Special-shaped ultrasonic radar envelope simulation method and device, electronic equipment and medium

Abstract

The invention relates to the technical field of vehicles, in particular to a special-shaped ultrasonic radar envelope simulation method and device, electronic equipment and a medium, and the method comprises the steps: obtaining the envelope detection range of each ultrasonic radar of a current vehicle, determining the field angle of each ultrasonic radar based on the envelope detection range of each ultrasonic radar, and obtaining the field angle of each ultrasonic radar; determining a simulation envelope range of each ultrasonic radar according to the field angle of each ultrasonic radar; and the ultrasonic radar envelope range of the current vehicle is obtained according to fitting of the simulation envelope range of each ultrasonic radar. Therefore, the problem that part of envelope structures are inaccurate due to the fact that an ultrasonic sensor cannot meet complex envelope requirements is solved, the parameter characteristics of the ultrasonic radar are constructed, the special-shaped envelope range is re-judged in combination with the special-shaped envelope algorithm, existing obstacle information is screened, accurate fitting of real vehicle detection envelopes is achieved, and the detection accuracy of the real vehicle detection envelopes is improved. The purpose of accurately simulating the obstacle is achieved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a method, device, electronic equipment and medium for simulating an envelope of a special-shaped ultrasonic radar. Background Art

[0002] With the continuous development of automobile technology, the use of vehicles has become popular among the majority of users. As a result, the performance of vehicle use, such as automatic parking technology, has gradually become a research hotspot. Ultrasonic radar, as a common automatic parking sensor, has the advantages of high measurement accuracy and good stability, but it also has problems such as poor accuracy and stability during the automatic parking process. Therefore, in order to improve the automatic parking function of the vehicle, the envelope simulation technology of ultrasonic radar is particularly important.

[0003] In the related art, it mainly relies on the ultrasonic model provided in the simulation software, and fits the whole vehicle envelope by configuring its FOV (Field of View) angle and detection shape.

[0004] However, due to the complexity of the current ultrasonic sensor detection envelope, the ultrasonic model built into the simulation software cannot meet the actual modeling requirements, resulting in inaccurate construction of some envelopes and failure to truly simulate the characteristics of ultrasonic sensors, thereby reducing the performance of automatic parking, which urgently needs to be solved. Summary of the invention

[0005] The present application provides a method, device, electronic device and medium for simulating a special-shaped ultrasonic radar envelope to solve the problems in the related art that the ultrasonic sensor detection envelope is complex and the envelope is single, which cannot meet complex envelope requirements, thereby causing inaccurate construction of part of the envelope and reducing the automatic parking performance.

[0006] The first embodiment of the present application provides a method for simulating an envelope of an irregular ultrasonic radar, comprising the following steps:

[0007] Get the envelope detection range of each ultrasonic radar of the current vehicle;

[0008] Based on the envelope detection range of each ultrasonic radar, determine the field of view angle of each ultrasonic radar, and determine the simulation envelope range of each ultrasonic radar according to the field of view angle of each ultrasonic radar;

[0009] The ultrasonic radar envelope range of the current vehicle is obtained by fitting the simulated envelope range of each ultrasonic radar.

[0010] Optionally, determining the field of view angle of each ultrasonic radar based on the envelope detection range of each ultrasonic radar includes:

[0011] Based on the envelope detection range of each ultrasonic radar, all ultrasonic radars are divided into a first radar set that meets a preset special-shaped detection range and a second radar set that does not meet the preset special-shaped detection range;

[0012] Performing triangular projection on the envelope detection range of each ultrasonic radar in the first radar set to obtain the field of view angle of each radar in the first radar set, and using the preset angle as the field of view angle of each radar in the second radar set;

[0013] The field of view angle of each ultrasonic radar is obtained according to the field of view angle of each radar in the first radar set and the field of view angle of each radar in the second radar set.

[0014] Optionally, after obtaining the ultrasonic radar envelope range of the current vehicle according to the fitting of the simulated envelope range of each ultrasonic radar, the method further includes:

[0015] Obtaining the number of intersections between the nearest surface of the obstacle and the envelope range of the ultrasonic radar;

[0016] If there are multiple intersections, an obstacle line segment and an obstacle height are generated according to the coordinate information of the multiple intersections, and a first endpoint coordinate and a second endpoint coordinate of the obstacle line segment within the simulation envelope of each ultrasonic radar are determined according to the ultrasonic radar envelope range and the obstacle line segment;

[0017] The obstacle is simulated according to the first end point coordinates and the second end point coordinates of the obstacle segment within the simulation envelope of each ultrasonic radar.

[0018] Optionally, generating obstacle line segments according to coordinate information of multiple intersection points includes:

[0019] Acquire a first z-axis value satisfying a first preset distance condition and first coordinate information corresponding to the first z-axis value based on the coordinate information of the plurality of intersection points;

[0020] Calculate the absolute value of the difference between the corresponding z-axis value in the coordinate information of each intersection point and the first z-axis value, and select the target z-axis value that meets the second preset distance condition according to the calculation result;

[0021] The obstacle line segment is generated according to the first coordinate information and the second coordinate information corresponding to the target z-axis value.

[0022] Optionally, determining the first endpoint coordinates and the second endpoint coordinates of the obstacle line segment within the simulation envelope range of each ultrasonic radar according to the ultrasonic radar envelope range and the obstacle line segment includes:

[0023] Determining whether the obstacle line segment is within the simulation envelope range of multiple ultrasonic radars;

[0024] If the obstacle line segment is within the simulation envelope range of the multiple ultrasonic radars, then obtaining the intersection point of the obstacle line segment and the boundaries of the envelope ranges of the multiple ultrasonic radars;

[0025] Determine the first endpoint coordinates and the second endpoint coordinates of the obstacle line segment within the simulation envelope range of each ultrasonic radar according to the coordinates of one end of the obstacle line segment, the coordinates of the other end of the obstacle line segment, and the intersection of the obstacle line segment and the boundaries of the multiple ultrasonic radar envelope ranges.

[0026] Optionally, after determining whether the obstacle line segment is within the simulation envelope range of the plurality of ultrasonic radars, the method further includes:

[0027] If the obstacle line segment is not within the simulation envelope range of the multiple ultrasonic radars, the coordinates of one end of the obstacle line segment are used as the first endpoint coordinates within the simulation envelope range of the obstacle line segment ultrasonic radar, and the coordinates of the other end of the obstacle line segment are used as the second endpoint coordinates within the simulation envelope range of the obstacle line segment ultrasonic radar.

[0028] Optionally, after obtaining the number of intersections between the nearest surface of the obstacle and the ultrasonic radar envelope range, the method further includes:

[0029] If the number of intersection points between the nearest surface of the obstacle and the envelope range of the ultrasonic radar is one, the coordinates of the obstacle within the simulation envelope range of the ultrasonic radar are determined according to the coordinates of the intersection points.

[0030] According to the special-shaped ultrasonic radar envelope simulation method of the embodiment of the present application, the envelope detection range of each ultrasonic radar of the current vehicle is obtained, and the field of view angle of each ultrasonic radar is determined based on the envelope detection range of each ultrasonic radar, and the simulation envelope range of each ultrasonic radar is determined according to the field of view angle of each ultrasonic radar; the ultrasonic radar envelope range of the current vehicle is obtained according to the fitting of the simulation envelope range of each ultrasonic radar. Thus, the problem that the ultrasonic sensor detection envelope in the related technology is complex and the envelope is single, which cannot meet the complex envelope requirements, resulting in inaccurate construction of some envelopes and reduced automatic parking performance is solved. By constructing the parameter characteristics of the ultrasonic radar, the special-shaped envelope range is re-judged in combination with the special-shaped envelope algorithm, and the existing obstacle information is screened, so as to achieve accurate fitting of the actual vehicle detection envelope, so as to achieve the purpose of accurate simulation of obstacles.

[0031] The second aspect of the present application provides a special-shaped ultrasonic radar envelope simulation device, including:

[0032] An acquisition module is used to obtain the envelope detection range of each ultrasonic radar of the current vehicle;

[0033] A determination module, configured to determine the field of view angle of each ultrasonic radar based on the envelope detection range of each ultrasonic radar, and determine the simulation envelope range of each ultrasonic radar according to the field of view angle of each ultrasonic radar;

[0034] A fitting module is used to obtain the ultrasonic radar envelope range of the current vehicle according to the fitting of the simulated envelope range of each ultrasonic radar.

[0035] Optionally, the determining module includes:

[0036] A division unit, configured to divide all ultrasonic radars into a first radar set that meets a preset special-shaped detection range and a second radar set that does not meet the preset special-shaped detection range based on the envelope detection range of each ultrasonic radar;

[0037] a projection unit, configured to perform triangular projection on the envelope detection range of each ultrasonic radar in the first radar set to obtain a field of view angle of each radar in the first radar set, and use a preset angle as the field of view angle of each radar in the second radar set;

[0038] The first acquisition unit is used to obtain the field of view angle of each ultrasonic radar according to the field of view angle of each radar in the first radar set and the field of view angle of each radar in the second radar set.

[0039] Optionally, after obtaining the ultrasonic radar envelope range of the current vehicle according to the fitting of the simulation envelope range of each ultrasonic radar, the fitting module further includes:

[0040] A second acquisition unit is used to acquire the number of intersections between the nearest surface of the obstacle and the envelope range of the ultrasonic radar;

[0041] a determining unit, configured to generate an obstacle line segment and an obstacle height according to coordinate information of the plurality of intersection points if the number of the intersection points is multiple, and determine a first endpoint coordinate and a second endpoint coordinate of the obstacle line segment within a simulation envelope range of each ultrasonic radar according to the ultrasonic radar envelope range and the obstacle line segment;

[0042] The simulation unit is used to simulate the obstacle according to the first end point coordinates and the second end point coordinates of the obstacle segment within the simulation envelope range of each ultrasonic radar.

[0043] Optionally, the generating of obstacle line segments according to the coordinate information of the plurality of intersection points, the determining unit comprises:

[0044] A first acquisition subunit, configured to acquire, based on the coordinate information of the plurality of intersection points, a first z-axis value satisfying a first preset distance condition and first coordinate information corresponding to the first z-axis value;

[0045] a calculation subunit, configured to calculate an absolute value of a difference between a z-axis value corresponding to the coordinate information of each intersection point and the first z-axis value, and select a target z-axis value satisfying a second preset distance condition according to the calculation result;

[0046] A generating subunit is used to generate the obstacle line segment according to the first coordinate information and the second coordinate information corresponding to the target z-axis value.

[0047] Optionally, the determining unit includes:

[0048] A judging subunit, used to judge whether the obstacle line segment is within the simulation envelope range of multiple ultrasonic radars;

[0049] a second acquisition subunit, configured to acquire, if the obstacle line segment is within the simulation envelope range of the multiple ultrasonic radars, an intersection point between the obstacle line segment and the boundaries of the envelope ranges of the multiple ultrasonic radars;

[0050] A determination subunit is used to determine the first endpoint coordinates and the second endpoint coordinates of the obstacle line segment within the simulation envelope range of each ultrasonic radar based on the coordinates of one end of the obstacle line segment, the coordinates of the other end of the obstacle line segment, and the intersection of the obstacle line segment and the boundaries of the multiple ultrasonic radar envelope ranges.

[0051] Optionally, after determining whether the obstacle line segment is within the simulation envelope range of the plurality of ultrasonic radars, the determining subunit further includes:

[0052] A determination subcomponent is used to use the coordinates of one end of the obstacle line segment as the first endpoint coordinates within the simulation envelope of the obstacle line segment ultrasonic radar if the obstacle line segment is not within the simulation envelope of the multiple ultrasonic radars, and to use the coordinates of the other end of the obstacle line segment as the second endpoint coordinates within the simulation envelope of the obstacle line segment ultrasonic radar.

[0053] Optionally, after obtaining the number of intersections between the nearest surface of the obstacle and the ultrasonic radar envelope range, the second obtaining unit further includes:

[0054] The determination subunit is used to determine the coordinates of the obstacle within the simulation envelope of the ultrasonic radar according to the coordinates of the intersection points if the number of intersection points between the nearest surface of the obstacle and the envelope of the ultrasonic radar is 1.

[0055] According to the special-shaped ultrasonic radar envelope simulation device of the embodiment of the present application, the envelope detection range of each ultrasonic radar of the current vehicle is obtained, and the field of view angle of each ultrasonic radar is determined based on the envelope detection range of each ultrasonic radar, and the simulation envelope range of each ultrasonic radar is determined according to the field of view angle of each ultrasonic radar; the ultrasonic radar envelope range of the current vehicle is obtained according to the fitting of the simulation envelope range of each ultrasonic radar. Thus, the problem that the ultrasonic sensor detection envelope in the related art is complex and the envelope is single, which cannot meet the complex envelope requirements, resulting in inaccurate construction of some envelopes and reduced automatic parking performance is solved. By constructing the parameter characteristics of the ultrasonic radar, the special-shaped envelope range is re-judged in combination with the special-shaped envelope algorithm, and the existing obstacle information is screened, so as to achieve accurate fitting of the actual vehicle detection envelope, so as to achieve the purpose of accurate simulation of obstacles.

[0056] The third aspect of the present application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method for simulating the envelope of an irregular ultrasonic radar as described in the above embodiment.

[0057] A fourth aspect of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the method for simulating the envelope of an irregular ultrasonic radar as described in the above embodiment.

[0058] A fifth aspect of the present application provides a computer program product, including a computer program, which is executed to implement the method for simulating the envelope of an irregular ultrasonic radar as described in the above embodiment.

[0059] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0061] Figure 1 It is a projection diagram of the detection range of a general sensor in the related art;

[0062] Figure 2 is an envelope diagram of a general sensor in the related art;

[0063] Figure 3 A flowchart of a method for simulating a special-shaped ultrasonic radar envelope provided according to an embodiment of the present application;

[0064] Figure 4 A schematic diagram of constructing a profiled envelope range according to an embodiment of the present application;

[0065] Figure 5 A projection diagram of the detection range corresponding to the first type of trapezoidal probe according to an embodiment of the present application;

[0066] Figure 6 A projection diagram of the detection range corresponding to the second type of trapezoidal probe according to an embodiment of the present application;

[0067] Figure 7 This is a projection diagram of the detection range corresponding to a rectangular probe according to an embodiment of the present application;

[0068] Figure 8 is a schematic diagram of coordinates of the nearest surface of an obstacle according to an embodiment of the present application;

[0069] Fig. 9 A schematic diagram of a logic for obtaining obstacle information according to an embodiment of the present application;

[0070] Fig.10 A schematic diagram of an algorithm logic for constructing and screening a heterogeneous envelope according to an embodiment of the present application;

[0071] Fig.11 is a block diagram of an exemplary device for simulating an envelope of a special-shaped ultrasonic radar according to an embodiment of the present application;

[0072] Fig.12 Schematic diagram of the structure of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0073] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0074] The following describes the special-shaped ultrasonic radar envelope simulation method, device, electronic device and medium of the embodiment of the present application with reference to the accompanying drawings. In view of the problem that the ultrasonic sensor detection envelope in the related art mentioned in the above background technology is complex and the envelope is single, which cannot meet the complex envelope requirements, resulting in inaccurate construction of part of the envelope and reducing the automatic parking performance, the present application provides a special-shaped ultrasonic radar envelope simulation method, in which the envelope detection range of each ultrasonic radar of the current vehicle is obtained, the field of view angle of each ultrasonic radar is determined based on the envelope detection range of each ultrasonic radar, and the simulation envelope range of each ultrasonic radar is determined according to the field of view angle of each ultrasonic radar; the ultrasonic radar envelope range of the current vehicle is obtained according to the fitting of the simulation envelope range of each ultrasonic radar. Thus, the ultrasonic sensor detection envelope in the related art is complex and the envelope is single, which cannot meet the complex envelope requirements, resulting in inaccurate construction of part of the envelope and reducing the automatic parking performance. By constructing the parameter characteristics of the ultrasonic radar, combining the special-shaped envelope algorithm to re-judge the special-shaped envelope range, and screening the existing obstacle information, the accurate fitting of the real vehicle detection envelope is achieved to achieve the purpose of accurate simulation of the obstacle.

[0075] Specifically, before introducing the embodiments of the present application, the general ultrasonic sensor envelope method is first introduced. In the related art, it mainly relies on the ultrasonic model provided in the simulation software, and fits the vehicle envelope by configuring its FOV angle and detection shape, such as Figure 1 As shown in the figure, the detection range projection diagram of general ultrasonic sensors is mainly of two types: polygonal pyramid type and ice cream type. The envelope range is as follows Figure 2 As shown, it is an envelope that is approximately octagonal. Due to the complexity of the current sensor detection envelope and other reasons, the built-in model in the simulation software cannot meet the actual modeling needs, resulting in inaccurate construction of some envelopes and inability to truly simulate the characteristics of the ultrasonic wave sensor. Therefore, the embodiment of the present application is based on the envelope requirements of the actual sensor. On the basis of the ultrasonic model that comes with the simulation software, the special-shaped envelope range is re-determined using the special-shaped envelope algorithm of the embodiment of the present application, and the existing obstacle information is screened, thereby achieving adaptation to the special-shaped envelope to achieve the effect of accurate simulation. The specific implementation method will be described in the following embodiments.

[0076] Specifically, Figure 3 A schematic diagram of a flow chart of a method for simulating an envelope of an irregular ultrasonic radar provided in an embodiment of the present application.

[0077] like Figure 3 As shown, the special-shaped ultrasonic radar envelope simulation method includes the following steps:

[0078] In step S301, the envelope detection range of each ultrasonic radar of the current vehicle is obtained.

[0079] Specifically, during the parking process, vehicles are often unable to park accurately due to obstructions from obstacles around the vehicle. Therefore, it is necessary to use ultrasonic radar to perform envelope simulation of the obstacles around the vehicle. To achieve this function, the vehicle will be covered with multiple ultrasonic radars, and the obstacle simulation function will be realized through the parameter characteristics of the ultrasonic radar and combined with the special-shaped envelope construction.

[0080] Furthermore, the envelope detection range of the ultrasonic radar may include a trapezoid, a rectangle, etc. At this time, it is necessary to obtain the envelope detection range of each ultrasonic radar of the current vehicle, that is, the structural characteristics of each ultrasonic radar, so as to determine the simulation envelope range of the ultrasonic radar in the next step based on the envelope detection range of the ultrasonic radar.

[0081] In step S302, based on the envelope detection range of each ultrasonic radar, the field of view angle of each ultrasonic radar is determined, and the simulation envelope range of each ultrasonic radar is determined according to the field of view angle of each ultrasonic radar.

[0082] Optionally, based on the envelope detection range of each ultrasonic radar, the field of view angle of each ultrasonic radar is determined, including: based on the envelope detection range of each ultrasonic radar, all ultrasonic radars are divided into a first radar set that meets a preset special-shaped detection range and a second radar set that does not meet the preset special-shaped detection range; triangularly projecting the envelope detection range of each ultrasonic radar in the first radar set to obtain the field of view angle of each radar in the first radar set, and using the preset angle as the field of view angle of each radar in the second radar set; and obtaining the field of view angle of each ultrasonic radar according to the field of view angle of each radar in the first radar set and the field of view angle of each radar in the second radar set.

[0083] Among them, the preset special-shaped detection range is the envelope detection range of irregular shape, and the preset angle is the corresponding field of view angle formed based on the functional characteristics of the ultrasonic radar.

[0084] Specifically, since the sensor envelope shape provided by the simulation software in the related art is single and cannot meet the complex envelope requirements, Figure 4 As shown, the embodiment of the present application needs to divide the envelope detection range of multiple ultrasonic radars into regions, so that the ultrasonic radar can cover the required range of the actual vehicle according to its sensor characteristics.

[0085] Specifically, the embodiment of the present application can be based on the envelope detection range of each ultrasonic radar of the current vehicle, select ultrasonic radars that meet the preset special-shaped detection range (for example, the envelope detection range is a trapezoid) from the envelope detection range of all ultrasonic radars to form a first radar set, and the ultrasonic radars that do not meet the preset special-shaped detection range (for example, the envelope detection range is a rectangle) are formed into a second radar set, and the envelope detection range of each ultrasonic radar in the first radar set is triangularly projected, that is, the special-shaped detection range with a trapezoidal envelope detection range is triangularly projected, and the field of view of each radar in the first radar set is obtained at the same time; at the same time, the envelope detection range of each ultrasonic radar in the second radar set is semicircularly projected, that is, the envelope detection range with a rectangular envelope detection range is semicircularly projected, and the preset angle is used as the field of view of each radar in the second radar set, so that the field of view of each ultrasonic radar is obtained based on the field of view of each radar in the first radar set and the field of view of each radar in the second radar set, and the simulation envelope range of each ultrasonic radar is determined according to the field of view of each ultrasonic radar.

[0086] For example, Figure 5 As shown in FIG. 1 , probes 1, 2, 7 and 8 are all trapezoidal structures. Therefore, the envelope detection ranges (i.e., the special-shaped detection ranges) of the probes 1, 2, 7 and 8 can be fitted as triangular projections, and the FOV angle of the ultrasonic radar is calculated to be 16° based on the triangular projections of the probes 1, 2, 7 and 8. Figure 6 As shown, the construction method of probe 3, probe 6, probe 9 and probe 12 is similar to the above-mentioned probes. The detection ranges of probe 3, probe 6, probe 9 and probe 12 are fitted into a triangular projection, and the FOV angle of the ultrasonic radar is calculated to be 65° based on the triangular projection of probe 3, probe 6, probe 9 and probe 12; Figure 7 As shown, probes 4, 5, 10 and 11 are all rectangular structures. Therefore, the detection ranges of probes 4, 5, 10 and 11 can be fitted into a semicircular projection, and the FOV angle of the ultrasonic radar is calculated to be 180° based on the semicircular projection of probes 4, 5, 10 and 11, thereby obtaining the field of view angle of each ultrasonic radar of the current vehicle.

[0087] In step S303, the ultrasonic radar envelope range of the current vehicle is obtained according to the fitting of the simulation envelope range of each ultrasonic radar.

[0088] Specifically, the embodiment of the present application performs overall envelope fitting based on the simulated envelope range of each ultrasonic radar in the first radar set and the simulated envelope range of each ultrasonic radar in the second radar set, so as to obtain the final ultrasonic radar envelope range of the current vehicle, and then filter the obstacle information according to the ultrasonic radar envelope range.

[0089] It should be noted that the ultrasonic radar envelope range obtained by the above fitting can cover the range required by the current vehicle, thereby covering the actual vehicle envelope requirements.

[0090] Optionally, after obtaining the ultrasonic radar envelope range of the current vehicle according to the fitting of the simulation envelope range of each ultrasonic radar, it also includes: obtaining the number of intersections between the nearest surface of the obstacle and the ultrasonic radar envelope range; if the number of intersections is multiple, generating obstacle line segments and obstacle heights according to the coordinate information of the multiple intersections, and determining the first endpoint coordinates and the second endpoint coordinates of the obstacle line segment within the simulation envelope range of each ultrasonic radar according to the ultrasonic radar envelope range and the obstacle line segment; simulating the obstacle according to the first endpoint coordinates and the second endpoint coordinates of the obstacle line segment within the simulation envelope range of each ultrasonic radar.

[0091] Optionally, generating an obstacle line segment according to the coordinate information of multiple intersections includes: obtaining a first z-axis value that satisfies a first preset distance condition and a first coordinate information corresponding to the first z-axis value based on the coordinate information of the multiple intersections; calculating an absolute value of a difference between a corresponding z-axis value in the coordinate information of each intersection and the first z-axis value, and selecting a target z-axis value that satisfies a second preset distance condition according to the calculation result; and generating an obstacle line segment according to the first coordinate information and the second coordinate information corresponding to the target z-axis value.

[0092] The first preset distance condition and the second preset distance condition can be obtained according to the obtained coordinate information of the nearest surface of the obstacle.

[0093] Specifically, in the embodiment of the present application, the obstacle algorithm uses a line segment plus height method to describe the features, so it is necessary to process the obstacle information, such as Figure 8 As shown, based on the embodiment of the present application, the sensor provided in the real software will automatically give the target point NP closest to the sensor, and determine the closest surface right (3) of the obstacle according to the target point NP. The other three surfaces are Front (1), Rear (2) and Left (4). That is to say, through the target point NP closest to the sensor, it can be judged that the surface where the point is located is the closest surface of the obstacle. Based on the obtained closest surface of the obstacle and combined with the ultrasonic radar envelope detection range, the intersection of the closest surface of the obstacle generated by multiple ultrasonic radars and the ultrasonic radar envelope range can be obtained, wherein the intersection point can be multiple or one.

[0094] Specifically, if the number of intersections between the nearest surface of the obstacle and the ultrasonic radar envelope is multiple, such as Figure 8 and Fig. 9 As shown, based on the nearest surface of the obstacle obtained above, first, the sensor provided in the embodiment of the present application will automatically output the coordinate information of the four points of the nearest surface of the obstacle as a signal, such as Nn (n is 0-3), and obtain the coordinate information (x, y, z) of each point in the nearest surface of the obstacle; secondly, based on the coordinate information (x, y, z) of each point, the minimum z-axis value Z0 of the four points on the nearest surface of the obstacle is screened out, that is, the first z-axis value, and the minimum coordinate point N0 corresponding to the minimum z-axis value Z0, that is, the first coordinate information; finally, the absolute value of the difference between the corresponding z-axis value Zn (that is, the z coordinate of Nn) in the coordinate information of each intersection and the first z-axis value is calculated, that is, ab is calculated s|Zn-Z0|, so that the absolute value of the difference between the z-axis value Zn and the z-axis minimum value Z0 in the four coordinate information of the nearest surface of the obstacle can be obtained respectively, and the target z-axis value N1 with the smallest z-axis value in abs|Zn-Z0| is selected from the four calculation results obtained, and the obstacle line segment is generated according to the target z-axis value N1 and the minimum coordinate point N0, and the basic information of the obstacle is obtained according to the obstacle height obtained from the coordinate information of multiple intersections of the nearest surface of the obstacle and the ultrasonic radar envelope range, and the first endpoint coordinates and the second endpoint coordinates of the obstacle line segment in the simulation envelope range of each ultrasonic radar are determined according to the ultrasonic radar envelope range and the obstacle line segment.

[0095] Optionally, determining the first endpoint coordinates and the second endpoint coordinates of the obstacle line segment within the simulation envelope range of each ultrasonic radar according to the ultrasonic radar envelope range and the obstacle line segment, including: judging whether the obstacle line segment is within the simulation envelope range of multiple ultrasonic radars; if the obstacle line segment is within the simulation envelope range of multiple ultrasonic radars, obtaining the intersection of the obstacle line segment and the boundaries of the envelope range of multiple ultrasonic radars; determining the first endpoint coordinates and the second endpoint coordinates of the obstacle line segment within the simulation envelope range of each ultrasonic radar according to the coordinates of one end of the obstacle line segment, the coordinates of the other end of the obstacle line segment, and the intersection of the obstacle line segment with the boundaries of the envelope range of multiple ultrasonic radars.

[0096] Optionally, after determining whether the obstacle line segment is within the simulation envelope range of multiple ultrasonic radars, it also includes: if the obstacle line segment is not within the simulation envelope range of multiple ultrasonic radars, then using the coordinates of one end of the obstacle line segment as the first endpoint coordinates within the simulation envelope range of the obstacle line segment ultrasonic radar, and using the coordinates of the other end of the obstacle line segment as the second endpoint coordinates within the simulation envelope range of the obstacle line segment ultrasonic radar.

[0097] Specifically, if Fig.10As shown, when constructing a special-shaped envelope, the embodiment of the present application needs to use the inpolygon function to determine whether the obstacle line segment detected by the ultrasonic radar probe is within the simulation envelope range of multiple ultrasonic radars. If the obstacle line segment is within the simulation envelope range of multiple ultrasonic radars, first, obtain the coordinate point (x, y) of the obstacle line segment within the simulation envelope range, and obtain the coordinate point of the obstacle line segment and the envelope of each ultrasonic radar probe according to the actual vehicle simulation envelope requirements; secondly, use the inpolygon function to determine whether the coordinate point (x, y) of the obstacle line segment is within the ultrasonic radar envelope range. If the obstacle line segment is within the simulation envelope range of the ultrasonic radar, then according to the coordinates of one end of the obstacle line segment, the coordinates of the other end of the obstacle line segment, and the coordinates of the obstacle line segment and the multiple ultrasonic radar envelopes, The first endpoint coordinates and the second endpoint coordinates of the obstacle line segment within the simulation envelope of each ultrasonic radar are determined by the intersection of the obstacle line segment and the ultrasonic radar network range boundary, and the obstacle information is output at this time; or, if the obstacle line segment is not within the simulation envelope of multiple ultrasonic radars, the coordinates of one end of the obstacle line segment are used as the first endpoint coordinates within the simulation envelope of the obstacle line segment ultrasonic radar, and the coordinates of the other end of the obstacle line segment are used as the second endpoint coordinates within the simulation envelope of the obstacle line segment ultrasonic radar, which means that part of the obstacle line segment is within the simulation envelope of the ultrasonic radar. At this time, the obstacle line segment is intercepted at the intersection of the obstacle line segment and the ultrasonic radar simulation envelope, and the obstacle information that is not within the ultrasonic radar envelope is cleared, and the obstacle information within the ultrasonic radar simulation envelope is output at the same time.

[0098] Optionally, after obtaining the number of intersection points between the nearest surface of the obstacle and the ultrasonic radar envelope range, it also includes: if the number of intersection points between the nearest surface of the obstacle and the ultrasonic radar envelope range is 1, determining the coordinates of the obstacle within the simulation envelope range of the ultrasonic radar according to the coordinates of the intersection.

[0099] Specifically, in an embodiment of the present application, if the number of intersections between the nearest surface of the obstacle and the envelope range of the ultrasonic radar is 1, the coordinates of the obstacle within the simulation envelope range of the ultrasonic radar are determined according to the coordinates of the intersection to simulate the obstacle.

[0100] Furthermore, since the obstacle distance obtained under the simulation software of the vehicle is the distance from the center origin of the sensor detection geometry to the obstacle, but there is an offset between the sensor detection geometry center point and the installation position of the ultrasonic radar probe, in order to meet the input requirements of the domain controller, after obtaining the obstacle information, the embodiment of the present application needs to convert the first end point coordinates and the second end point coordinates of the obstacle into obstacle coordinate information relative to the ultrasonic radar, and send it to the domain controller, so as to output the obstacle based on the coordinate information of the ultrasonic radar, so as to simulate the obstacle according to the obstacle coordinate information.

[0101] In summary, based on the discussion in the above embodiments, the embodiments of the present application analyze the installation position of the ultrasonic sensor through self-partitioning, and design the FOV angle based on the envelope range of the ultrasonic sensor probe, and then optimize the screening of special-shaped envelopes to achieve accurate fitting of the actual vehicle detection envelope, thereby ultimately achieving the purpose of accurate simulation.

[0102] According to the special-shaped ultrasonic radar envelope simulation method of the embodiment of the present application, the envelope detection range of each ultrasonic radar of the current vehicle is obtained, and the field of view angle of each ultrasonic radar is determined based on the envelope detection range of each ultrasonic radar, and the simulation envelope range of each ultrasonic radar is determined according to the field of view angle of each ultrasonic radar; the ultrasonic radar envelope range of the current vehicle is obtained according to the fitting of the simulation envelope range of each ultrasonic radar. Thus, the problem that the ultrasonic sensor detection envelope in the related technology is complex and the envelope is single, which cannot meet the complex envelope requirements, resulting in inaccurate construction of some envelopes and reduced automatic parking performance is solved. By constructing the parameter characteristics of the ultrasonic radar, the special-shaped envelope range is re-judged in combination with the special-shaped envelope algorithm, and the existing obstacle information is screened, so as to achieve accurate fitting of the actual vehicle detection envelope, so as to achieve the purpose of accurate simulation of obstacles.

[0103] Next, the special-shaped ultrasonic radar envelope simulation device proposed according to the embodiment of the present application is described with reference to the accompanying drawings.

[0104] Fig.11 It is a block diagram of a special-shaped ultrasonic radar envelope simulation device according to an embodiment of the present application.

[0105] like Fig.11 As shown, the special-shaped ultrasonic radar envelope simulation device 10 includes: an acquisition module 100, a determination module 200 and a fitting module 300.

[0106] The fitting module 100 is used to obtain the envelope detection range of each ultrasonic radar of the current vehicle;

[0107] A determination module 200, configured to determine the field of view angle of each ultrasonic radar based on the envelope detection range of each ultrasonic radar, and determine the simulation envelope range of each ultrasonic radar according to the field of view angle of each ultrasonic radar;

[0108] The fitting module 300 is used to obtain the ultrasonic radar envelope range of the current vehicle according to the fitting of the simulated envelope range of each ultrasonic radar.

[0109] Optionally, the determination module 200 includes:

[0110] A division unit, configured to divide all ultrasonic radars into a first radar set that meets a preset special-shaped detection range and a second radar set that does not meet the preset special-shaped detection range based on the envelope detection range of each ultrasonic radar;

[0111] A projection unit, configured to perform triangular projection on the envelope detection range of each ultrasonic radar in the first radar set to obtain a field of view angle of each radar in the first radar set, and use a preset angle as the field of view angle of each radar in the second radar set;

[0112] The first acquisition unit is used to obtain the field of view angle of each ultrasonic radar according to the field of view angle of each radar in the first radar set and the field of view angle of each radar in the second radar set.

[0113] Optionally, after obtaining the ultrasonic radar envelope range of the current vehicle according to the fitting of the simulation envelope range of each ultrasonic radar, the fitting module 300 further includes:

[0114] The second acquisition unit is used to obtain the number of intersections between the closest surface of the obstacle and the envelope range of the ultrasonic radar;

[0115] a determination unit, configured to generate an obstacle line segment and an obstacle height according to coordinate information of the plurality of intersection points if there are a plurality of intersection points, and determine a first end point coordinate and a second end point coordinate of the obstacle line segment within a simulation envelope range of each ultrasonic radar according to the ultrasonic radar envelope range and the obstacle line segment;

[0116] The simulation unit is used to simulate the obstacle according to the first end point coordinates and the second end point coordinates of the obstacle segment within the simulation envelope range of each ultrasonic radar.

[0117] Optionally, the obstacle line segment is generated according to the coordinate information of the plurality of intersection points, and the determination unit includes:

[0118] A first acquisition subunit, configured to acquire, based on the coordinate information of the plurality of intersection points, a first z-axis value satisfying a first preset distance condition and first coordinate information corresponding to the first z-axis value;

[0119] a calculation subunit, configured to calculate an absolute value of a difference between a z-axis value corresponding to the coordinate information of each intersection point and the first z-axis value, and select a target z-axis value satisfying a second preset distance condition according to the calculation result;

[0120] The generating subunit is used to generate an obstacle line segment according to the first coordinate information and the second coordinate information corresponding to the target z-axis value.

[0121] Optionally, the determining unit includes:

[0122] A judgment subunit, used to judge whether the obstacle line segment is within the simulation envelope range of multiple ultrasonic radars;

[0123] A second acquisition subunit is used to acquire the intersection of the obstacle line segment and the boundaries of the multiple ultrasonic radar envelope ranges if the obstacle line segment is within the simulation envelope ranges of the multiple ultrasonic radars;

[0124] The determination subunit is used to determine the first endpoint coordinates and the second endpoint coordinates of the obstacle segment within the simulation envelope range of each ultrasonic radar according to the coordinates of one end of the obstacle segment, the coordinates of the other end of the obstacle segment, and the intersection of the obstacle segment and the boundaries of the envelope ranges of multiple ultrasonic radars.

[0125] Optionally, after determining whether the obstacle line segment is within the simulation envelope range of the plurality of ultrasonic radars, the determining subunit further includes:

[0126] A determination subcomponent is used to use the coordinates of one end of the obstacle line segment as the first endpoint coordinates within the simulation envelope of the obstacle line segment ultrasonic radar if the obstacle line segment is not within the simulation envelope of the multiple ultrasonic radars, and use the coordinates of the other end of the obstacle line segment as the second endpoint coordinates within the simulation envelope of the obstacle line segment ultrasonic radar.

[0127] Optionally, after obtaining the number of intersections between the nearest surface of the obstacle and the ultrasonic radar envelope range, the second obtaining unit further includes:

[0128] The determination subunit is used to determine the coordinates of the obstacle within the simulation envelope of the ultrasonic radar according to the coordinates of the intersection points if the number of intersection points between the nearest surface of the obstacle and the ultrasonic radar envelope is 1.

[0129] According to the special-shaped ultrasonic radar envelope simulation device of the embodiment of the present application, the envelope detection range of each ultrasonic radar of the current vehicle is obtained, and the field of view angle of each ultrasonic radar is determined based on the envelope detection range of each ultrasonic radar, and the simulation envelope range of each ultrasonic radar is determined according to the field of view angle of each ultrasonic radar; the ultrasonic radar envelope range of the current vehicle is obtained according to the fitting of the simulation envelope range of each ultrasonic radar. Thus, the problem that the ultrasonic sensor detection envelope in the related art is complex and the envelope is single, which cannot meet the complex envelope requirements, resulting in inaccurate construction of some envelopes and reduced automatic parking performance is solved. By constructing the parameter characteristics of the ultrasonic radar, the special-shaped envelope range is re-judged in combination with the special-shaped envelope algorithm, and the existing obstacle information is screened, so as to achieve accurate fitting of the actual vehicle detection envelope, so as to achieve the purpose of accurate simulation of obstacles.

[0130] Fig.12 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device may include:

[0131] A memory 1201 , a processor 1202 , and a computer program stored in the memory 1201 and executable on the processor 1202 .

[0132] When the processor 1202 executes the program, the special-shaped ultrasonic radar envelope simulation method provided in the above embodiment is implemented.

[0133] Furthermore, the electronic device further comprises:

[0134] The communication interface 1203 is used for communication between the memory 1201 and the processor 1202 .

[0135] The memory 1201 is used to store computer programs that can be executed on the processor 1202 .

[0136] The memory 1201 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0137] If the memory 1201, the processor 1202 and the communication interface 1203 are implemented independently, the communication interface 1203, the memory 1201 and the processor 1202 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig.12 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0138] Optionally, in a specific implementation, if the memory 1201, the processor 1202 and the communication interface 1203 are integrated on a chip, the memory 1201, the processor 1202 and the communication interface 1203 can communicate with each other through an internal interface.

[0139] The processor 1202 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0140] This embodiment also provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the above-mentioned special-shaped ultrasonic radar envelope simulation method is implemented.

[0141] This embodiment also provides a computer program product, including a computer program, which is executed to implement the special-shaped ultrasonic radar envelope simulation method of the above embodiment.

[0142] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0143] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0144] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0145] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or N wirings (electronic devices), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or otherwise processing in a suitable manner if necessary, and then stored in a computer memory.

[0146] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0147] A person skilled in the art may understand that all or part of the steps in the above-mentioned embodiment method may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0148] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0149] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for simulating the envelope of a special-shaped ultrasonic radar, characterized in that: The following steps are involved: Get the envelope detection range of each ultrasonic radar of the current vehicle; Based on the envelope detection range of each ultrasonic radar, determine the field of view angle of each ultrasonic radar, and determine the simulation envelope range of each ultrasonic radar according to the field of view angle of each ultrasonic radar; The ultrasonic radar envelope range of the current vehicle is obtained according to the fitting of the simulated envelope range of each ultrasonic radar.

2. The method according to claim 1, characterized in that The determining the field of view angle of each ultrasonic radar based on the envelope detection range of each ultrasonic radar includes: Based on the envelope detection range of each ultrasonic radar, all ultrasonic radars are divided into a first radar set that meets a preset special-shaped detection range and a second radar set that does not meet the preset special-shaped detection range; Performing triangular projection on the envelope detection range of each ultrasonic radar in the first radar set to obtain the field of view angle of each radar in the first radar set, and using the preset angle as the field of view angle of each radar in the second radar set; The field of view angle of each ultrasonic radar is obtained according to the field of view angle of each radar in the first radar set and the field of view angle of each radar in the second radar set.

3. The method according to claim 1, characterized in that After obtaining the ultrasonic radar envelope range of the current vehicle according to the fitting of the simulated envelope range of each ultrasonic radar, the method further includes: Obtaining the number of intersections between the nearest surface of the obstacle and the envelope range of the ultrasonic radar; If there are multiple intersections, an obstacle line segment and an obstacle height are generated according to the coordinate information of the multiple intersections, and a first endpoint coordinate and a second endpoint coordinate of the obstacle line segment within the simulation envelope of each ultrasonic radar are determined according to the ultrasonic radar envelope range and the obstacle line segment; The obstacle is simulated according to the first end point coordinates and the second end point coordinates of the obstacle segment within the simulation envelope of each ultrasonic radar.

4. The method according to claim 3, characterized in that The step of generating obstacle line segments according to the coordinate information of the plurality of intersection points includes: Acquire a first z-axis value satisfying a first preset distance condition and first coordinate information corresponding to the first z-axis value based on the coordinate information of the plurality of intersection points; Calculate the absolute value of the difference between the corresponding z-axis value in the coordinate information of each intersection point and the first z-axis value, and select the target z-axis value that meets the second preset distance condition according to the calculation result; The obstacle line segment is generated according to the first coordinate information and the second coordinate information corresponding to the target z-axis value.

5. The method according to claim 3, characterized in that: The determining, according to the ultrasonic radar envelope range and the obstacle line segment, the first endpoint coordinates and the second endpoint coordinates of the obstacle line segment within the simulation envelope range of each ultrasonic radar comprises: Determining whether the obstacle line segment is within the simulation envelope range of multiple ultrasonic radars; If the obstacle line segment is within the simulation envelope range of the multiple ultrasonic radars, then obtaining the intersection point of the obstacle line segment and the boundaries of the envelope ranges of the multiple ultrasonic radars; Determine the first endpoint coordinates and the second endpoint coordinates of the obstacle line segment within the simulation envelope range of each ultrasonic radar according to the coordinates of one end of the obstacle line segment, the coordinates of the other end of the obstacle line segment, and the intersection of the obstacle line segment and the boundaries of the multiple ultrasonic radar envelope ranges.

6. The method according to claim 5, characterized in that After determining whether the obstacle line segment is within the simulation envelope range of the plurality of ultrasonic radars, the method further includes: If the obstacle line segment is not within the simulation envelope range of the multiple ultrasonic radars, the coordinates of one end of the obstacle line segment are used as the first endpoint coordinates within the simulation envelope range of the obstacle line segment ultrasonic radar, and the coordinates of the other end of the obstacle line segment are used as the second endpoint coordinates within the simulation envelope range of the obstacle line segment ultrasonic radar.

7. The method according to claim 3, characterized in that After obtaining the number of intersections between the nearest surface of the obstacle and the ultrasonic radar envelope range, the method further includes: If the number of intersection points between the nearest surface of the obstacle and the envelope range of the ultrasonic radar is one, the coordinates of the obstacle within the simulation envelope range of the ultrasonic radar are determined according to the coordinates of the intersection points.

8. A special-shaped ultrasonic radar envelope simulation device, characterized in that: include: An acquisition module is used to obtain the envelope detection range of each ultrasonic radar of the current vehicle; A determination module, configured to determine the field of view angle of each ultrasonic radar based on the envelope detection range of each ultrasonic radar, and determine the simulation envelope range of each ultrasonic radar according to the field of view angle of each ultrasonic radar; A fitting module is used to obtain the ultrasonic radar envelope range of the current vehicle according to the fitting of the simulated envelope range of each ultrasonic radar.

9. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method for simulating the envelope of a special-shaped ultrasonic radar as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the special-shaped ultrasonic radar envelope simulation method as described in any one of claims 1 to 7.

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