A tunnel wall position detection method, device, equipment and storage medium

Abstract

The application discloses a tunnel wall position detection method, device and equipment and a storage medium. The method comprises the following steps: in the case that the number of first target points detected at a first time is less than a preset point number threshold, obtaining a plurality of second target points and a first distance of each second target point relative to a target vehicle within a preset time period; wherein the first target points and the second target points are both points on the tunnel wall that can be detected and are in a static state; the starting time of the preset time period is the first time; performing grouped analysis and processing on the plurality of first distances to obtain a target distance set; the number of first distances in the target distance set satisfies a preset number condition; determining the position information of the tunnel wall according to the first distances in the target distance set; the application can calculate the position of the tunnel wall according to the first distances in the target distance set with a relatively concentrated first distance distribution, thereby improving the accuracy of the detected position information of the tunnel wall and reducing the false alarm rate of the radar.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tunnel wall position detection, and in particular to a tunnel wall position detection method, device, equipment and storage medium. BACKGROUND

[0002] When electromagnetic waves emitted by a radar encounter an object, the electromagnetic waves are reflected, so that the radar receives the reflected electromagnetic waves to detect properties of the object according to the reflected electromagnetic waves; when a vehicle-mounted millimeter wave radar passes through a tunnel, due to the relatively sealed space of the tunnel, the electromagnetic waves are reflected multiple times to the radar, and the direction of the electromagnetic waves reflected by the object changes, thereby causing the radar to misidentify a target; at this time, the radar needs to be able to detect the position of the tunnel wall to filter out the multiple-reflection false target.

[0003] In the prior art, due to the low reflection coefficient of the tunnel wall, the radar can identify fewer points, which causes the radar to be unable to accurately estimate the position of the wall. SUMMARY

[0004] To solve the technical problem that the radar is unable to accurately estimate the position of the wall, the present application discloses a tunnel wall position detection method capable of solving the above technical problem.

[0005] To achieve the above-mentioned purposes, the present application provides a tunnel wall position detection method, which comprises: in the case that the number of first target points detected at a first time is less than a preset point number threshold, acquiring a plurality of second target points and a first distance of each second target point relative to a target vehicle within a preset time period; wherein the first target points and the second target points are both points on the tunnel wall that can be detected and are in a static state; the starting time of the preset time period is the first time;

[0006] Grouping and analyzing the plurality of first distances to obtain a target distance set; the number of first distances in the target distance set satisfies a preset number condition;

[0007] According to the first distances in the target distance set, the position information of the tunnel wall is determined.

[0008] In some embodiments, the method further comprises:

[0009] Acquiring a preset grouping configuration parameter, the preset grouping configuration parameter comprising at least one preset reference distance;

[0010] The grouping and analyzing the plurality of first distances to obtain a target distance set comprises:

[0011] grouping the plurality of first distances according to the at least one preset reference distance, to obtain a distance set corresponding to each of the at least one preset reference distance; the distance set includes at least one first distance, and a difference between each of the at least one first distance and the preset reference distance corresponding to the distance set is less than a preset distance difference;

[0012] filtering, from the at least one distance set, a target distance set in which a number of the first distances in the target distance set satisfies a preset number threshold.

[0013] In some embodiments, the grouping the plurality of first distances according to the at least one preset reference distance, to obtain a distance set corresponding to each of the at least one preset reference distance, includes:

[0014] filtering, from the plurality of first distances, at least one target distance corresponding to each of the at least one preset reference distance according to the at least one preset reference distance; the target distance is a first distance in the plurality of first distances, and a difference between the first distance and the preset reference distance is less than a preset distance difference;

[0015] combining the at least one target distance corresponding to each of the at least one preset reference distance, to obtain the distance set corresponding to each of the at least one preset reference distance.

[0016] In some embodiments, the method further includes:

[0017] obtaining a plurality of to-be-measured points on the tunnel wall at the first time, the to-be-measured points being points on the tunnel wall that can be detected and are in a static state or a dynamic state;

[0018] filtering a first target point from the plurality of to-be-measured points.

[0019] In some embodiments, the obtaining the plurality of to-be-measured points on the tunnel wall at the first time includes:

[0020] obtaining a plurality of point cloud data on the tunnel wall at the first time and steering wheel angle information of the target vehicle;

[0021] performing coordinate conversion on the plurality of point cloud data, to obtain a plurality of initial to-be-measured points;

[0022] performing angle conversion on the plurality of initial to-be-measured points based on the steering wheel angle information, to obtain the plurality of to-be-measured points.

[0023] In some embodiments, the method further includes:

[0024] obtaining first position information of a target vehicle;

[0025] The position information of the tunnel wall is determined according to the first distance in the target distance set.

[0026] A second distance of the tunnel wall relative to the target vehicle is determined according to the first distance in the target distance set.

[0027] The position information of the tunnel wall is determined according to the first position information and the second distance.

[0028] In some embodiments, the method further comprises:

[0029] Second position information of a target detection device is obtained, the target detection device being arranged on the target vehicle.

[0030] The position information of the tunnel wall is determined according to the first position information and the second distance, comprising:

[0031] Third position information of the tunnel wall relative to the target detection device is determined according to the second position information and the second distance.

[0032] The third position information is updated according to the second position information and the first position information to determine the position information of the tunnel wall relative to the target vehicle.

[0033] The present application also provides a tunnel wall position detection device, comprising:

[0034] A distance acquisition module is configured to, in a case where a number of first target points detected at a first time is less than a preset point number threshold, acquire a plurality of second target points and a first distance of each second target point relative to a target vehicle within a preset time period; wherein a target point is a point on a tunnel wall that can be detected and is in a static state; and a starting time of the preset time period is the first time.

[0035] A grouping analysis processing module is configured to perform grouping analysis processing on the plurality of first distances to obtain a target distance set; and a number of first distances in the target distance set satisfies a preset number condition.

[0036] A position determination module is configured to determine position information of the tunnel wall according to the first distance in the target distance set.

[0037] The present application also provides a tunnel wall position detection device, comprising a processor and a memory, the memory storing at least one instruction or at least one program, the at least one instruction or the at least one program being loaded and executed by the processor to implement the tunnel wall position detection method as described above.

[0038] The application further provides a computer readable storage medium, wherein at least one instruction or at least one program is stored in the storage medium, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the tunnel wall position detection method.

[0039] The embodiment of the application has the following beneficial effects:

[0040] The tunnel wall position detection method provided by the application can obtain a larger number of second target points, and perform grouping analysis and processing by using a plurality of first distances to obtain a target distance set, and then obtain a distance set with a relatively concentrated first distance distribution, and then calculate the tunnel wall position according to the first distance in the target distance set with the relatively concentrated first distance distribution, so that more accurate position information can be obtained, and the accuracy of the position information of the detected tunnel wall is improved, and the false alarm rate of the radar is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to more clearly illustrate the tunnel wall position detection method, device, equipment and storage medium provided by the application, the drawings required by the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0042] Figure 1 An implementation environment schematic diagram of a tunnel wall position detection method provided by the embodiment of the application;

[0043] Figure 2 A flowchart of a tunnel wall position detection method provided by the embodiment of the application;

[0044] Figure 3 A schematic diagram of a second target point using a histogram to display a distance set provided by the embodiment of the application;

[0045] Figure 4 A flowchart of a determination method of a target distance set provided by the embodiment of the application;

[0046] Figure 5 A flowchart of a determination method of a target distance set provided by the embodiment of the application;

[0047] Figure 6 A flowchart of a determination method of a target distance set provided by the embodiment of the application;

[0048] Figure 7 A structural schematic diagram of a tunnel wall position detection device provided by an embodiment of the present application is provided.

[0049] Figure 8 A structural schematic diagram of an electronic device for a tunnel wall position detection method provided by an embodiment of the present application is provided. DETAILED DESCRIPTION

[0050] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0051] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or server including a series of steps or units does not necessarily have to include those clearly listed steps or units, but can include other steps or units not clearly listed or inherent to the process, method, product or device.

[0052] Please refer to Figure 1 which shows an implementation environment schematic diagram provided by an embodiment of the present application, which can include:

[0053] At least one terminal 01 and at least one server 02. The at least one terminal 01 and the at least one server 02 can communicate data through a network.

[0054] In an optional embodiment, the terminal 01 can be an executor of a tunnel wall position detection method. The terminal 01 can include, but is not limited to, a vehicle-mounted terminal, a smart phone, a desktop computer, a tablet computer, a notebook computer, a smart speaker, a digital assistant, an augmented reality (AR) / virtual reality (VR) device, a smart wearable device, and the like. The operating system running on the first terminal 01 can include, but is not limited to, an Android system, an IOS system, linux, windows, Unix, and the like.

[0055] The server 02 can provide the terminal 01 with a plurality of second target points within a preset time period, a first distance of each second target point relative to the target vehicle, a preset point quantity threshold, and a preset quantity condition. Optionally, the server 02 can be a physical server, a server cluster composed of a plurality of physical servers, or a distributed system, and can also be a cloud server providing cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN (Content Delivery Network), and basic cloud computing services such as big data and artificial intelligence platforms.

[0056] Please refer to Figure 2 , which is a flowchart of a tunnel wall position detection method provided by an embodiment of the present application. The present specification provides method operation steps as described in the embodiments or flowcharts, but based on conventional; or non-creative labor can include more or fewer operation steps. The order of steps listed in the embodiments is only one of the many execution orders, and does not represent the only execution order. The tunnel wall position detection method can be executed according to the method order shown in the embodiments or the drawings. Specifically, as shown in Figure 2 , applied to a terminal, the method comprises:

[0057] S201, in the case where the number of first target points detected at the first time is less than the preset point quantity threshold, obtaining a plurality of second target points within a preset time period and a first distance of each second target point relative to the target vehicle.

[0058] In the embodiments of the present application, the first time can be any time when the target vehicle detects the tunnel wall during driving; both the first target point and the second target point can be points on the tunnel wall that can be detected and are static. The starting time of the preset time period can be the first time; the starting time of the preset time period can also be a time interval of a preset time interval after the first time. As an example, when the starting time of the preset time period is the first time, the second target point includes the first target point.

[0059] Optionally, before judging the data of the first target point detected at the first time, it can also include obtaining the number of first target points detected at the first time.

[0060] For obtaining the number of first target points detected at the first time, specifically,

[0061] In some example embodiments, a plurality of to-be-tested points at the first time can be acquired, a first target point can be selected from the plurality of to-be-tested points, and then the number of the first target point can be obtained. The to-be-tested point can be a point in a static or dynamic state that can be detected. The static point can refer to a point on the tunnel wall, and the dynamic point can refer to a point that can move, for example, a point fed back by a vehicle in operation.

[0062] In one example, first point cloud data collected at the first time can be acquired, and a plurality of to-be-tested points can be extracted from the first point cloud data. Further, a first target point can be selected from the plurality of to-be-tested points according to a preset point state recognition configuration parameter, and then the number of the first target point can be obtained. The preset point state recognition configuration parameter can refer to a parameter that can be used to identify whether a to-be-tested point is static or dynamic, for example, can include the speed of the point.

[0063] In one example, the number of the first target point detected at the first time is judged. If the number of the first target point detected at the first time is less than a preset point number threshold, it indicates that the number of points on the tunnel wall used to calculate the position of the tunnel wall is small, and the first target point cannot accurately calculate the position of the tunnel wall, so more second target points need to be collected to calculate the position of the tunnel wall.

[0064] In one example, a plurality of second target points in a preset period and a plurality of first distances of the second target points relative to the target vehicle are acquired. Specifically, a plurality of detection times in the preset period are acquired, a plurality of target points detected at the plurality of detection times are accumulated to obtain a plurality of second target points, and distances of the second target points relative to the target vehicle are detected to obtain a plurality of first distances.

[0065] S203, the plurality of first distances are grouped and analyzed to obtain a target distance set;

[0066] In the embodiments of the present application, the number of the first distances in the target distance set satisfies a preset number condition.

[0067] In this example, the plurality of first distances corresponding to the plurality of second target points detected at the plurality of detection times are directly accumulated, so that the plurality of first distances obtained have large noise. Based on this, the plurality of first distances are divided into a plurality of distance sets, and a target distance set whose number satisfies a preset number condition is selected from the plurality of sets. The distance noise that is different from other first distances is filtered out, and a distance set in which the first distances are concentrated is selected, and then a more accurate position of the tunnel wall can be calculated based on this.

[0068] Optionally, the plurality of first distances are grouped to obtain a plurality of distance sets, and a target distance set whose number of first distances satisfies a preset number condition is selected from the plurality of distance sets.

[0069] In some example embodiments, the grouping the plurality of first distances to obtain a plurality of distance sets can comprise: obtaining a preset difference threshold value, and a first target distance and a second target distance in the plurality of first distances, determining at least one distance set according to the preset difference threshold value and the first target distance, or the preset difference threshold value and the second target distance; and screening a target distance set in which the number of first distances in the distance set satisfies a preset number condition from the at least one distance set. The first target distance is less than the second target distance; the first target distance is less than other first distances in the plurality of first distances, and the second target distance is greater than other first distances in the plurality of first distances.

[0070] By grouping the plurality of first distances to obtain a plurality of distance sets, and then screening a target distance set in which the number of first distances satisfies a preset number condition from the plurality of distance sets, a distance set with a relatively concentrated distribution is obtained, so that the position of the tunnel wall can be more accurately obtained subsequently.

[0071] In one example, a sum of the first target distance and the preset difference threshold value can be obtained to obtain a first distance set threshold value; first distances between the first target distance and the first distance set threshold value are screened from the plurality of first distances to obtain a first distance set.

[0072] A second distance set threshold value is obtained, and a second distance set is determined according to the first distance set threshold value and the second distance set threshold value; wherein the sum of the first distance set threshold value and the preset difference threshold value can be determined as the second distance set threshold value.

[0073] An nth distance set threshold value is obtained, and an nth distance set is determined according to the nth distance set threshold value and an (n-1)th distance set threshold value; wherein the second target distance is greater than the (n-1)th distance set threshold value and less than the nth distance set threshold value. The sum of the (n-1)th distance set threshold value and the preset difference threshold value is determined as the nth distance set threshold value.

[0074] In this example, the plurality of first distances are grouped in an incremental manner, and the difference between the two threshold values of each set is equal, which can make the grouping result more uniform, and thus it is easier to screen a distance set in which the first distances are distributed more concentratedly.

[0075] In another example, a difference between the second target distance and the preset difference threshold value can be obtained to obtain a first target threshold value, and a first target distance set is determined from the plurality of first distances according to the second target distance and the first target threshold value.

[0076] A second target threshold value is obtained, and a second target distance set is determined according to the first target threshold value and the second target threshold value; wherein the difference between the first target threshold value and the preset difference threshold value can be determined as the second target threshold value.

[0077] The mth distance set threshold value is obtained, and the mth target distance set is determined according to the mth distance set threshold value and the (m-1)th distance set threshold value; wherein the first target distance is less than the (m-1)th distance set threshold value and greater than the mth distance set threshold value.

[0078] In this example, the multiple first distances are grouped in a decreasing manner, and the difference between the two threshold values of each set is equal, which can make the grouping result more uniform, and thus it is easier to screen out the distance set with a more concentrated first distance distribution.

[0079] In some examples, the above-mentioned target distance set in which the number of first distances in the distance set meets the preset number condition is specifically as follows:

[0080] The distance set in which the number of first distances is greater than the number of first distances in any other distance set can be screened out from at least one distance set, and the screened distance set is determined as the target distance set.

[0081] The distance set in which the number of first distances meets the preset threshold value can also be screened out from at least one distance set, and any distance set in the screened distance set is determined as the target distance set.

[0082] The set with the largest number of first distances is screened out from each distance set as the target distance set; the first distance data distribution in this target distance set is more, and the calculation result is more accurate.

[0083] In one example, the first distance and the number of first distances in each distance set can be counted in the form of a histogram to intuitively screen out the target distance set.

[0084] As shown in FIG. 5, which is a schematic diagram of a second target point adopting a histogram to display distance sets provided by an embodiment of the present application. Figure 3

[0085] Specifically, in the figure, the x-axis can represent the size of the first distance, and the y-axis represents the number of target points, wherein the distance listed by the horizontal coordinate can be the median value of the start point distance and the end point distance of each distance set. For example, the rectangle corresponding to 5 represents the first distance located between 3.25-6.75; the rectangle corresponding to 10 represents the first distance located between 8.75-11.25.

[0086] ​In this example, the preset time period can include at least a first time, a second time and a third time. Correspondingly, the plurality of second target points include a first target point, a third target point and a fourth target point. Wherein, the solid circle represents the fourth target point corresponding to the third time, the hollow circle represents the first target point corresponding to the first time, and the dashed hollow circle represents the third target point corresponding to the second time.

[0087] Correspondingly, the number of hollow circles represents the number of first target points at the first time, and the position of each hollow circle represents the first distance of each first target point; the number of dashed hollow circles represents the number of third target points at the second time, and the position of each dashed hollow circle represents the first distance of each third target point; the number of solid circles represents the number of fourth target points at the third time, and the position of each solid circle represents the first distance of each fourth target point.

[0088] S205, determining the position information of the tunnel wall according to the first distance in the target distance set.

[0089] In some example embodiments, the first position information of the target vehicle can be obtained, and then the position information of the tunnel wall can be determined according to the first distance in the target distance set, which can include:

[0090] According to the first distance in the target distance set, the second distance of the tunnel wall relative to the target vehicle is determined; and according to the first position information and the second distance, the position information of the tunnel wall relative to the target vehicle is determined.

[0091] In one example, when the number of first distances in the target distance set is one, the first distance is determined as the second distance of the tunnel wall relative to the target vehicle.

[0092] Correspondingly, the first position information is converted according to the second distance to obtain the position information of the tunnel wall.

[0093] In another example, when the number of first distances in the target distance set is multiple, the average value of the multiple first distances can be determined as the second distance of the tunnel wall relative to the target vehicle.

[0094] In this embodiment, the number of second target points and the first distance of each second target point relative to the target vehicle are obtained under the condition that the number of first target points detected at the first time is less than the preset point number threshold in the preset time period. A larger number of second target points can be obtained, and a plurality of first distances can be used for grouping analysis and processing to obtain a target distance set, and then a distance set with a more concentrated first distance distribution is obtained. Based on the first distance in the target distance set, the position information of the tunnel wall is calculated, and more accurate position information of the tunnel wall can be obtained, thereby improving the accuracy of the detected position information of the tunnel wall and reducing the false alarm rate of the radar.

[0095] As Figure 4 Fig. 2 shows a flowchart of a method for determining a target distance set according to an embodiment of the present application, and the method comprises the following steps.

[0096] In S401, a preset grouping configuration parameter is obtained, and the preset grouping configuration parameter comprises at least one preset reference distance.

[0097] In the embodiment of the present application, the preset grouping configuration parameter can represent a configuration manner of grouping the plurality of first distances. The preset reference distance can be a filtering reference distance for grouping the first distances into distance sets.

[0098] The preset grouping configuration parameter can further comprise a preset difference threshold.

[0099] In S403, the plurality of first distances are grouped according to the at least one preset reference distance, and at least one distance set corresponding to each of the at least one preset reference distance is obtained.

[0100] In the embodiment of the present application, the distance set comprises at least one first distance, and a difference between each of the at least one first distance and the preset reference distance corresponding to the distance set is less than a preset distance difference.

[0101] In some example embodiments, at least one target distance corresponding to each of the at least one preset reference distance can be filtered from the plurality of first distances according to the at least one preset reference distance; and at least one distance set corresponding to each of the at least one preset reference distance can be obtained by combining the at least one target distance corresponding to each of the at least one preset reference distance. The target distance is a first distance in the plurality of first distances, and a difference between the first distance and the preset reference distance is less than the preset distance difference.

[0102] In one example, at least one first target distance can be filtered from the plurality of first distances according to the at least one preset reference distance, and a distance difference between the at least one first target distance and a first target preset reference distance is less than a preset distance difference. The first target preset reference distance is any one of the at least one preset reference distance.

[0103] In S405, a target distance set is filtered from the at least one distance set, and a number of first distances in the distance set of the target distance set satisfies a preset number threshold.

[0104] In some example embodiments, a distance set can be filtered from the at least one distance set, and a number of first distances in the distance set is greater than a number of first distances in any other distance set; and the filtered distance set is determined as the target distance set.

[0105] In some example embodiments, the number of first distances in at least one distance set can be screened to determine a distance set in which the number of first distances satisfies a preset threshold value as a target distance set.

[0106] In this embodiment, compared with the situation in the prior art that the direction of the electromagnetic wave changes after multiple reflections of the electromagnetic wave caused by the tunnel wall, resulting in the occurrence of false targets in the process of collecting target points, the present application divides the plurality of first distances into a plurality of distance sets by grouping the plurality of first distances, and screens a target distance set in which the number of first distances in the distance set satisfies a preset number threshold value from the plurality of distance sets. This way can screen a second target point in a certain range with a larger number from the plurality of first distances, and then can exclude the influence of the misrecognized false target on the calculation result of the position of the tunnel wall, to obtain a distance set of at least one first distance with higher accuracy, so as to calculate the position information of the tunnel wall with higher accuracy.

[0107] As Figure 5 which is a flowchart of a method for obtaining a to-be-measured point provided by an embodiment of the present application, and the details are as follows.

[0108] S501, obtaining a plurality of point cloud data on the tunnel wall at a first time and steering wheel angle information of the target vehicle.

[0109] In some example embodiments, a point cloud image of the tunnel wall detected at the first time can be obtained; and a plurality of point cloud data in the point cloud image can be detected.

[0110] S503, performing coordinate conversion on the plurality of point cloud data to obtain a plurality of initial to-be-measured points.

[0111] In some example embodiments, a preset coordinate conversion parameter can be obtained; and the point cloud coordinates of the plurality of point cloud data can be converted to Cartesian coordinates according to the preset coordinate conversion parameter to obtain a plurality of initial to-be-measured points in the Cartesian coordinate system. The preset coordinate conversion parameter can convert the point cloud coordinates to Cartesian coordinates. As an example, the point cloud coordinates can be polar coordinates.

[0112] In one example, the following function model one can be used to convert the point cloud data in polar coordinates;

[0113] Function model one: x = p*sintheta;

[0114] y = p*costheta

[0115] Wherein, p represents the radial distance of the point cloud data in polar coordinates; theta represents the polar angle of the point cloud data in polar coordinates.

[0116] S505, performing angle conversion on the multiple initial to-be-measured points based on the steering wheel turning angle information to obtain multiple to-be-measured points.

[0117] In the embodiment of the present application, the to-be-measured point can be a point that is adjusted in angle relative to the target vehicle.

[0118] In some example embodiments, a preset angle conversion parameter can be acquired, and the multiple initial to-be-measured points are converted in angle according to the preset angle conversion parameter and the steering wheel turning angle information to obtain the multiple to-be-measured points.

[0119] In one example, the following function model two can be used to convert the multiple initial to-be-measured points in angle:

[0120] Function model two:

[0121] wherein, represents the coordinates of the to-be-measured point, represents the coordinates of the initial to-be-measured point; T represents the transpose of ; and φ represents the steering wheel turning angle information.

[0122] In this embodiment, the present application converts the acquired point cloud data in coordinates and adjusts the angle, so that the angles of the multiple initial to-be-measured points match the driving direction of the target vehicle, which can make the position information of the obtained to-be-measured points more accurate, and further improve the accuracy of the position information of the tunnel wall obtained subsequently.

[0123] As shown in Figure 6 , it is a flowchart of a method for determining a second distance of a tunnel wall relative to a target vehicle according to an embodiment of the present application, and the details are as follows.

[0124] S601, acquiring second position information of a target detection device;

[0125] In the embodiment of the present application, the target detection device is arranged on the target vehicle; as an example, the target detection device can be a radar, for example, an angle radar.

[0126] S603, determining third position information of the tunnel wall relative to the target detection device according to the second position information and the second distance;

[0127] In some example embodiments, the second position information can be converted according to the second distance to obtain the third position information of the tunnel wall relative to the target detection device.

[0128] S605, updating the third position information according to the second position information and the first position information to determine the position information of the tunnel wall relative to the target vehicle.

[0129] In some example embodiments, a position deviation value between the second position information and the first position information can be acquired; and the third position information is updated according to the position deviation value, to obtain the position information of the tunnel wall relative to the target vehicle.

[0130] In this embodiment, the position information of the tunnel wall is calculated based on the position information of the target detection device collecting the target points, so that more accurate position information can be obtained.

[0131] The embodiment of the present application further provides a tunnel wall position detection device, as shown in Figure 7 The device includes:

[0132] The distance acquisition module 701 is configured to acquire a plurality of second target points and a first distance of each second target point relative to the target vehicle within a preset time period, in a case where the number of first target points detected at a first time is less than a preset point number threshold; wherein the first target points and the second target points are both points on the tunnel wall that are in a static state and can be detected; and the start time of the preset time period is the first time.

[0133] The grouping analysis processing module 702 is configured to perform grouping analysis processing on the plurality of first distances, to obtain a target distance set; and the number of first distances in the target distance set satisfies a preset number condition.

[0134] The position determination module 703 is configured to determine the position information of the tunnel wall according to the first distances in the target distance set.

[0135] In the embodiment of the present application, it further includes:

[0136] The first acquisition module is configured to acquire a preset grouping configuration parameter, wherein the preset grouping configuration parameter includes at least one preset reference distance.

[0137] The grouping processing module 702 includes:

[0138] The set processing unit is configured to perform grouping processing on the plurality of first distances according to the at least one preset reference distance, to obtain a distance set corresponding to each of the at least one preset reference distance; and the distance set includes at least one first distance, and the difference between each of the at least one first distance and the preset reference distance corresponding to the distance set is less than a preset distance difference.

[0139] The screening unit is configured to screen a target distance set from the at least one distance set, wherein the number of first distances in the target distance set satisfies a preset number threshold.

[0140] In the embodiment of the present application, the set processing unit comprises:

[0141] The screening sub-unit is configured to screen at least one target distance corresponding to each of the at least one preset reference distance from the plurality of first distances according to the at least one preset reference distance; the target distance is a first distance in the plurality of first distances, and a difference between the preset reference distance and the first distance is less than a preset distance difference value;

[0142] The processing sub-unit is configured to perform combination processing on the at least one target distance corresponding to each of the at least one preset reference distance, to obtain the distance set corresponding to each of the at least one preset reference distance.

[0143] In the embodiment of the present application, further comprising:

[0144] The second acquisition module is configured to acquire a plurality of to-be-measured points on the tunnel wall at the first time, the to-be-measured points being points on the tunnel wall that can be detected and are in a static state or a dynamic state;

[0145] The screening module is configured to screen a first target point from the plurality of to-be-measured points.

[0146] In the embodiment of the present application, the second acquisition module comprises:

[0147] The first acquisition unit is configured to acquire a plurality of point cloud data and steering wheel angle information of the target vehicle on the tunnel wall at the first time;

[0148] The first conversion unit is configured to perform coordinate conversion on the plurality of point cloud data, to obtain a plurality of initial to-be-measured points;

[0149] The second conversion unit is configured to perform angle conversion on the plurality of initial to-be-measured points based on the steering wheel angle information, to obtain a plurality of to-be-measured points.

[0150] In the embodiment of the present application, further comprising:

[0151] The third acquisition module is configured to acquire first position information of the target vehicle;

[0152] The position determination module 703 comprises:

[0153] The distance determination unit is configured to determine a second distance of the tunnel wall relative to the target vehicle according to a first distance in the target distance set;

[0154] The position determination unit is configured to determine position information of the tunnel wall according to the first position information and the second distance.

[0155] In the embodiment of the present application, the second acquisition unit is configured to acquire second position information of a target detection device, the target detection device being arranged on the target vehicle.

[0156] The position determining unit comprises:

[0157] The first determining sub-unit is configured to determine third position information of the tunnel wall relative to the target detection device according to the second position information and the second distance.

[0158] The second determining sub-unit is configured to update the third position information according to the second position information and the first position information to determine the position information of the tunnel wall relative to the target vehicle.

[0159] It should be noted that the device in the device embodiment and the method embodiment are based on the same inventive concept.

[0160] The tunnel wall position detection device provided in the embodiments of the present application comprises a processor and a memory, and the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement the tunnel wall position detection method as described in the above method embodiments.

[0161] Further, Figure 8 A hardware structure schematic diagram of an electronic device for implementing the tunnel wall position detection method provided in the embodiments of the present application is shown, and the electronic device can participate in constituting or containing the tunnel wall position detection device provided in the embodiments of the present application. As shown in the figure, Figure 8 The electronic device 80 can include one or more processors 802 (the processor 802 can include but is not limited to a microprocessor MCU or a programmable logic device FPGA processing device), a memory 804 for storing data, and a transmission device 806 for communication function. In addition, it can also include a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which can be included as one of the ports of the I / O interface), a network interface, a power supply and / or a camera. Those skilled in the art can understand that Figure 8 The structure shown in the figure is only a schematic, and it does not limit the structure of the above-mentioned electronic device. For example, the electronic device 80 can also include more or less components than those shown in the figure, or have a different configuration from that shown in the figure. Figure 8 The structure shown in the figure is only a schematic, and it does not limit the structure of the above-mentioned electronic device. For example, the electronic device 80 can also include more or less components than those shown in the figure, or have a different configuration from that shown in the figure. Figure 8 The structure shown in the figure is only a schematic, and it does not limit the structure of the above-mentioned electronic device. For example, the electronic device 80 can also include more or less components than those shown in the figure, or have a different configuration from that shown in the figure.

[0162] It should be noted that the one or more processors 802 and / or other data processing circuitry described above can be referred to herein generally as "data processing circuitry". The data processing circuitry can be embodied in whole or in part as software, hardware, firmware, or any combination thereof. In addition, the data processing circuitry can be a single standalone processing module, or incorporated in whole or in part within any one of the other elements of the electronic device 80 (or mobile device). As referred to in the embodiments of the present application, the data processing circuitry serves as a processor to control, for example, the selection of the variable resistance terminal path connected to the interface.

[0163] The memory 804 can be used to store software programs of application software and modules, such as program instructions / data storage means corresponding to the tunnel wall position detection method described in the embodiments of the present application. The processor 802 executes various functional applications and data processing by running the software programs and modules stored in the memory 804, i.e. implements the tunnel wall position detection method described above. The memory 804 can include a high-speed random access memory, and can further include a non-volatile memory, such as one or more magnetic storage devices, flash memories, or other non-volatile solid-state memories. In some examples, the memory 804 can further include a memory remotely disposed relative to the processor 802, which can be connected to the electronic device 80 through a network. Examples of the network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0164] The transmission device 806 is used to receive or send data via a network. Specific examples of the network can include a wireless network provided by a communication provider of the electronic device 80. In one example, the transmission device 806 includes a network interface controller (NIC) that can be connected to other network devices through a base station to communicate with the Internet. In one embodiment, the transmission device 806 can be a radio frequency (RF) module used to communicate with the Internet in a wireless manner.

[0165] The display can be, for example, a touch screen type liquid crystal display (LCD) that enables a user to interact with the user interface of the electronic device 80 (or mobile device).

[0166] The embodiments of the present application also provide a computer readable storage medium that can be disposed in an electronic device to store at least one instruction or at least one program related to the tunnel wall position detection method in the method embodiments, which is loaded and executed by the processor to implement the tunnel wall position detection method provided by the method embodiments described above.

[0167] Optionally, in the embodiment, the storage medium can be located in at least one of the plurality of network servers of the computer network. Optionally, in the embodiment, the storage medium can include, but is not limited to, a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and various media capable of storing program codes.

[0168] It should be noted that the above-mentioned sequence of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. The above-mentioned specific embodiments of the present application are described. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in an order different from that in the embodiments and still achieve the desired result. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multi-task processing and parallel processing are possible or can be advantageous.

[0169] According to an aspect of the present application, a computer program product or computer program is provided, which includes computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions, so that the computer device executes the method provided in the various optional implementations described above.

[0170] Each of the embodiments in the present application is described in a progressive manner, and the same or similar parts of each embodiment can be referred to each other. Each embodiment focuses on the difference from other embodiments. In particular, for the device and electronic device embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the part of the method embodiment.

[0171] A person of ordinary skill in the art can understand that all or part of the steps of the above-mentioned embodiments can be completed by hardware, or by program instructing relevant hardware, and the program can be stored in a computer readable storage medium. The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk.

[0172] The above-mentioned is only the preferred embodiment of the present application, and does not limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method of detecting the position of a tunnel wall, characterized by, The method comprises: In the case that the number of first target points detected at a first time is less than a preset point number threshold, a plurality of second target points and a first distance of each second target point relative to a target vehicle are obtained within a preset time period; wherein the first target points and the second target points are both points on a tunnel wall that can be detected and are in a static state; the starting time of the preset time period is the first time; According to at least one preset reference distance in a preset grouping configuration parameter, a plurality of first distances are grouped to obtain a distance set corresponding to each of the at least one preset reference distance; the distance set comprises at least one first distance, and the difference between the at least one first distance and the preset reference distance corresponding to the distance set is less than a preset distance difference; From at least one distance set, a target distance set in which the number of first distances in the distance set meets a preset number threshold is selected; According to the first distance in the target distance set, a second distance of the tunnel wall relative to the target vehicle is determined; First position information of the target vehicle is obtained, and position information of the tunnel wall is determined according to the first position information and the second distance.

2. The tunnel wall position detection method according to claim 1, characterized by, The method further comprises: According to at least one preset reference distance, at least one target distance corresponding to each of the at least one preset reference distance is selected from a plurality of first distances; the target distance is a first distance in the plurality of first distances, and the difference between the target distance and the preset reference distance is less than a preset distance difference; The at least one target distance corresponding to each of the at least one preset reference distance is combined to obtain the distance set corresponding to each of the at least one preset reference distance.

3. The tunnel wall position detection method according to claim 1, characterized by, The method further comprises: A plurality of to-be-measured points on the tunnel wall at the first time are obtained, and the to-be-measured points are points on the tunnel wall that can be detected and are in a static or dynamic state; From the plurality of to-be-measured points, first target points are selected.

4. The tunnel wall position detection method according to claim 3, characterized by, The method further comprises: A plurality of point cloud data on the tunnel wall at the first time and steering wheel angle information of the target vehicle are obtained; The plurality of point cloud data are coordinate-converted to obtain a plurality of initial to-be-measured points; Based on the steering wheel angle information, the plurality of initial to-be-measured points are angle-converted to obtain a plurality of to-be-measured points.

5. The tunnel wall position detection method according to claim 1, characterized by, The method further comprises: Second position information of a target detection device is obtained, and the target detection device is arranged on the target vehicle; The method further comprises: According to the second position information and the second distance, third position information of the tunnel wall relative to the target detection device is determined; According to the second position information and the first position information, the third position information is updated to determine position information of the tunnel wall relative to the target vehicle.

6. A tunnel wall position detection device characterized by comprising: The device comprises: The distance acquisition module is configured to, in a case where a number of first target points detected at a first time is less than a preset point number threshold, acquire a plurality of second target points and a first distance of each second target point relative to the target vehicle within a preset time period; wherein the first target points and the second target points are both points on a tunnel wall that are in a static state and can be detected; and a start time of the preset time period is the first time. The grouping analysis processing module is configured to group process the plurality of first distances according to at least one preset reference distance in a preset grouping configuration parameter, to obtain a distance set corresponding to each of the at least one preset reference distance; the distance set includes at least one first distance, and a difference between each of the at least one first distance and the preset reference distance corresponding to the distance set is less than a preset distance difference; and a target distance set in which a number of the first distances in the distance set satisfies a preset number threshold is screened out from at least one distance set. The position determination module is configured to determine a second distance of the tunnel wall relative to the target vehicle according to the first distance in the target distance set; acquire first position information of the target vehicle, and determine position information of the tunnel wall according to the first position information and the second distance.

7. A tunnel wall position detection apparatus characterized by comprising: The device includes a processor and a memory, the memory stores at least one instruction or at least one program, the at least one instruction or the at least one program is loaded and executed by the processor to implement the tunnel wall position detection method of any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The storage medium stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the tunnel wall position detection method of any one of claims 1 to 5.

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