spot of light can be understood as the point where the light falls on the ground when it shines perpendicular to the direction of the vehicle's front. The baseline can be understood as a straight line used to mark the outline of the obstacle's projection on the ground.

[0078] Specifically, if the obstacle area information shows that the area closest to the vehicle is identified as a straight line (i.e., the obstacle's shape is relatively regular), this straight line is used as the baseline. If the obstacle area information shows that the area closest to the vehicle is identified as scattered points (i.e., the obstacle's shape is irregular), the tangent line of the obstacle area can be identified and used as the baseline. For example, the two scattered points closest to the vehicle can be found and connected to obtain the tangent line. The left and right radio frequency (RF) mechanisms each have a light spot landing point perpendicular to the vehicle's front direction. The angles of the left and right RF mechanisms can be adjusted so that these two light spot landing points are on this straight line.

[0079] S206. The left and right radio frequency mechanisms on the vehicle are controlled by the radio frequency rotating component to emit a beam in a beam emission mode in which the beam spot corresponding to the beam falls on the baseline.

[0080] The radio frequency rotating component is connected to the radio frequency mechanism on the right side.

[0081] Specifically, once the beam emission method is determined based on the current vehicle speed, the radio frequency rotating component can be controlled to rotate according to the beam emission method. A corresponding rotation angle command can be generated according to the beam emission method and transmitted to the radio frequency rotating component, so that the radio frequency rotating component rotates at the corresponding angle to control the left and right radio frequency mechanisms to rotate to the corresponding angle to emit the beam.

[0082] S207. The left and right radio frequency mechanisms on the vehicle are controlled by the radio frequency rotating component to emit a beam in a beam emission mode with the beam angle between the beam and the vehicle being 90 degrees.

[0083] Specifically, once the beam emission method is determined based on the current vehicle speed, the radio frequency rotating component can be controlled to rotate according to the beam emission method. A corresponding 90-degree rotation angle command can be generated according to the beam emission method and transmitted to the radio frequency rotating component, so that the radio frequency rotating component rotates according to the corresponding angle, thereby controlling the left and right radio frequency mechanisms to rotate to 90 degrees to emit beams.

[0084] S208. When the beam emission mode is such that the angle between the beam and the vehicle is 90 degrees, the beam spot focusing mode is to focus the beam spot according to the obstacle area information, adjust the beam spot focusing parameters, and obtain a second driving image containing the adjusted beam spot.

[0085] Specifically, when the beam is emitted at a 90-degree angle to the vehicle, the beam focusing parameters can be adjusted based on the clarity of the beam spot within the obstacle area information. This ensures the beam spot remains clearly displayed in the driving image. For example, preset levels can be used, each corresponding to different beam focusing parameters. Based on the current beam spot clarity or a roughly calculated obstacle distance, a matching level can be found, and the beam focusing chip can adjust it to the appropriate level, thus aligning the beam spot's focusing parameters with the target focusing parameters. Once adjustment is complete, a second driving image captured by the camera, including the adjusted beam spot, can be obtained.

[0086] Furthermore, the step of adjusting the beam spot focusing parameters to obtain a second driving image containing the adjusted beam spot may include:

[0087] a1. Extract the clarity of the beam spots in the obstacle area information.

[0088] In this embodiment, spot sharpness can be understood as the clarity of the beam spot when displayed in a driving image.

[0089] Specifically, during the camera acquisition process, obstacle area information can be obtained in real time for each frame. The obstacle area information may contain beam spots, and the clarity of the beam spots can be identified according to a pre-set method.

[0090] b1. When the spot clarity does not meet the preset first spot clarity standard, the spot focusing parameters are adjusted by the spot focusing chip.

[0091] In this embodiment, the first spot sharpness standard can be understood as a standard used to indicate the required spot sharpness.

[0092] Specifically, the clarity of the spot can be compared with a preset first spot clarity standard. When the spot clarity does not meet the preset first spot clarity standard, it can be adjusted to the corresponding level through preset levels, each level corresponding to different spot focusing parameters. The difference between the current spot clarity and the first spot clarity standard can be calculated, or the level of the difference or distance can be determined based on the roughly calculated distance to the obstacle. The spot focusing chip can then adjust the spot focusing parameters of the beam spot to make the beam spot clearly displayed in the driving image.

[0093] c1. Obtain the captured second vehicular image containing the adjusted beam spot.

[0094] Specifically, once the adjustment is complete, a second driving image captured by the camera, containing the adjusted beam pattern, can be obtained.

[0095] S209. When the beam emission mode is such that the spot landing point of the beam is on the baseline, the spot focusing mode is to focus the spot with a preset focusing parameter threshold, adjust the spot focusing parameters of the beam spot, and obtain a second driving image containing the adjusted beam spot.

[0096] In this embodiment, the focusing parameter threshold can be understood as the parameter value that allows the beam spot to be displayed.

[0097] Specifically, when the beam emission method is such that the spot corresponding to the beam falls on the baseline, the spot focusing method is such that the spot focusing parameters can be adjusted by the spot focusing chip in the form of a preset threshold. At this time, there is no requirement for the clarity in the driving image, only that the beam spot is present in the driving image. After the adjustment is completed, a second driving image containing the adjusted beam spot can be obtained by the camera.

[0098] a2. Extract the clarity of the beam spots in the obstacle area information.

[0099] b2. The focusing parameters are adjusted by the focusing chip based on the focusing parameter threshold.

[0100] Specifically, a pre-set focusing parameter threshold can be obtained, and the focusing parameters of the light spot can be adjusted to the focusing parameter threshold through the light spot focusing chip.

[0101] c2. When the spot clarity does not meet the preset second spot clarity standard, the spot focusing parameters are adjusted a second time through the spot focusing chip.

[0102] In this embodiment, the second spot sharpness standard can be understood as a standard used to indicate the required spot sharpness. The second spot sharpness standard differs from the first spot sharpness standard.

[0103] Specifically, when the beam emission method ensures that the beam spot's landing point is on the baseline, there are no requirements for the sharpness of the driving image; only that the beam spot is present in the image is necessary. Therefore, the second spot sharpness standard can be lower than the first spot sharpness standard. If the spot sharpness does not meet the preset first spot sharpness standard, such as when there is no beam spot in the driving image (meaning the obstacle may be too far away), the parameters can be adjusted again using the beam focusing chip. This can be done through preset levels, each with different beam focusing parameters. The difference between the current spot sharpness and the second spot sharpness standard can be calculated, or the distance to the obstacle can be roughly calculated to determine the level corresponding to the difference or distance. The beam focusing chip can then adjust the beam focusing parameters to the appropriate level, ensuring the beam spot is displayed in the driving image.

[0104] d2. Obtain the captured second vehicular image containing the adjusted beam spot.

[0105] Specifically, once the adjustment is complete, a second driving image captured by the camera, containing the adjusted beam pattern, can be obtained.

[0106] S210. Determine the area value of the beam spot based on the second traveling image.

[0107] In this embodiment, the area value can be understood as the area value of the beam spot displayed in the image.

[0108] Specifically, by pre-setting a spot area detection unit, the two beam spots on the left and right sides in the second driving image can be identified, and the area of ​​the two beam spots can be detected to obtain the area values ​​of the two beam spots on the left and right sides.

[0109] S211. Determine the distance between the vehicle and the obstacle based on the area value.

[0110] Specifically, a relationship coefficient between the area value corresponding to the interval distance can be set in advance based on the spot focusing parameters, and a correspondence table between the spot focusing parameters and the relationship coefficient can be established. The relationship coefficient can be determined based on the current spot focusing parameters, and the interval distance between the vehicle and the obstacle can be determined based on the product of the relationship coefficient and the area value.

[0111] For example, the interval distance can be calculated using the following formula:

[0112] L = kX

[0113] Where L is the distance between the vehicle and the obstacle, k is the relationship coefficient, and X is the area of ​​the beam spot.

[0114] S212. Obtain the installation height information of the left and right radio frequency mechanisms.

[0115] In this embodiment, the installation height information can be understood as the distance from the left and right radio frequency mechanisms to the ground.

[0116] Specifically, when installing the left and right radio frequency mechanisms, the installation height information of the left and right radio frequency mechanisms can be determined by measurement. The installation height information can be input into the memory for storage and can be retrieved from the memory.

[0117] S213. Based on the second driving image, determine the angle information between the left and right radio frequency mechanisms and the vehicle.

[0118] Specifically, by pre-setting a rotation angle detection unit, the rotation angles of the left and right radio frequency mechanisms can be detected respectively, and the angle information between the left and right radio frequency mechanisms and the vehicle can be determined.

[0119] S214. Determine the distance between the vehicle and the obstacle based on the included angle information and the installation height information.

[0120] Specifically, the included angle information and installation height information can be substituted into trigonometric function formulas to determine the distance between the vehicle and the obstacle.

[0121] For example, the interval distance can be calculated using the following formula:

[0122] L=Htanα

[0123] Where L represents the distance between the vehicle and the obstacle, H is the installation height, and α is the angle between the radio frequency mechanism and the vehicle.

[0124] This embodiment provides an obstacle ranging method. By identifying the area where the obstacle is located, obstacle area information is obtained. Based on the comparison between the current vehicle speed and a speed threshold, combined with the obstacle area information, the beam emission mode is determined. A radio frequency rotating component controls the rotation of the left and right radio frequency mechanisms according to the rotation angle in the beam emission mode, ensuring the beam's landing point always falls on the baseline corresponding to the obstacle area. A beam focusing chip adjusts the focusing parameters, allowing the beam spot to be clearly displayed in the driving image, achieving real-time obstacle tracking. Based on the driving image containing the beam spot captured by the camera, the area value or angle information of the beam spot can be determined. The area value and angle information are then used in the corresponding interval distance calculation formula to determine the distance between the vehicle and the obstacle. Based on the existing hardware architecture of visual perception, the hardware architecture of radar ranging and fusion is eliminated, saving resources and costs. Only a separate hardware architecture of a beam focusing chip and a radio frequency rotating component is needed to achieve accurate obstacle ranging, providing a complete pure vision-based accurate ranging solution with controllable costs.

[0125] To facilitate understanding, schematic diagrams are provided for the following methods: when the current vehicle speed is greater than a preset speed threshold, the method of calculating the interval distance based on the area of ​​the beam spot is shown; when the current vehicle speed is less than or equal to a preset speed threshold, the method of calculating the interval distance based on the angle is shown.

[0126] Figure 4a This is an example diagram illustrating the determination of the interval distance based on the area of ​​the beam spot in an obstacle ranging method provided in Embodiment 2 of this application.

[0127] like Figure 4a As shown, for ease of description, a single-sided radio frequency (RF) mechanism is used as an example to determine the distance between the same obstacle and the vehicle at different times. E3 represents the RF mechanism on one side, B3 represents the obstacle, X1 represents the beam spot area of ​​obstacle B3 at the previous moment, X2 represents the beam spot area of ​​obstacle B3 at the current moment, L1 represents the distance between obstacle B3 and the RF mechanism at the previous moment, and L2 represents the distance between obstacle B3 and the RF mechanism at the current moment. When the current vehicle speed is greater than a preset speed threshold, the RF rotating component can be controlled to adjust the angle of RF mechanism E3 to 90 degrees, that is, to emit a beam parallel to the ground. When the beam illuminates obstacle B3, a beam spot is formed. The beam spot focusing chip adjusts the beam spot focusing parameters and detects the area of ​​the beam spot, thereby obtaining X1 and X2. Based on the beam spot focusing parameters, the corresponding relationship coefficient k can be determined. Substituting k, X1, and X2 into the formula L = kX, the distances L1 and L2 can be determined.

[0128] Figure 4bThis is an example diagram illustrating the method for determining the interval distance based on the angle in an obstacle ranging method provided in Embodiment 2 of this application.

[0129] like Figure 4b As shown, for ease of description, the distance between the same obstacle and the vehicle at different times is determined. A2 represents the vehicle, E1 represents the left radio frequency mechanism, E2 represents the right radio frequency mechanism, F1 represents the right beam landing point at the previous moment, F2 represents the left beam landing point at the previous moment, B2 represents the obstacle, C1 represents the baseline at the previous moment, C2 represents the current baseline, F3 represents the current right beam landing point, and F4 represents the current left beam landing point. Based on the obstacle area information, a baseline can be determined. By controlling the rotation of E1 and E2 through the radio frequency rotating component, the beam landing point is always on the baseline. The line connecting E1 and F2 can be considered as the beam emitted by the left radio frequency mechanism at the previous moment. The rotation angle of the left radio frequency mechanism can be detected, that is, the angle α1 between the beam and the plane where E1 is located (which can be based on the dotted line below E1 in the figure). Substituting the installation height value H1 of E1 (i.e., the distance from E1 to the ground) and the angle value α1 into the formula L=Htanα, the distance between the left radio frequency mechanism and the obstacle at the previous moment can be calculated. Similarly, the calculation method for the distance between the right radio frequency mechanism and the obstacle at the previous moment and the distance between the left and right radio frequency mechanisms and the obstacle at the current moment is the same, and will not be repeated.

[0130] Example 3

[0131] Figure 5 This is a schematic diagram of an obstacle ranging device provided in Embodiment 3 of this application. Figure 5 As shown, the device includes: an information determination module 41, a mode determination module 42, a beam emission module 43, an image acquisition module 44, and a distance determination module 45. Among them,

[0132] The information determination module 41 is used to determine the obstacle area information of the obstacle when it is determined that there is an obstacle in the driving direction of the vehicle based on the captured first driving image.

[0133] The mode determination module 42 is used to determine the beam emission mode based on the current vehicle speed and obstacle area information.

[0134] The beam emission module 43 is used to control the left and right radio frequency mechanisms on the vehicle to emit beams in a beam emission mode.

[0135] The image acquisition module 44 is used to adjust the beam spot focusing parameters of the beam spot in a beam spot focusing mode that matches the beam emission mode, so as to obtain a second traveling image containing the adjusted beam spot.

[0136] The distance determination module 45 is used to determine the distance between the vehicle and the obstacle based on the second driving image;

[0137] Among them, the beam spot is the point where the beam falls in the emission direction.

[0138] This embodiment provides an obstacle ranging device that emits a light beam using a beam emission method and a beam focusing method that match the obstacle area information and vehicle speed. The device analyzes an image containing the beam spots to determine the interval distance. Based on visual perception, it achieves intelligent tracking and accurate ranging of obstacles, reducing hardware architecture costs compared to radar ranging methods.

[0139] Optionally, the method determination module 42 includes:

[0140] Get the vehicle's current speed;

[0141] If the current vehicle speed is greater than the preset speed threshold, the beam will be emitted at a 90-degree angle to the vehicle.

[0142] Otherwise, based on the obstacle area information, determine the baseline corresponding to the obstacle, and use the beam spot landing point on the baseline as the beam emission method.

[0143] Optional, beam emitting module 43, specifically used for:

[0144] The left and right radio frequency mechanisms on the vehicle are controlled by a radio frequency rotating component to emit a beam in a beam emission manner.

[0145] The radio frequency rotating component is connected to the left and right radio frequency mechanisms.

[0146] Optionally, when the light spot focusing method is to focus the light spot based on obstacle area information, the image acquisition module 44 is specifically used for:

[0147] Extract the clarity of the beam spots in the obstacle area information;

[0148] When the spot sharpness does not meet the preset first spot sharpness standard, the spot focusing parameters are adjusted by the spot focusing chip;

[0149] Obtain a captured second driving image containing the adjusted beam spot.

[0150] Optionally, when the spot focusing method is to focus the spot using a preset focusing parameter threshold, the image acquisition module 44 is specifically used for:

[0151] Extract the clarity of the beam spots in the obstacle area information;

[0152] The focusing parameters are adjusted using a focusing chip based on the focusing parameter threshold.

[0153] When the spot sharpness does not meet the preset second spot sharpness standard, the spot focusing parameters are adjusted a second time through the spot focusing chip;

[0154] Obtain a captured second driving image containing the adjusted beam spot.

[0155] Optionally, the distance determination module 45 is specifically used for:

[0156] Based on the second driving image, determine the area value of the beam spot;

[0157] Determine the distance between the vehicle and the obstacle based on the area value.

[0158] Optionally, the distance determination module 45 can also be used for:

[0159] Obtain the installation height information of the left and right radio frequency mechanisms;

[0160] Based on the second driving image, determine the angle information between the left and right radio frequency mechanisms and the vehicle;

[0161] Based on the included angle information and the installation height information, the distance between the vehicle and the obstacle is determined.

[0162] The obstacle ranging device provided in this application embodiment can execute the obstacle ranging method provided in any embodiment of this application, and has the corresponding functional modules and beneficial effects of the method execution.

[0163] Example 4

[0164] Figure 6 This is a structural schematic diagram of a vehicle provided in Embodiment 4 of the present invention, as shown below. Figure 6 As shown, the vehicle includes a controller 51, a memory 52, an input device 53, an output device 54, a radio frequency rotating component 55, and a light spot focusing chip 56; the number of controllers 51 in the vehicle can be one or more. Figure 5 Taking a controller 51 as an example; the controller 51, memory 52, input device 53, output device 54, radio frequency rotating component 55, and beam focusing chip 56 in the vehicle can be connected via bus or other means. Figure 5 Taking the example of a connection between China and Israel via a bus.

[0165] The memory 5, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the obstacle ranging method in this embodiment of the invention (e.g., the information determination module 41, the mode determination module 42, the beam emission module 43, the image acquisition module 44, and the distance determination module 45 in the obstacle ranging device). The controller 51 executes various functional applications and data processing of the vehicle by running the software programs, instructions, and modules stored in the memory 52, thereby realizing the obstacle ranging method described above.

[0166] The memory 52 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a given function; the data storage area may store data created based on terminal usage. Furthermore, the memory 52 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory, or other non-volatile solid-state storage device. In some instances, the memory 52 may further include memory remotely configured relative to the controller 51, which can be connected to the vehicle via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0167] Input device 53 can be used to receive input digital or character information, and to generate key signal inputs related to user settings and function control of the cloud platform. Output device 54 may include display devices such as a display screen.

[0168] The radio frequency rotating component 54 is connected to the left and right radio frequency mechanisms and can be used to control the beam emission mode of the left and right radio frequency mechanisms.

[0169] The beam focusing chip 55 can be used to adjust the beam focusing parameters of the beam spot.

[0170] Example 5

[0171] Embodiment 5 of the present invention also provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform an obstacle ranging method, the method comprising:

[0172] When an obstacle is determined to exist in the vehicle's direction of travel based on the captured first driving image, the obstacle area information of the obstacle is determined.

[0173] The beam emission method is determined based on the current vehicle speed and obstacle area information;

[0174] The left and right radio frequency mechanisms on the vehicle are controlled to emit beams in a beam emission manner.

[0175] By adjusting the beam spot focusing parameters of the beam spot in a beam spot focusing mode that matches the beam emission mode, a second driving image containing the adjusted beam spot is obtained;

[0176] Based on the second driving image, determine the distance between the vehicle and the obstacle;

[0177] The beam spot is the point where the beam falls in the emission direction.

[0178] Of course, the computer-executable instructions provided in the embodiments of the present invention are not limited to the method operations described above, but can also perform related operations in the obstacle ranging method provided in any embodiment of the present invention.

[0179] Based on the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0180] It is worth noting that in the embodiments of the obstacle ranging device described above, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the scope of protection of the present invention.

[0181] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A method for measuring distances from obstacles, characterized in that, include: When it is determined from the captured first driving image that there is an obstacle in the vehicle's driving direction, the obstacle area information of the obstacle is determined. The beam emission method is determined based on the current vehicle speed and the information about the obstacle area; The left and right radio frequency mechanisms on the vehicle are controlled to emit a beam in the aforementioned beam emission manner; By adjusting the beam spot focusing parameters of the beam spot in a beam spot focusing mode that matches the beam emission mode, a second driving image containing the adjusted beam spot is obtained; Based on the second driving image, determine the distance between the vehicle and the obstacle; Wherein, the beam spot is the point where the beam falls in the emission direction; The step of determining the beam emission method based on the current vehicle speed and the obstacle area information includes: Get the vehicle's current speed; If the current vehicle speed is greater than a preset speed threshold, then the beam will be emitted at a 90-degree angle to the vehicle. Otherwise, based on the obstacle area information, a baseline corresponding to the obstacle is determined, and the beam emission method is to place the spot of the beam on the baseline. When the beam emission method is such that the beam makes a 90-degree angle with the vehicle, the beam focusing method is to focus the beam based on the obstacle area information; Wherein, when the beam focusing method is beam focusing based on the obstacle area information, the step of adjusting the beam focusing parameters to obtain a second driving image containing the adjusted beam spot includes: Extract the clarity of the beam spots from the obstacle area information; When the spot clarity does not meet the preset first spot clarity standard, the spot focusing parameters are adjusted by the spot focusing chip; Obtain a captured second driving image containing the adjusted beam spot.

2. The method according to claim 1, characterized in that, The left and right radio frequency mechanisms on the control vehicle emit beams in the beam emission mode, including: The left and right radio frequency mechanisms on the vehicle are controlled by a radio frequency rotating component to emit a beam in the aforementioned beam emission manner. The radio frequency rotating component is connected to the left and right radio frequency mechanisms.

3. The method according to claim 1, characterized in that, When the beam emission mode is such that the spot corresponding to the beam falls on the baseline, the spot focusing mode is to focus the spot with a preset focusing parameter threshold.

4. The method according to claim 3, characterized in that, When the beam focusing mode is to focus the beam using a preset focusing parameter threshold, adjusting the beam focusing parameters to obtain a second driving image containing the adjusted beam spot includes: Extract the clarity of the beam spots from the obstacle area information; The focusing parameters are adjusted using a focusing chip based on the aforementioned focusing parameter threshold. When the spot clarity does not meet the preset second spot clarity standard, the spot focusing parameters are adjusted a second time by the spot focusing chip; Obtain a captured second driving image containing the adjusted beam spot.

5. The method according to claim 1, characterized in that, Determining the distance between the vehicle and the obstacle based on the second driving image includes: Based on the second driving image, determine the area value of the beam spot; Based on the area value, the distance between the vehicle and the obstacle is determined.

6. The method according to claim 4, characterized in that, Determining the distance between the vehicle and the obstacle based on the second driving image includes: Obtain the installation height information of the left and right radio frequency mechanisms; Based on the second driving image, determine the angle information between the left and right radio frequency mechanisms and the vehicle; Based on the included angle information and the installation height information, the distance between the vehicle and the obstacle is determined.

7. An obstacle ranging device, characterized in that, include: The information determination module is used to determine the obstacle area information of the obstacle when it is determined from the captured first driving image that there is an obstacle in the direction of vehicle travel. The method determination module is used to determine the beam emission method based on the current vehicle speed and the obstacle area information; A beam emission module is used to control the left and right radio frequency mechanisms on the vehicle to emit beams in the aforementioned beam emission mode; The image acquisition module is used to adjust the spot focusing parameters of the beam spot in a spot focusing mode that matches the beam emission mode, so as to obtain a second driving image containing the adjusted beam spot. The distance determination module is used to determine the distance between the vehicle and the obstacle based on the second driving image; Wherein, the beam spot is the point where the beam falls in the emission direction; The method determination module includes: Get the vehicle's current speed; If the current vehicle speed is greater than a preset speed threshold, then the beam will be emitted at a 90-degree angle to the vehicle. Otherwise, based on the obstacle area information, a baseline corresponding to the obstacle is determined, and the beam emission method is to place the spot of the beam on the baseline. When the beam emission method is such that the beam makes a 90-degree angle with the vehicle, the beam focusing method is to focus the beam based on the obstacle area information; Wherein, when the spot focusing method is spot focusing based on the obstacle area information, the image acquisition module is specifically used for: Extract the clarity of the beam spots from the obstacle area information; When the spot clarity does not meet the preset first spot clarity standard, the spot focusing parameters are adjusted by the spot focusing chip; Obtain a captured second driving image containing the adjusted beam spot.

8. A vehicle, characterized in that, The vehicles include: At least one controller; Radio frequency rotating components; Light spot focusing chip; as well as A memory that is communicatively connected to the at least one controller; The radio frequency rotating component is connected to the left and right radio frequency mechanisms and is used to control the beam emission mode of the left and right radio frequency mechanisms. The beam focusing chip is used to adjust the beam focusing parameters of the beam spot. The memory stores a computer program that can be executed by the at least one controller to enable the at least one controller to perform the obstacle ranging method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the obstacle ranging method according to any one of claims 1-6.

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