Rockfall detection and vehicle control method

Abstract

The embodiment of the present application discloses a rockfall detection and vehicle control method, comprising: determining a target position of a rockfall reaching a driving lane of a vehicle and a first time of the rockfall reaching the target position according to rockfall parameters of a mountain; determining a second time of the vehicle reaching the target position according to running parameters of the vehicle; judging whether the vehicle and the rockfall have a collision danger according to the first time and the second time; and controlling the vehicle to run to avoid collision with the rockfall if there is a collision danger. According to the calculated high-precision rockfall parameters of the mountain and the running parameters of the vehicle, whether the two have a collision danger can be judged, which can improve the accuracy of the judgment of whether the two have a collision danger, thereby improving the accuracy of rockfall detection and vehicle control, and further improving the safety of vehicle driving.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of rockfall detection of vehicles, and in particular to a rockfall detection and vehicle control method. BACKGROUND

[0002] With the development of automobile technology, automobiles are becoming more and more intelligent. The current intelligent driving levels of automobiles are divided into L1-L5 levels. Whether it is L1-L3 assisted driving or L4-L5 automatic driving, rockfall may occur when the vehicle is driving on a road with high slopes. We can see news from time to time that vehicles encounter rockfall when driving on mountain roads, and the vehicles collide with the rockfall, causing traffic accidents. Therefore, the intelligent driving of vehicles needs to consider the control strategy under the rockfall scenario of mountains.

[0003] At present, the control strategy of vehicles in the rockfall scenario of mountains is to obtain image information of high-slope mountains in real time through image acquisition equipment, determine the falling position of the rockfall after determining that there is rockfall through the image information, and then control the vehicle to avoid. However, in this way, the information of the rockfall is limited, the detection accuracy of the falling position of the rockfall is poor, and the detection effect is also affected by rainy weather and light intensity, which cannot accurately control the vehicle to avoid the rockfall. SUMMARY

[0004] The embodiments of the present application provide a rockfall detection and vehicle control method to determine whether there is a collision risk according to the rockfall parameters and the motion parameters of the vehicle, improve the accuracy of rockfall detection and vehicle control, and further improve the safety of vehicle driving.

[0005] In a first aspect, the embodiments of the present application provide a rockfall detection and vehicle control method, comprising:

[0006] determining a target position of the rockfall of the mountain to the driving lane of the vehicle and a first time of the rockfall of the mountain reaching the target position according to the rockfall parameters of the mountain, determining a second time of the vehicle reaching the target position according to the running parameters of the vehicle, and judging whether the vehicle and the rockfall of the mountain have a collision danger according to the first time and the second time; if there is a collision danger, controlling the vehicle to run to avoid collision with the rockfall of the mountain.

[0007] According to the calculated high-precision rockfall parameters of the mountain and the directly collected running parameters of the vehicle, it can be judged whether there is a collision danger, which can improve the accuracy of judging whether there is a collision danger, thereby improving the accuracy of rockfall detection and vehicle control, and further improving the safety of vehicle driving.

[0008] In a possible implementation manner of the first aspect, the mountain rockfall parameter comprises a position of the mountain rockfall and a speed of the mountain rockfall along a mountain slope in a straight downward direction, the running parameter of the vehicle comprises a speed and an acceleration of the vehicle, and the first time at which the mountain rockfall reaches the target position and the second time at which the vehicle reaches the target position are determined, comprising:

[0009] The first time at which the mountain rockfall reaches the target position is determined according to the position of the mountain rockfall, the speed of the mountain rockfall along the mountain slope in the straight downward direction, and the target position, and the second time at which the vehicle reaches the target position is determined according to the speed of the vehicle, the position of the vehicle, and the target position.

[0010] The times at which the mountain rockfall and the vehicle reach the target position from the positions are obtained through the kinematic models of the mountain rockfall and the vehicle, so that the accuracy of the obtained first time and second time can be ensured.

[0011] In a possible implementation manner of the first aspect, whether there is a collision danger is determined according to the first time and the second time, comprising:

[0012] A collision factor is determined, the collision factor being a ratio of the first time to the second time, and if the collision factor is greater than a collision threshold value, the vehicle and the mountain rockfall do not have a collision danger, and if the collision factor is not greater than the collision threshold value, the vehicle and the mountain rockfall have a collision danger.

[0013] By setting the collision factor and the collision threshold value as a measurement standard for determining whether there is a collision danger between the mountain rockfall and the vehicle, the collision risk between the mountain rockfall and the vehicle can be more accurately evaluated, and the probability of misjudgment can be reduced.

[0014] In a possible implementation manner of the first aspect, before the mountain rockfall parameter located in the running area of the vehicle is obtained, the method further comprises: obtaining indication information, wherein the indication information is road image information obtained through a front-facing main camera of the vehicle or cloud platform indication information obtained through a V2X communication module of the vehicle; determining, according to the indication information, that the running area of the vehicle is a rockfall area, obtaining a mountain slope angle of the rockfall area and a distance from a bottom of a mountain slope of the rockfall area to a road, and detecting the mountain rockfall through the vehicle-mounted millimeter wave radar.

[0015] After it is determined that the current running area is the rockfall area in combination with the image information and the cloud platform indication information, the vehicle-mounted millimeter wave radar is started to detect the mountain rockfall, so that the vehicle-mounted millimeter wave radar does not need to be started all the time to detect the rockfall, and system resources are saved.

[0016] In a possible implementation manner of the first aspect, the mountain rockfall is detected through the vehicle-mounted millimeter wave radar, comprising:

[0017] determine the target angle according to the slope angle of the mountain and the pitch angle of the vehicle-mounted millimeter wave radar; adjust the irradiation angle of the vehicle-mounted millimeter wave radar to be the target angle; detect target information of a target angle corresponding mountain area by the vehicle-mounted millimeter wave radar by using a strategy of screening a moving target; screen the mountain rockfall from the target information by using a rockfall screening strategy; and calculate mountain rockfall parameters including a mountain rockfall position and a speed of the mountain rockfall along the slope of the mountain downward straightly according to the straight-line distance and the speed data of the screened mountain rockfall.

[0018] Optionally, the determining the target angle according to the slope angle of the mountain and the pitch angle of the vehicle-mounted millimeter wave radar comprises:

[0019] If the slope angle of the mountain is not greater than half of the pitch angle of the vehicle-mounted millimeter wave radar, the target angle is determined to be the slope angle of the mountain; and if the slope angle of the mountain is greater than half of the pitch angle of the vehicle-mounted millimeter wave radar, the target angle is determined to be half of the pitch angle of the vehicle-mounted millimeter wave radar.

[0020] By determining the target angle of the vehicle-mounted millimeter wave radar according to the pitch angle and the slope angle of the vehicle-mounted millimeter wave radar, the vehicle-mounted millimeter wave radar can obtain more information of the area on the slope in a limited collection range, and the collection efficiency of the vehicle-mounted millimeter wave radar is improved.

[0021] In combination with the first aspect, in a possible implementation manner, the screening the mountain rockfall from the target information by using the rockfall screening strategy comprises:

[0022] obtaining speed information of a moving object in the target information; and screening the mountain rockfall based on the speed information, the mountain rockfall being an object in the moving object whose speed changes above and below zero value for less than a preset number of times.

[0023] By setting the screening condition as the size relationship between the speed and the zero value, the plants and other interference objects can be excluded, and the method of judging whether the moving object is the mountain rockfall is simpler, and the screening efficiency of the mountain rockfall is improved.

[0024] In combination with the first aspect, in a possible implementation manner, the method further comprises:

[0025] sending prompt information when it is detected that the vehicle and the mountain rockfall do not have a collision danger, and sending early warning information when it is detected that the vehicle and the mountain rockfall have a collision danger.

[0026] The information is sent after the mountain rockfall is detected to remind the user, and different information is sent to distinguish different scenes, so that unnecessary actions of the user when seeing the mountain rockfall are avoided, and the use experience of the user is improved.

[0027] In the second aspect, an embodiment of the present application provides a rockfall detection and vehicle control device, which comprises:

[0028] a processing module configured to determine a target position of the rockfall to the driving lane of the vehicle and a first time of the rockfall reaching the target position according to the rockfall parameter, and determine a second time of the vehicle reaching the target position according to the operation parameter of the vehicle, and determine whether the vehicle and the rockfall have a collision risk according to the first time and the second time;

[0029] a control module configured to control the operation of the vehicle to avoid the collision with the rockfall if the collision risk exists.

[0030] In a third aspect, an embodiment of the present application provides a rockfall detection and vehicle control device, which comprises:

[0031] a memory, a processor, and a rockfall detection and vehicle control program stored in the memory and executable on the processor, the rockfall detection and vehicle control program being configured to implement some or all of the steps described in any of the methods of the first aspect.

[0032] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, which stores a rockfall detection and vehicle control program, the rockfall detection and vehicle control program being executable on a processor to implement some or all of the steps described in any of the methods of the first aspect.

[0033] In a fifth aspect, an embodiment of the present application provides a computer program product, wherein the computer program product includes a computer program operable to cause a computer to execute some or all of the steps described in any of the methods of the first aspect of the present application. The computer program product can be a software installation package.

[0034] By implementing the embodiments of the present application, whether the vehicle and the rockfall have a collision risk is first determined according to the rockfall parameter in the driving area of the vehicle and the operation parameter of the vehicle, and then if the collision risk exists, the operation of the vehicle is controlled to avoid the collision with the rockfall, and whether the vehicle and the rockfall have a collision risk is determined according to the calculated high-precision rockfall parameter and the operation parameter of the vehicle, which can improve the accuracy of the determination of whether the vehicle and the rockfall have a collision risk, thereby improving the accuracy of the rockfall detection and the vehicle control, and further improving the safety of the vehicle driving. BRIEF DESCRIPTION OF DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the background art, the drawings needed to be used in the embodiments of the present application or the background art will be described below.

[0036] Figure 1 is a schematic diagram of an architecture of a vehicle rockfall detection and early warning system provided by an embodiment of the present application;

[0037] Figure 2 is a schematic diagram of an intelligent driving controller architecture provided by an embodiment of the present application;

[0038] Figure 3 is a flowchart of a rockfall detection and vehicle control method provided by an embodiment of the present application;

[0039] Figure 4 is a schematic diagram of a mountain rockfall warning sign provided by an embodiment of the present application;

[0040] Figure 5 is a schematic diagram of vehicle detection of rockfall on the right side of a mountain provided by an embodiment of the present application;

[0041] Figure 6 is a schematic diagram of a millimeter wave radar rotating device provided by an embodiment of the present application;

[0042] Figure 7 is a schematic diagram of millimeter wave radar rotation provided by an embodiment of the present application;

[0043] Figure 8 is a schematic diagram of a vehicle and rockfall relative position calculation idea provided by an embodiment of the present application;

[0044] Figure 9 is a schematic diagram of a road and rockfall relative position calculation idea A provided by an embodiment of the present application;

[0045] Figure 10 is a schematic diagram of a road and rockfall relative position calculation idea B provided by an embodiment of the present application;

[0046] Figure 11 is a schematic diagram of a rockfall detection and vehicle control device structure provided by an embodiment of the present application;

[0047] Figure 12 is a schematic diagram of another rockfall detection and vehicle control device structure provided by an embodiment of the present application. DETAILED DESCRIPTION

[0048] In order to enable persons skilled in the art to better understand the present application, 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 a part of the embodiments of the present application, not all the embodiments. According to the embodiments in the present application, all other embodiments obtained by persons skilled in the art without creative labor should be within the scope of protection of the present application.

[0049] The terms "first", "second", and "third" and the like in the description and in the claims of the present application and the drawings are used for distinguishing between similar objects talking about the embodiments and not necessarily for describing a particular sequential or chronological order. Moreover, the terms "comprising", "having", "including", and the like, when used in the present specification and in the following claims, are each intended to denote an open-ended inclusion of the stated item or items and do not preclude the addition of one or more other items.

[0050] Reference herein to "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase that in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily mutually exclusive of other embodiments. It is expressly understood that the embodiments described herein are merely example embodiments of the application and that a substantial number of specific structures, features, configurations, arrangements, and methods in addition to those disclosed herein are possible.

[0051] Reference is made to Figure 1 , Figure 1 is an architecture schematic diagram of a vehicle-to-rockfall detection and warning system provided by an embodiment of the application. The vehicle-to-rockfall detection and warning system 100 includes an intelligent driving processor module 101, a front-view main camera 102, a left-side angle sensor 103, a right-side angle sensor 104, a vehicle-to-everything (V2X) module 105, a left-side motor driving module 106, a left-side radar rotating motor 107, a left-side millimeter-wave radar 108, a right-side millimeter-wave radar 109, a right-side motor driving module 110, a right-side radar rotating motor 111, a display terminal 112, and other vehicle controllers 113.

[0052] Reference is made to Figure 2 , Figure 2 is an architecture schematic diagram of an intelligent driving controller provided by an embodiment of the application. The intelligent driving domain controller 200 includes an intelligent driving processor 201 and a program memory 202. The intelligent driving processor 201 is included in the intelligent driving processor module 101, and the program memory 202 stores a software program for performing a rockfall detection and vehicle control method.

[0053] The front-view main camera 102 is used to collect image information in front of the driving road of the vehicle, and detect whether a mountain rockfall warning sign appears in the image information. When the front-view main camera 102 detects that the mountain rockfall warning sign appears, the vehicle rockfall detection and early warning system 100 enters the mountain rockfall detection mode. The V2X module 105 is used to communicate with a road side unit (RSU) through vehicle networking, so as to obtain information from a cloud platform, and determine whether the driving area of the vehicle is a rockfall prone area. When it is determined through the information obtained from the cloud platform that the current driving area of the vehicle is a rockfall prone area, the vehicle rockfall detection and early warning system 100 enters the mountain rockfall detection mode.

[0054] The left motor drive module 106 and the right motor drive module 110 are respectively used to drive the left radar rotating motor 107 and the right radar rotating motor 111. The left radar rotating motor 107 and the right radar rotating motor 111 are used to drive the left rotating mechanism and the right rotating mechanism, which are responsible for rotating the left millimeter wave radar 108 and the right millimeter wave radar 109 to a target angle for rockfall detection. The left angle sensor 103 and the right angle sensor 104 are fixed at the bottom of the millimeter wave radar, and are used to realize real-time sensing of the angle of the millimeter wave radar rotating in the vertical direction. The display terminal 112 includes a central control screen and an instrument panel display screen of the vehicle. The running parameters of the vehicle are obtained by the intelligent driving processor module 101 from other controllers 113 of the vehicle, including the speed, acceleration and lane of the vehicle.

[0055] Based on this, the present application provides a rockfall detection and vehicle control method and control device, which will be described in detail below with reference to the accompanying drawings.

[0056] Please refer to Figure 3 , Figure 3 is a flowchart of a rockfall detection and vehicle control method provided by the embodiment of the present application, as Figure 3 shown, the method comprises the following steps:

[0057] S301, the control device determines whether the vehicle and the mountain rockfall have a collision danger according to the mountain rockfall parameters in the driving area of the vehicle and the running parameters of the vehicle.

[0058] The control device is an intelligent driving domain controller or a module in the intelligent driving domain controller. Figure 2

[0059] The straight-line distance and speed data of the mountain rockfall in the driving area of the vehicle are obtained by the vehicle-mounted millimeter wave radar, which can directly obtain the distance S, the arrival angle a and the speed V of the mountain rockfall and itself.

[0060] ​The operation parameter of the vehicle is obtained by the intelligent driving processor module 101 from other controllers 113 of the vehicle, including the speed, acceleration of the vehicle, and the lane currently traveled by the vehicle. Specifically, when the vehicle is in the intelligent driving mode, the acceleration of the vehicle can be 0, at this time, the vehicle is in the uniform speed driving state.

[0061] In a possible implementation, before the control device calculates the mountain rockfall parameter, the method further includes:

[0062] Obtaining indication information, wherein the indication information is road image information obtained by a front-facing main camera of the vehicle or cloud platform indication information obtained by a V2X communication module of the vehicle; determining, according to the indication information, that the driving area of the vehicle is a rockfall area, obtaining the mountain slope angle of the rockfall area and the distance from the bottom of the mountain slope of the rockfall area to the road, and detecting, by the control device, the mountain rockfall through the vehicle-mounted millimeter wave radar.

[0063] The process of obtaining the cloud platform indication information through the V2X communication module of the vehicle is that the V2X communication module of the vehicle communicates with a roadside perception unit on the side of the driving road in real time to send the real-time position of the vehicle to the cloud platform, and the cloud platform compares the stored rockfall area position with the position information of the vehicle after receiving the position information of the vehicle, so as to determine whether the driving area of the vehicle is a rockfall area.

[0064] The process of obtaining the road image information through the front-facing main camera of the vehicle is that the control device obtains the road image information collected by the front-facing main camera, and then determines whether there is an object indicating that the front road section is a rockfall area in the road image information, so as to determine whether the driving area of the vehicle is a rockfall area. For example, the road image information can include a mountain rockfall warning sign. Please refer to Figure 4 , Figure 4 is a schematic diagram of a mountain rockfall warning sign provided by an embodiment of the present application, as Figure 4 shown, the mountain rockfall warning sign includes warning information, the slope of the mountain slope, and the distance from the bottom of the mountain slope to the road. After the road image information detected by the front-facing main camera includes the mountain rockfall warning sign, the vehicle mountain rockfall detection and early warning system 100 enters the mountain rockfall detection mode, and the control device detects the mountain rockfall through the vehicle-mounted millimeter wave radar.

[0065] It can be seen that in the present example, the vehicle-mounted millimeter wave radar is started to detect the mountain rockfall after it is determined that the current driving area is a rockfall area in combination with the image information and the cloud platform indication information. The vehicle-mounted millimeter wave radar does not need to be started all the time to detect the rockfall, and the system resources are saved.

[0066] In a possible implementation, the control device detects the mountain rockfall through the vehicle-mounted millimeter wave radar, including:

[0067] The control device determines a target angle according to the mountain slope angle and the tilt angle of the vehicle-mounted millimeter wave radar; adjusts the irradiation angle of the vehicle-mounted millimeter wave radar to the target angle; the control device detects target information of a target angle corresponding to the mountain area by the vehicle-mounted millimeter wave radar through a strategy of screening a moving target; the control device screens the mountain rockfall from the target information by a rockfall screening strategy; and calculates the mountain rockfall parameters including the mountain rockfall position and the speed of the mountain rockfall along the mountain slope straight downward according to the straight-line distance and the speed data of the screened mountain rockfall.

[0068] The vehicle-mounted millimeter wave radar includes a left millimeter wave radar and a right millimeter wave radar, and the main parameters of the millimeter wave radar are a maximum detection distance d, a horizontal azimuth angle Φ and a vertical tilt angle β. For example, when the model of the millimeter wave radar is Continent RS408-21, the main parameters are as follows: in a close-range mode 1, the detection distance is 0.25-70 m, the horizontal azimuth angle is ±45°, and the vertical tilt angle is ±10°; in a close-range mode 2, the detection distance is 0.20-20 m, the horizontal azimuth angle is ±60°, and the vertical tilt angle is ±10°.

[0069] The vehicle-mounted millimeter wave radar includes a left millimeter wave radar and a right millimeter wave radar, and the main parameters of the millimeter wave radar are a maximum detection distance d, a horizontal azimuth angle Φ and a vertical tilt angle β. For example, when the model of the millimeter wave radar is Continent RS408-21, the main parameters are as follows: in a close-range mode 1, the detection distance is 0.25-70 m, the horizontal azimuth angle is ±45°, and the vertical tilt angle is ±10°; in a close-range mode 2, the detection distance is 0.20-20 m, the horizontal azimuth angle is ±60°, and the vertical tilt angle is ±10°. Figure 6 Figure 7 Figure 6 is a schematic diagram of a millimeter wave radar rotating device provided by an embodiment of the present application, Figure 7 is a schematic diagram of millimeter wave radar rotation provided by an embodiment of the present application, as shown in Figure 6 and Figure 7 , the present scheme only considers the adjustment of the irradiation angle of the vehicle-mounted millimeter wave radar, and takes the millimeter wave radar located on the right side of the vehicle as an example, that is, the plane on which the vehicle travels is the XY plane, the vehicle-mounted millimeter wave radar is located on the XZ plane, and the plane on which the vehicle-mounted millimeter wave radar rotates vertically upward is the YZ plane.

[0070] In a possible implementation, the control device determines a target angle according to the mountain slope angle and the tilt angle of the vehicle-mounted millimeter wave radar, including:

[0071] If the mountain slope angle is not greater than half of the tilt angle of the vehicle-mounted millimeter wave radar, the target angle is determined as the mountain slope angle; if the mountain slope angle is greater than half of the tilt angle of the vehicle-mounted millimeter wave radar, the target angle is determined as half of the tilt angle of the vehicle-mounted millimeter wave radar.

[0072] Specifically, the angle at which the millimeter wave radar rotates vertically upward from the horizontal direction, that is, the target angle, is γ, and γ and the angle θ of the mountain slope satisfy the following relationship:

[0073]

[0074] ​​Wherein, θ is the angle of the mountain slope, when the control device determines that the driving area of the vehicle is the rockfall area according to the indication information, the slope angle of the rockfall area is obtained at the same time.

[0075] Wherein, β is the pitch angle parameter of the millimeter wave radar, that is, the pitch angle of the millimeter wave radar, when the mountain slope angle θ is not greater than half of the pitch angle β of the vehicle-mounted millimeter wave radar, the target angle γ is equal to θ; when the mountain slope angle θ is greater than half of the pitch angle β of the vehicle-mounted millimeter wave radar, the target angle γ is equal to β / 2.

[0076] It can be seen that in the present example, by determining the target angle of the vehicle-mounted millimeter wave radar according to the pitch angle and the slope angle of the vehicle-mounted millimeter wave radar, the information collected by the vehicle-mounted millimeter wave radar in the mountain area is more comprehensive, thereby facilitating subsequent detection of mountain rockfall through data collected by the vehicle-mounted millimeter wave radar.

[0077] In a possible implementation, the control device uses a rockfall screening strategy to screen the mountain rockfall from the target information, including:

[0078] The control device obtains the speed information of the moving object in the target information; and the control device screens the mountain rockfall based on the speed information, the mountain rockfall being an object in the moving object whose speed changes above and below zero value less than a preset number of times.

[0079] Wherein, the millimeter wave radar will aim at the mountain after rotation for rockfall detection and send the detection information to the control device, the control device uses a strategy of screening moving objects in the background to screen out objects with speed, that is, obtains the moving object in the target information, the moving object includes the mountain rockfall, and the control device further processes the screened moving object and compares its speed with 0 value, if the speed of an object changes positively and negatively with time, and the phenomenon of positive and negative speed of the object repeats more than a preset number of times, it is judged that the object is not a rockfall target, and the object with the above characteristics is discarded, and the remaining moving object is considered as the mountain rockfall.

[0080] Wherein, the preset number of times can be 3, 5 or 7, and the value of the preset number of times must be tested a lot, and finally the best matching value is taken, which is not limited here.

[0081] It can be seen that in the present example, by setting the screening condition as the size relationship between the speed and the zero value, the plants and other interference objects can be excluded, and at the same time, the method of judging whether the moving object is the mountain rockfall is simpler, and the screening efficiency of the mountain rockfall is improved.

[0082] In a possible implementation, the method further includes:

[0083] The control device sends prompt information when detecting that the vehicle has no collision danger with the rockfall, and sends early warning information when detecting that the vehicle has collision danger with the rockfall.

[0084] In the embodiment, the prompt information is sent when detecting that the vehicle has no collision danger with the rockfall, and the early warning information is sent when detecting that the vehicle has collision danger with the rockfall. The prompt information can be voice information or text information displayed by the display terminal 112. Specifically, the display terminal 112 has the following functions: when detecting the rockfall target, the display terminal 112 displays early warning information on the central control screen or the instrument panel display screen; the central control screen of the display terminal 112 can be used to manually input mountain parameters and manually input instructions to start the rockfall detection mode, wherein the mountain parameters include but are not limited to the slope angle of the mountain and the distance from the bottom of the mountain to the road; the central control screen of the display terminal 112 is used to input instructions to exit the rockfall detection mode. The early warning information can be voice information or text information displayed by the central control screen. Specifically, when the early warning information is voice information, it can be played repeatedly or with amplified volume. When the early warning information is text information, the font can be enlarged or highlighted.

[0085] As can be seen, in the embodiment, information is sent to remind the user after detecting the rockfall, and different information is sent to distinguish different scenarios, which can avoid unnecessary actions of the user when seeing the rockfall, and improve the user experience.

[0086] In one possible implementation, the control device determines whether the rockfall and the vehicle have collision danger according to the rockfall parameters of the mountain located in the driving area of the vehicle and the running parameters of the vehicle, and the method comprises the following steps:

[0087] The control device determines the target position of the rockfall to the driving lane of the vehicle and the first time of the rockfall reaching the target position according to the rockfall parameters of the mountain; the control device determines the second time of the vehicle reaching the target position according to the running parameters of the vehicle; and the control device determines whether the vehicle and the rockfall have collision danger according to the first time and the second time.

[0088] In the embodiment, the rockfall parameters of the mountain include the position of the rockfall and the speed data of the rockfall directly downward along the slope of the mountain. The rockfall parameters of the mountain are calculated by the intelligent driving processor 201 according to the straight-line distance and the speed data of the filtered rockfall. It is generally believed that the motion trajectory of the rockfall is a straight line along the slope and the road. Specifically, after obtaining the rockfall parameters of the mountain, the intersection of the motion trajectory of the rockfall and the driving lane of the vehicle is determined as the target position of the rockfall to the driving lane of the vehicle.

[0089] For example, please refer to Figure 8 , Figure 8is a schematic diagram of a vehicle and a rockfall relative position calculation idea provided by an embodiment of the present application, as shown in the figure, at this time the position of the rockfall is B, the position of the vehicle is O0, and the intersection of the running tracks of the two is O, that is, O is the target position, the time required for the rockfall to reach O from B is the first time, and the time required for the vehicle to reach O from O0 is the second time. Figure 8

[0090] It can be seen that in the present example, the target position of the rockfall on the driving path of the vehicle is determined first, and then whether the two have a collision danger is directly determined according to the times of the two to reach the target position, which can reduce the data required for determining whether the two have a collision danger, thereby improving the efficiency of determining whether the two have a collision danger.

[0091] In a possible implementation, the rockfall parameters include the position of the rockfall and the speed of the rockfall moving straight down the slope of the mountain, and the running parameters of the vehicle include the speed and acceleration of the vehicle, and the control device determines the first time for the rockfall to reach the target position and the second time for the vehicle to reach the target position, including:

[0092] The control device determines the first time required for the rockfall to reach the target position from the position of the rockfall according to the speed of the rockfall, the position of the rockfall and the target position; and the control device determines the second time required for the vehicle to reach the target position from the position of the vehicle according to the speed and acceleration of the vehicle, the position of the vehicle and the target position.

[0093] Please refer to Figure 5 , Figure 5 is a schematic diagram of vehicle detection of a rockfall on the right side provided by an embodiment of the present application, as shown in the figure, in calculating the first time required for the rockfall to reach the target position from the position, the total distance of the rockfall is the first distance of the rockfall moving on the slope and the second distance of the rockfall moving on the road, wherein the second distance includes the distance between the bottom of the slope where the rockfall is located and the road boundary and the lane distance. Figure 5 Specifically, please refer to

[0094] In the limit case, it is determined that the acceleration of the rockfall on the BC segment is the gravitational acceleration g, and therefore, the kinematic formula of the rockfall on the BC segment is: Figure 8

[0095]

[0096] wherein BC is the length of the BC segment, V2 is the speed of the rockfall moving down the slope of the mountain, T3 is the time of the rockfall moving down the slope of the mountain, and g is the gravitational acceleration.

[0097] ​​It is assumed that the speed of the rockfall in the OC section is constant, and the kinematic formula of the rockfall in the OC section is:

[0098] OC = (V2+gT3) x T4,

[0099] wherein OC is the length of the OC section, V2+gT3 is the speed of the rockfall from the bottom of the mountain slope to the target position, T4 is the time of the rockfall from the bottom of the mountain slope to the target position, the length of the OC section can be obtained by the current lane N in which the vehicle is located, the lane width U1 and the distance U2 from the road boundary to the bottom of the mountain slope, and the length of the OC section can be calculated according to the following formula:

[0100] OC = (N-1) x U1+U2,

[0101] At this time, the first time required for the rockfall to reach the target position O from the position B can be obtained as:

[0102] T1 = T3+T4,

[0103] Meanwhile, if the acceleration of the vehicle in the intelligent driving mode is 0, the kinematic formula of the vehicle in the O0O section is:

[0104] O0O = V3 x T2,

[0105] If the acceleration of the vehicle in the intelligent driving mode is a, a is not 0, the kinematic formula of the vehicle in the O0O section is:

[0106]

[0107] wherein O0O is the length of the O0O section, V3 is the driving speed of the vehicle, and T2 is the second time required for the vehicle to reach the target position O from the position O0.

[0108] After solving the above kinematic formula, the first time T1 required for the rockfall to reach the target position O from the position B and the second time T2 required for the vehicle to reach the target position O from the position O0 are obtained.

[0109] Specifically, the calculation formula and derivation of O0O, OB, BC and V2 in the above formula are as follows:

[0110] Please refer to Figure 8 When the speed of the detected rockfall is determined to be V, the speed V of the rockfall is decomposed according to the trigonometric function, and the calculation formula of the speed component V1 of the rockfall and the line projection of the vehicle millimeter wave radar on the rockfall plane is:

[0111] V1 = V x cos a,

[0112] wherein, a is the angle of arrival of the vehicle-mounted millimeter wave radar to the rockfall of the mountain, which is directly measured by the vehicle-mounted millimeter wave radar.

[0113] Similarly, OOO and OB are the distances from the vehicle-mounted millimeter wave radar to the rockfall of the mountain on the longitudinal distance of the rockfall of the mountain to the vehicle-mounted millimeter wave radar and the projection of the line connecting the rockfall of the mountain to the vehicle-mounted millimeter wave radar on the rockfall surface of the mountain, wherein the rockfall surface of the mountain refers to the normal surface of the slope of the mountain and the road surface, the distance S from the vehicle-mounted millimeter wave radar to the rockfall of the mountain is decomposed according to the trigonometric function, and the calculation formulas of OOO and OB are as follows:

[0114] O00=Sxsinα,

[0115] OB=Sxcosα,

[0116] wherein, a is the angle of arrival of the vehicle-mounted millimeter wave radar to the rockfall of the mountain, which is directly measured by the vehicle-mounted millimeter wave radar.

[0117] V1, OOO and OB obtained based on the above formulas are further used to calculate the relative position of the road and the rockfall, in one case, please refer to Figure 9 , Figure 9 is a schematic diagram A of the relative position calculation idea of the road and the rockfall provided by the embodiment of the present application, at this time, the angle γ of the vertical upward rotation of the vehicle-mounted millimeter wave radar is equal to the angle θ of the slope of the mountain, B is the rockfall target of the mountain, OB is the projection of the line connecting the rockfall of the mountain and the vehicle-mounted millimeter wave radar on the rockfall surface of the mountain, OA is the normal of the surface of the vehicle-mounted millimeter wave radar, ∠FON is the pitch angle β of the vehicle-mounted millimeter wave radar, ∠AON is the angle γ of the vertical upward rotation of the vehicle-mounted millimeter wave radar, ∠GCN is the angle θ of the slope of the mountain, N is the current number of lanes of the vehicle, U1 is the current lane width, U2 is the distance from the bottom of the slope of the mountain to the boundary of the road, V1 is the projection of the line connecting the rockfall of the mountain and the vehicle-mounted millimeter wave radar on the rockfall surface of the mountain, and V2 is the speed of the rockfall of the mountain moving downward along the slope of the mountain.

[0118] The triangle OBC is analyzed, and according to the sine theorem, it is known that:

[0119] OB / sin∠BCO=BC / sin∠BOC=OC / sin∠CBO,

[0120] According to the above formula, it is obtained that:

[0121] BC=OBxsin∠BOC / sin∠BCO,

[0122] According to the fact that the internal angles of the triangle OBC are 180° and ∠BCO and ∠GCN are complementary, it is obtained that:

[0123] ∠BOC+∠CBO=∠GCN=θ,

[0124] ∠BCO = 180° - ∠GCN = 180° - θ,

[0125] Therefore, the expression of BC can be:

[0126]

[0127] At this time, since OC and OB are known, sin ∠CBO = (OC / OB) x sin ∠BCO, and according to the inverse trigonometric function, the expression of BC is further obtained as:

[0128]

[0129] Similarly, according to the projection relationship of V2 and V1, the expression of V2 can be obtained as:

[0130] V2 = V1 x sin (90° - arcsin ((OC / OB) x sin (180° - θ)),

[0131] Since the angle arcsin ((OC / OB) x sin (180° - θ)) is not greater than 90°, the above formula is:

[0132] V2 = cos (arcsin ((OC / OB) x sin (180° - θ)).

[0133] In another case, please refer to Figure 10 , Figure 10 is a road and rockfall relative position calculation idea schematic diagram B provided by the embodiment of the application, as Figure 10 shown, at this time, the angle γ of the vertical upward rotation of the vehicle-mounted millimeter wave radar is equal to the angle β / 2 of the mountain slope, B is the mountain rockfall target, OB is the projection of the mountain rockfall and the vehicle-mounted millimeter wave radar line on the mountain rockfall surface, OA is the normal of the vehicle-mounted millimeter wave radar surface, ∠FON is the pitch angle β of the vehicle-mounted millimeter wave radar, ∠AON is the angle γ of the vertical upward rotation of the vehicle-mounted millimeter wave radar, ∠GCN is the angle θ of the mountain slope, N is the current number of vehicle lanes, U1 is the current lane width, U2 is the distance from the bottom of the mountain slope to the road boundary, V1 is the projection of the mountain rockfall and the mountain slope millimeter wave radar line on the rockfall surface, and V2 is the speed of the mountain rockfall moving downward along the mountain slope.

[0134] The triangle OBC is analyzed, and according to the sine theorem, it is known that:

[0135] OB / sin ∠BCO = BC / sin ∠BOC = OC / sin ∠CBO,

[0136] According to the above formula, it is obtained that:

[0137] BC = OB x sin ∠BOC / sin ∠BCO,

[0138] According to the sum of the internal angles of triangle OBC is 180° and ∠BCO and ∠GCN are complementary, we have:

[0139] ∠BOC + ∠CBO = ∠GCN = θ,

[0140] ∠BCO = 180° - ∠GCN = 180° - θ,

[0141] Therefore, the expression of BC can be:

[0142]

[0143] At this time, since OC and OB are known, sin ∠CBO = (OC / OB) x sin ∠BCO, according to the inverse trigonometric function, the expression of BC can be further obtained as:

[0144]

[0145] Similarly, according to the projection relationship of V2 and V1, the expression of V2 can be obtained as:

[0146] V2 = cos (arcsin ((OC / OB) x sin (180° - θ))),

[0147] Similarly, when the rock falls at B', OB' is the projection of the line connecting the rock fall and the vehicle-mounted millimeter wave radar on the rock fall surface, OA is the normal of the vehicle-mounted millimeter wave radar surface, B'D' is perpendicular to OA, and according to the projection relationship of V2 and V1, the expression of V2 can be obtained as:

[0148] V2 = cos (arcsin ((OC / OB) x sin (180° - θ))).

[0149] As can be seen from the above, when the rotation angle of the vehicle-mounted millimeter wave radar is not greater than half of the pitch angle, the expressions of BC and V2 obtained in the two cases are the same.

[0150] As can be seen from the above, when the rotation angle of the vehicle-mounted millimeter wave radar is not greater than half of the pitch angle, the expressions of BC and V2 obtained in the two cases are the same.

[0151] In one possible implementation, the control device judges whether there is a collision danger according to the first time and the second time, comprising:

[0152] The control device determines a collision factor, which is a ratio of the first time and the second time; if the collision factor is greater than a collision threshold, the vehicle and the rockfall do not have a collision risk; if the collision factor is not greater than the collision threshold, the vehicle and the rockfall have a collision risk.

[0153] wherein, λ is defined as a collision factor of the vehicle and the rockfall, the first time is T1, and the second time is T2, and λ is calculated as follows:

[0154] λ = T1 / T2,

[0155] For example, when the collision threshold is set to 1.10, if the collision factor is greater than the collision threshold, it is determined that the vehicle and the rockfall do not have a collision risk, and the vehicle maintains the original driving state to pass through the rockfall area; if the collision factor is not greater than the collision threshold, it is determined that the vehicle and the rockfall have a collision risk, and the vehicle is controlled to run, such as accelerating or decelerating, to avoid collision between the vehicle and the rockfall.

[0156] wherein, the value of the collision threshold needs to be tested in large quantities, and a model is established and verified based on the test data to obtain the best matching value.

[0157] As can be seen in this example, by setting the collision factor and the collision threshold as the measurement standard for determining whether there is a collision risk between the rockfall and the vehicle, the collision risk between the rockfall and the vehicle can be more accurately evaluated, and the probability of misjudgment can be reduced.

[0158] S302, if there is a collision risk, the control device controls the vehicle to run to avoid collision with the rockfall.

[0159] wherein, when it is determined that there is a collision risk, the control device controls the vehicle to perform different operations according to different situations, such as controlling the vehicle to accelerate, decelerate, or stop, etc., and when it is determined that there is no collision risk, the control device controls the vehicle to maintain the original driving state.

[0160] As can be seen in this example, according to the high-precision rockfall parameters and the running parameters of the vehicle, it can be determined whether there is a collision risk between the rockfall and the vehicle, which can improve the accuracy of the judgment of whether there is a collision risk between the rockfall and the vehicle, thereby improving the accuracy of rockfall detection and vehicle control, and further improving the safety of vehicle driving.

[0161] Please refer to Figure 11 , Figure 11 is a structural schematic diagram of a rockfall detection and vehicle control device provided by the embodiments of the present application, as shown in Figure 11 the control device 1100 comprises:

[0162] The processing module 1101 is configured to determine whether the vehicle and the rockfall have a collision risk according to the rockfall parameter of the rockfall located in the vehicle driving area and the operation parameter of the vehicle.

[0163] The control module 1102 is configured to control the vehicle operation to avoid the collision with the rockfall if the collision risk exists.

[0164] In a possible implementation, in the process of determining whether the rockfall and the vehicle have a collision risk according to the rockfall parameter of the rockfall located in the vehicle driving area and the operation parameter of the vehicle, the processing module 1101 is specifically configured to: determine a target position of the rockfall to the driving lane of the vehicle and a first time of the rockfall reaching the target position according to the rockfall parameter; determine a second time of the vehicle reaching the target position according to the operation parameter of the vehicle; and determine whether the vehicle and the rockfall have a collision risk according to the first time and the second time.

[0165] In a possible implementation, the rockfall parameter includes the position of the rockfall and the speed of the rockfall directly downward along the rock slope, and the operation parameter of the vehicle includes the speed and the acceleration of the vehicle, and in the process of determining the first time of the rockfall reaching the target position and the second time of the vehicle reaching the target position, the processing module 1101 is specifically configured to: determine a first time required for the rockfall to reach the target position from the position of the rockfall according to the speed of the rockfall, the position of the rockfall and the target position; and determine a second time required for the vehicle to reach the target position from the position of the vehicle according to the speed of the vehicle, the position of the vehicle and the target position.

[0166] In a possible implementation, in the process of determining whether there is a collision risk according to the first time and the second time, the processing module 1101 is specifically configured to: determine a collision factor, the collision factor being a ratio of the first time and the second time; if the collision factor is greater than a collision threshold, the vehicle and the rockfall do not have a collision risk; and if the collision factor is not greater than the collision threshold, the vehicle and the rockfall have a collision risk.

[0167] In a possible implementation, before the rockfall parameter of the rockfall located in the vehicle driving area is acquired, the processing module 1101 is further configured to: acquire indication information, wherein the indication information is road image information acquired by a front-facing main camera of the vehicle or cloud platform indication information acquired by a V2X communication module of the vehicle; determine that the driving area of the vehicle is a rockfall area according to the indication information, acquire a rock slope angle of the rockfall area and a distance from a rock slope bottom of the rockfall area to a road, and detect the rockfall by a vehicle-mounted millimeter wave radar.

[0168] In one possible implementation, in terms of detecting rockfalls through vehicle-mounted millimeter-wave radar, the processing module 1101 is specifically used to: determine the target angle based on the mountain slope angle and the pitch angle of the vehicle-mounted millimeter-wave radar; adjust the illumination angle of the vehicle-mounted millimeter-wave radar to the target angle; adopt a strategy for screening moving targets to detect target information of the mountain area corresponding to the target angle through the vehicle-mounted millimeter-wave radar; use a rockfall screening strategy to screen out rockfalls from the target information; calculate the rockfall parameters based on the straight-line distance and speed data of the screened rockfalls, and the rockfall parameters include the rockfall location and the speed of the rockfall going straight down the mountain slope.

[0169] In one possible implementation, in terms of determining the target angle based on the mountain slope angle and the pitch angle of the vehicle-mounted millimeter-wave radar, the processing module 1101 is specifically used to: if the mountain slope angle is not greater than half of the pitch angle of the vehicle-mounted millimeter-wave radar, then determine the target angle as the mountain slope angle; if the mountain slope angle is greater than half of the pitch angle of the vehicle-mounted millimeter-wave radar, then determine the target angle as half of the pitch angle of the vehicle-mounted millimeter-wave radar.

[0170] In one possible implementation, in terms of using the rockfall screening strategy to screen out rockfalls from target information, the processing module 1101 is specifically used to: obtain the speed information of the moving object in the target information; and screen out rockfalls based on the speed information, where rockfalls are objects in the moving object whose speed changes above and below zero a number of times less than a preset number of times.

[0171] In one possible implementation, in terms of using the rockfall screening strategy to screen out rockfall from target information, the processing module 1101 is also used to: send a prompt message when it is detected that there is no danger of collision between the vehicle and rockfall; send an early warning message when it is detected that there is a danger of collision between the vehicle and rockfall.

[0172] It is worth noting that the specific functional implementation of the control device 1100 is shown in the above Figure 3 The description of the rockfall detection and vehicle control method shown in the figure, for example, the processing module 1101 is used to implement the relevant content of executing S301, and the control module 1102 is used to implement the relevant content of executing S302. The various units or modules in the control device 1100 can be individually or completely combined into one or several other units or modules to form a structure, or one (some) of the units or modules can be further divided into multiple functionally smaller units or modules to form a structure, which can achieve the same operation without affecting the realization of the technical effects of the embodiments of the present invention. The above-mentioned units or modules are divided according to logical functions. In actual applications, the functions of one unit (or module) are implemented by multiple units (or modules), or the functions of multiple units (or modules) are implemented by one unit (or module).

[0173] According to the description of the method embodiments and the related device embodiments, refer to Figure 12 , Figure 12 is another structure schematic diagram of the rockfall detection and vehicle control device provided by the embodiment of the present application, Figure 12 The control device 1200 shown in the figure includes a processor 1201, a memory 1202, a communication interface 1203, and a bus 1204. Among them, the processor 1201, the memory 1202, the communication interface 1203 are communicated and connected with each other through the bus 1204.

[0174] Optionally, the memory 1202 is a ROM, a static storage device, a dynamic storage device, or a RAM.

[0175] The memory 1202 can store executable program codes, and when the executable program codes stored in the memory 1202 are executed by the processor 1201, the processor 1201 and the communication interface 1203 are used to execute Figure 2 Each step of the rockfall detection and vehicle control method of the embodiment shown in the figure.

[0176] The processor 1201 adopts a general-purpose CPU, a microprocessor, an application-specific integrated circuit ASIC, a GPU, or one or more integrated circuits, and is used to execute related programs to execute the rockfall detection and vehicle control method of the method embodiment of the present application.

[0177] The processor 1201 can also be an integrated circuit chip with signal processing capability. In the implementation process, each step of the rockfall detection and vehicle control method of the present application can be completed by the integrated logic circuit of hardware in the processor 1201 or the instruction in the form of software. Optionally, the processor 1201 is a general-purpose processor, a DSP, an ASIC, an FPGA, or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The processor can realize or execute the disclosed methods, steps and logic block diagrams in the embodiments of the present application. The general-purpose processor is a microprocessor or the processor is any conventional processor. The steps of the method disclosed in combination with the embodiments of the present application can be directly embodied as a hardware coding processor for execution, or a combination of hardware and software modules in the coding processor for execution. Optionally, the software modules are located in a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an electrically erasable programmable memory, a register, or other mature storage media in the art. The storage medium is located in the memory 1202, and the processor 1201 reads the information in the memory 1202, and combines the hardware to complete the functions required to be executed by the modules included in the control device 1100 in the embodiments of the present application, or executes the rockfall detection and vehicle control method of the method embodiment of the present application.

[0178] The communication interface 1203 uses a transceiving related device such as, but not limited to, a transceiver.

[0179] The bus 1204 can include a path for conveying information between the various components (for example, the memory 1202, the processor 1201, the communication interface 1203) of the control device 1200.

[0180] It should be noted that, although Figure 12 The control device 1200 shown only shows the memory, the processor, the communication interface, but in the specific implementation process, those skilled in the art should understand that the control device 1200 also includes other devices necessary for normal operation. At the same time, according to the specific needs, those skilled in the art should understand that the control device 1200 can also include hardware devices that realize other additional functions. In addition, those skilled in the art should understand that the control device 1200 can also only include devices necessary for the implementation of the embodiments of the present application, and does not necessarily include all the devices shown in the control device 1200. Figure 12

[0181] The embodiments of the present application provide a computer readable storage medium, the computer readable storage medium stores a computer program for electronic data exchange, the computer program includes execution instructions, the execution instructions are used for executing part or all steps of any one of the rockfall detection and vehicle control method as described in the above rockfall detection and vehicle control method embodiments, and the above computer includes an electronic terminal device.

[0182] The embodiments of the present application provide a computer program product, wherein the computer program product includes a computer program, the computer program is operable to cause a computer to perform part or all steps of any one of the rockfall detection and vehicle control method as described in the above method embodiments, and the computer program product can be a software installation package.

[0183] It should be noted that, for any one of the foregoing rockfall detection and vehicle control method embodiments, in order to simply describe, it is expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited by the described action sequence, because according to the present application, certain steps can be performed in other order or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions involved are not necessarily necessary for the present application.

[0184] ​The above describes the embodiments of the present application in detail, and the principles and implementation manners of the rockfall detection and vehicle control method and device are described by applying specific examples. The above embodiment descriptions are only used to help understand the method and its core idea; meanwhile, for those skilled in the art, according to the idea of the rockfall detection and vehicle control method and device, the specific implementation manners and application ranges can be changed, and the content of the specification should not be understood as a limitation of the present application.

[0185] The present application is described with reference to the flowcharts and / or block diagrams of the method, hardware product and computer program product of the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device implemented in the flowcharts and / or block diagrams. Figure 1 The device that implements the function specified in one flow or multiple flows and / or blocks. Figure 1 The device that implements the function specified in one flow or multiple flows and / or blocks.

[0186] These computer program instructions can also be stored in a computer readable memory capable of guiding the computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce a product including instruction devices, which implement the flowcharts and / or block diagrams. Figure 1 The device that implements the function specified in one flow or multiple flows and / or blocks. Figure 1 Figure 1 The device that implements the function specified in one flow or multiple flows and / or blocks. The memory can include a flash disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0187] Although the present application is described in conjunction with the embodiments herein, other variations of the disclosed embodiments can be understood and implemented by those skilled in the art with reference to the attached drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "one" does not exclude a plurality. The measures described in mutually different dependent claims are not mutually exclusive, but can be combined in an advantageous manner.

[0188] Those skilled in the art can understand that all or part of the steps in the various methods of the method embodiments of any one of the rockfall detection and vehicle control methods described above can be completed by programs instructing relevant hardware, and the programs can be stored in a computer readable memory, which can include a flash disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0189] It can be understood that products controlled or configured to execute the processing method of the flowchart described in the embodiment of the rockfall detection and vehicle control method of the present application, such as the device and computer program product of the above flowchart, all belong to the scope of the related products described in the present application.

[0190] Obviously, those skilled in the art can make various modifications and variations to the rockfall detection and vehicle control method and device provided by the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application also intends to include these modifications and variations.

Claims

1. A rockfall detection and vehicle control method, characterized in that: Methods include: Obtaining instruction information, wherein the instruction information refers to road image information obtained by the vehicle's forward main camera or cloud platform instruction information obtained by the vehicle's V2X communication module; Determining, according to the indication information, that the driving area of ​​the vehicle is a rockfall area, obtaining a slope angle of a mountain in the rockfall area and a distance from a bottom of the slope of the mountain in the rockfall area to a road; If the mountain slope angle is not greater than half of the pitch angle of the vehicle-mounted millimeter-wave radar, the target angle is determined to be the mountain slope angle; if the mountain slope angle is greater than half of the pitch angle of the vehicle-mounted millimeter-wave radar, the target angle is determined to be half of the pitch angle of the vehicle-mounted millimeter-wave radar; Adjusting the illumination angle of the vehicle-mounted millimeter-wave radar to the target angle; Adopting a strategy of screening moving targets, the vehicle-mounted millimeter-wave radar detects target information of a mountain area corresponding to a target angle; Using a rockfall screening strategy to screen out mountain rockfall from the target information; Calculating rockfall parameters based on the filtered straight-line distance and speed data of rockfall, including the rockfall location and the speed of the rockfall moving straight down the slope of the mountain; determining, based on the rockfall parameters, a target location at which the rockfall reaches the vehicle's driving lane and a first time at which the rockfall reaches the target location; determining a second time for the vehicle to arrive at the target location based on an operating parameter of the vehicle; determining whether there is a collision risk between the vehicle and the rockfall according to the first time and the second time; If there is a risk of collision, the vehicle is controlled to avoid collision with the falling rocks.

2. The method according to claim 1, wherein The rockfall parameters include the location of the rockfall and the speed of the rockfall moving straight down the mountain slope; the vehicle operation parameters include the speed and acceleration of the vehicle; and determining the first time when the rockfall reaches the target location and the second time when the vehicle reaches the target location includes: determining a first time required for the rockfall to reach the target location from the rockfall location according to the speed and acceleration of the rockfall, the rockfall location, and the target location; A second time required for the vehicle to reach the target location from the vehicle's location is determined based on the vehicle's speed, the vehicle's location, and the target location.

3. The method according to claim 2, wherein The determining whether there is a collision risk according to the first time and the second time includes: determining a collision factor, the collision factor being a ratio of the first time to the second time; If the collision factor is greater than the collision threshold, there is no collision risk between the vehicle and the rockfall; If the collision factor is not greater than the collision threshold, there is a risk of collision between the vehicle and the rockfall.

4. The method according to claim 1, wherein The step of screening out rockfall from the target information using the rockfall screening strategy includes: Acquiring speed information of the moving object in the target information; The rockfall is screened based on the speed information, where the rockfall is an object among the moving objects whose speed varies around zero less than a preset number of times.

5. The method according to claim 1, wherein The method further comprises: When it is detected that there is no collision risk between the vehicle and the rockfall, a prompt message is sent; when it is detected that there is a collision risk between the vehicle and the rockfall, an early warning message is sent.

6. A rockfall detection and vehicle control device, characterized in that: The device comprises: A processing module is used to obtain indication information, wherein the indication information refers to road image information obtained by the vehicle's forward main camera or cloud platform indication information obtained by the vehicle's V2X communication module; and according to the indication information, determine that the vehicle's driving area is a rockfall area, obtain the mountain slope angle of the rockfall area and the distance between the bottom of the mountain slope of the rockfall area and the road; and if the mountain slope angle is not greater than half of the pitch angle of the on-board millimeter-wave radar, determine the target angle to be the mountain slope angle; if the mountain slope angle is greater than half of the pitch angle of the on-board millimeter-wave radar, determine the target angle to be half of the pitch angle of the on-board millimeter-wave radar; and adjust the illumination angle of the on-board millimeter-wave radar to the target angle; with and adopting a strategy for screening moving targets to detect target information of a mountain area corresponding to a target angle through the vehicle-mounted millimeter-wave radar; and using a rockfall screening strategy to screen out rockfalls from the target information; and calculating rockfall parameters based on the straight-line distance and speed data of the screened rockfalls, the rockfall parameters including the rockfall position and the speed of the rockfall moving straight down the mountain slope; and determining, based on the rockfall parameters, the target position of the vehicle's driving lane and the first time the rockfall reaches the target position; and determining, based on the vehicle's operating parameters, the second time the vehicle reaches the target position; and judging, based on the first time and the second time, whether there is a collision risk between the vehicle and the rockfall; The control module is used to control the vehicle operation to avoid collision with the falling rocks if there is a collision risk.

7. A rockfall detection and vehicle control device, characterized in that: The device comprises: A memory, a processor, and an executable program code stored in the memory and executable on the processor, wherein the processor executes the steps of the rockfall detection and vehicle control method according to any one of claims 1 to 5 when executing the executable program code.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores executable program code, which includes execution instructions for executing the steps of the rockfall detection and vehicle control method according to any one of claims 1 to 5.

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