Motor vehicle obstacle height detection method and device and computer readable storage medium

Abstract

The embodiment of the invention provides a motor vehicle obstacle height detection method and device and a computer readable storage medium. The method comprises the following steps: sending a detection instruction to two ultrasonic radars on a motor vehicle to control the two ultrasonic radars to respectively send waves once to detect an obstacle in front of a driving direction; calculating to obtain a main transmitting detection distance and an interception detection distance corresponding to each ultrasonic radar; the actual vertical distance between the obstacle and the connecting line of the two ultrasonic radars during two times of wave sending detection is obtained through calculation; calculating to obtain the actual relative height H1 of the obstacle relative to the two ultrasonic radars; and acquiring the actual installation height H2 of the two ultrasonic radars relative to the road surface on which the motor vehicle runs, and calculating the target height H3 of the obstacle relative to the road surface on which the motor vehicle runs by combining the actual relative height H1 and the actual installation height H2. According to the embodiment, the height of the obstacle can be accurately and stably detected by using the ultrasonic radar.

Description

Technical Field

[0001] Embodiments of the present invention relate to the technical field of motor vehicle obstacle detection, and in particular, to a motor vehicle obstacle height detection method, device, and computer-readable storage medium. Background Art

[0002] In order to accurately determine whether an obstacle affects driving and facilitate intelligent assisted driving of motor vehicles, existing motor vehicles are usually equipped with an obstacle height detection system that detects obstacles to obtain the height of the obstacle.

[0003] An existing method for detecting the height of an obstacle in a motor vehicle is mainly implemented based on the monocular ranging principle or the binocular ranging principle through the obstacle image collected by the on-board camera. However, the obstacle height measurement based on the obstacle image requires good lighting imaging conditions in the environment, and when calculating the height of the obstacle, there are also high requirements for the image resolution of the image sensor of the on-board camera, otherwise it is easy to produce large errors and insufficient calculation accuracy. Summary of the invention

[0004] The technical problem to be solved by the embodiments of the present invention is to provide a method for detecting the height of an obstacle of a motor vehicle, which can accurately and stably detect the height of the obstacle by using an ultrasonic radar.

[0005] A further technical problem to be solved by the embodiments of the present invention is to provide a motor vehicle obstacle height detection device that can accurately and stably detect the height of the obstacle using an ultrasonic radar.

[0006] A further technical problem to be solved by an embodiment of the present invention is to provide a computer-readable storage medium for storing a computer program that can accurately and stably detect the height of an obstacle using an ultrasonic radar.

[0007] In order to solve the above technical problems, the embodiment of the present invention provides the following technical solutions: a method for detecting the height of a motor vehicle obstacle, comprising: Sending detection instructions to two ultrasonic radars installed at the same height on the motor vehicle and with partially overlapping detection areas to control the two ultrasonic radars to each emit a wave once in one detection cycle to detect obstacles ahead in the driving direction, and when one ultrasonic radar acts as a emitting radar to emit ultrasonic detection waves, the other ultrasonic radar acts as a listening radar; Acquire the detection return waves received by each ultrasonic radar as the transmitting radar and the listening radar respectively, and calculate the main transmitting detection distance and the listening detection distance corresponding to each ultrasonic radar according to the detection return waves; Based on the plane geometric relationship and in combination with the main detection distance and the listening detection distance of different ultrasonic radars during the same wave detection and the preset actual installation distance m of the two ultrasonic radars, the actual vertical distance between the obstacle and the connection line of the two ultrasonic radars during two wave detections within the same detection cycle is calculated respectively; Obtaining an actual moving distance S of the motor vehicle within a time interval of two wave detections in the same detection cycle of the two ultrasonic radars, and calculating an actual relative height H1 of the obstacle relative to the two ultrasonic radars based on a plane geometric relationship, the actual vertical distance during the two wave detections, and the actual moving distance S; and The actual installation heights H2 of the two ultrasonic radars relative to the road surface on which the motor vehicle is traveling are obtained, and the target height H3 of the obstacle relative to the road surface on which the motor vehicle is traveling is calculated by combining the actual relative height H1 and the actual installation height H2.

[0008] Furthermore, the main transmission detection distance of the transmitting radar is set to a and the listening detection distance of the listening radar is set to b during the first transmission detection, and the main transmission detection distance of the transmitting radar is set to c and the listening detection distance of the listening radar is set to d during the second transmission detection. The actual vertical distance D1 during the first wave detection is expressed as: , in, ; The actual vertical distance D2 during the second wave detection is expressed as: , in, .

[0009] Furthermore, the actual relative height H1 of the obstacle relative to the two ultrasonic radars is expressed as: , in, .

[0010] Furthermore, calculating the target height H3 of the obstacle relative to the road surface on which the motor vehicle is traveling in combination with the actual relative height H1 and the actual installation height H2 specifically means: comparing the actual relative height H1 with the actual installation height H2; if the actual relative height H1 is less than or equal to the actual installation height H2, determining that the target height H3 of the obstacle is not higher than the actual installation height H2, and the target height H3=H2-H1; otherwise, determining that the target height H3 of the obstacle is higher than the actual installation height H2, and the target height H3=H2+H1.

[0011] Furthermore, within one detection cycle, the time interval between the two ultrasonic radars transmitting waves is 40-50 ms.

[0012] On the other hand, in order to solve the above-mentioned further technical problems, an embodiment of the present invention provides the following technical solutions: a motor vehicle obstacle height detection device connected to two ultrasonic radars installed on a motor vehicle, the device comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and when the processor executes the computer program, it implements the motor vehicle obstacle height detection method as described in any one of the above items.

[0013] On the other hand, in order to solve the above-mentioned further technical problems, an embodiment of the present invention provides the following technical solutions: a computer-readable storage medium, wherein the computer-readable storage medium includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the motor vehicle obstacle height detection method as described in any one of the above-mentioned items.

[0014] After adopting the above technical scheme, the embodiment of the present invention has at least the following beneficial effects: the embodiment of the present invention sends a detection instruction to two ultrasonic radars installed at the same height position on the motor vehicle, thereby controlling the two ultrasonic radars to emit waves once in one detection cycle to detect obstacles in front of the driving direction. Since the detection areas of the ultrasonic radars are partially overlapped, each time the waves are emitted for detection, one ultrasonic radar is used as a emitting radar to emit ultrasonic detection waves and the other ultrasonic radar is used as a listening radar, thereby ensuring that the two ultrasonic radars detect the same obstacle. Further, combined with the detection return waves of the two ultrasonic radars, the main emission detection distance and the listening detection distance corresponding to each ultrasonic radar can be calculated accordingly. Then, combined with the actual installation spacing m of the two ultrasonic radars and the actual moving distance S of the motor vehicle, the actual relative height H1 of the obstacle relative to the two ultrasonic radars can be calculated based on the plane geometric relationship. Finally, the actual installation height H2 of the two ultrasonic radars relative to the road surface of the motor vehicle is calculated, and finally the target height H3 of the obstacle relative to the road surface of the motor vehicle is calculated. The calculation principle is simple, and the ultrasonic radar can be used to accurately and stably detect the height of the obstacle. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The present invention is a flowchart of the steps of an optional embodiment of the method for detecting the height of an obstacle of a motor vehicle.

[0016] Figure 2 This is a three-dimensional principle schematic diagram of an optional embodiment of the motor vehicle obstacle height detection method of the present invention.

[0017] Figure 3The figure is a top plan view of an optional embodiment of the method for detecting the height of an obstacle of a motor vehicle according to the present invention.

[0018] Figure 4 The figure is a side plan view of an optional embodiment of the method for detecting the height of an obstacle of a motor vehicle according to the present invention.

[0019] Figure 5 This is a three-dimensional principle schematic diagram of an optional embodiment of the motor vehicle obstacle height detection method of the present invention.

[0020] Figure 6 The figure is a top plan view of an optional embodiment of the method for detecting the height of an obstacle of a motor vehicle according to the present invention.

[0021] Figure 7 The figure is a side plan view of an optional embodiment of the method for detecting the height of an obstacle of a motor vehicle according to the present invention.

[0022] Figure 8 The figure is a principle block diagram of an optional embodiment of the motor vehicle obstacle height detection device of the present invention.

[0023] Fig. 9 This is a functional module diagram of an optional embodiment of the motor vehicle obstacle height detection device of the present invention. DETAILED DESCRIPTION

[0024] The present application is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the following illustrative embodiments and descriptions are only used to explain the present invention and are not intended to limit the present invention. In addition, the embodiments and features in the embodiments of the present application may be combined with each other without conflict.

[0025] like Figure 1 As shown, an optional embodiment of the present invention provides a method for detecting the height of an obstacle of a motor vehicle, comprising: S1: Sending a detection instruction to two ultrasonic radars 1 installed at the same height on the motor vehicle and with partially overlapping detection areas to control the two ultrasonic radars 1 to each emit a wave once in one detection cycle to detect obstacles ahead in the driving direction, and one ultrasonic radar 1 acts as a transmitting radar to emit ultrasonic detection waves while the other ultrasonic radar acts as a listening radar; S2: Obtain the detection return waves received by each ultrasonic radar 1 as the transmitting radar and the listening radar respectively, and calculate the main transmitting detection distance and the listening detection distance corresponding to each ultrasonic radar 1 according to the detection return waves; S3: Based on the plane geometric relationship and in combination with the main detection distance and the listening detection distance of different ultrasonic radars 1 during the same wave detection and the preset actual installation distance m of the two ultrasonic radars 1, respectively calculate and obtain the actual vertical distance between the obstacle and the connection line of the two ultrasonic radars 1 during two wave detections within the same detection cycle; S4: obtaining the actual moving distance S of the motor vehicle within the time interval of two wave detections in the same detection cycle of the two ultrasonic radars 1, and calculating the actual relative height H1 of the obstacle relative to the two ultrasonic radars 1 based on the plane geometric relationship, the actual vertical distance during the two wave detections and the actual moving distance S; and S5: Obtain the actual installation height H2 of the two ultrasonic radars 1 relative to the road surface on which the motor vehicle is traveling, and calculate the target height H3 of the obstacle relative to the road surface on which the motor vehicle is traveling by combining the actual relative height H1 and the actual installation height H2.

[0026] The embodiment of the present invention sends a detection instruction to two ultrasonic radars 1 installed at the same height on a motor vehicle, thereby controlling the two ultrasonic radars 1 to emit waves once within a detection cycle to detect obstacles ahead in the driving direction. Since the detection areas of the ultrasonic radars 1 partially overlap, each time the waves are emitted for detection, one ultrasonic radar 1 acts as a emitting radar to emit ultrasonic detection waves and the other ultrasonic radar 1 acts as a listening radar, thereby ensuring that the two ultrasonic radars 1 detect the same obstacle. Further, the main emission detection distance and the listening detection distance corresponding to each ultrasonic radar 1 can be calculated accordingly in combination with the detection return waves of the two ultrasonic radars 1. Furthermore, the actual relative height H1 of the obstacle relative to the two ultrasonic radars 1 can be calculated based on the plane geometric relationship in combination with the actual installation spacing m of the two ultrasonic radars 1 and the actual moving distance S of the motor vehicle. Finally, the actual installation height H2 of the two ultrasonic radars 1 relative to the road surface on which the motor vehicle is traveling is calculated, and finally the target height H3 of the obstacle relative to the road surface on which the motor vehicle is traveling is calculated. The calculation principle is simple, and the ultrasonic radar 1 can be used to accurately and stably detect the height of the obstacle.

[0027] In an optional embodiment of the present invention, Figures 2 to 7As shown, in the coordinate system setting of the detection range of the motor vehicle ultrasonic radar, the motor vehicle (ultrasonic radar) is usually always used as the coordinate origin. In a detection cycle, the motor vehicle actually moves a distance S toward the obstacle within the time interval of two wave detections in the same detection cycle. According to the relativity of motion, it is equivalent to the obstacle moving the actual moving distance S toward the motor vehicle in the coordinate system with the motor vehicle (ultrasonic radar) as the coordinate origin. Assume that: the main detection distance of the wave radar during the first wave detection is a and the listening detection distance of the listening radar is b (indicated by a solid line in the figure), and the main detection distance of the wave radar during the second wave detection is c and the listening detection distance of the listening radar is d (indicated by a dashed line in the figure). Then, the actual vertical distance D1 during the first wave detection and the actual vertical distance D2 during the second wave detection can be expressed as follows: , in, ; , in, .

[0028] In this embodiment, see Figures 2 to 7 As shown in the figure, two ultrasonic radars 1 are installed at points A and B. As the motor vehicle moves (the arrow in the figure indicates the moving direction of the motor vehicle), it is equivalent to the obstacle moving from point P to point Q relative to the motor vehicle. During the specific detection, the obstacle usually deviates from the YOZ plane. Figure 2 and Figure 5 In the figure, for the convenience of drawing and understanding, the obstacle is set on the YOZ plane; Figures 2 to 4 A schematic diagram is given in which the target height H3 of the obstacle is lower than the actual installation height H2. Figures 5 to 7 A schematic diagram is given in which the target height H3 of the obstacle is higher than the actual installation height H2. Figure 2 The top view projection on the XOY plane is Figure 3 , in triangle PAB and triangle QAB, AP=a, BP=b, QA=d, QB=c, common side AB=m, combined with the Qin Jiushao-Heron formula of the triangle, the actual vertical distances D1 and D2 during the first and second wave detection can be obtained respectively. The calculation principle is simple and the calculation efficiency is high.

[0029] In an optional embodiment of the present invention, the actual relative height H1 of the obstacle relative to the two ultrasonic radars 1 is expressed as: , in, .

[0030] In this embodiment, see Figure 4 or Figure 7 As shown, see Figure 2 The top view projection on the YOZ plane is Figure 4 In triangle PNQ, PQ=S, PN=D1, QN=D2, and MN as the height on the base is NG=H1. Similarly, the Qin Jiushao-Heron formula of the triangle can be used to obtain the above-mentioned actual relative height H1. The calculation principle is simple and the calculation efficiency is high.

[0031] In an optional embodiment of the present invention, calculating the target height H3 of the obstacle relative to the road surface of the motor vehicle in combination with the actual relative height H1 and the actual installation height H2 specifically means: comparing the actual relative height H1 with the actual installation height H2, and if the actual relative height H1 is less than or equal to the actual installation height H2, determining that the target height H3 of the obstacle is not higher than the actual installation height H2 (such as Figures 2 to 4 In the example shown in FIG. 1 , the target height H3 = H2-H1, otherwise the target height H3 of the obstacle is determined to be higher than the actual installation height H2 (e.g. Figures 5 to 7 In the figure, ON=H2), the target height H3=H2+H1. In this embodiment, according to the size relationship between the actual relative height H1 and the actual installation height H2 of the ultrasonic radar 1, the height attribute of the obstacle is quickly confirmed, so as to accurately obtain the target height H3 of the obstacle relative to the driving road surface by combining different calculation methods.

[0032] In specific implementation, it can be understood that when the target height H3 of the obstacle is higher than the actual installation height H2, due to the working principle of the ultrasonic radar 1, it will only detect the part of the obstacle closest to itself, and cannot automatically detect the highest point of the obstacle protruding from the ground (for example, a wall). Therefore, the obstacle with a target height H3 higher than the actual installation height H2 referred to in this embodiment usually refers to a suspended obstacle. Therefore, in order to eliminate the misjudgment of the obstacle height calculation caused by obstacles protruding from the ground, a vehicle-mounted camera device can be used to capture whether there is indeed a suspended obstacle in front of the direction of travel of the motor vehicle, thereby reducing the occurrence of misjudgment.

[0033] In an optional embodiment of the present invention, within a detection cycle, the time interval between the two ultrasonic radars 1 is 40-50ms. In this embodiment, within the above time interval, the two ultrasonic radars 1 alternately transmit to detect obstacles, and the possibility of sudden changes in the states of the motor vehicle and the obstacle is very low, thereby improving the calculation accuracy.

[0034] On the other hand, the embodiment of the present invention further provides a motor vehicle obstacle height detection device 3, such as Figure 8As shown, the device is connected to two ultrasonic radars 1 installed on a motor vehicle, and includes a processor 30, a memory 32, and a computer program stored in the memory 32 and configured to be executed by the processor 30. When the processor 30 executes the computer program, the motor vehicle obstacle height detection method as described in the above embodiment is implemented.

[0035] Exemplarily, the computer program may be divided into one or more modules / units, which are stored in the memory 32 and executed by the processor to implement the present invention. The one or more modules / units may be a series of computer program instruction segments capable of implementing specific functions, which are used to describe the execution process of the computer program in the motor vehicle obstacle height detection device 3. For example, the computer program may be divided into Fig. 9 The functional modules in the motor vehicle obstacle height detection device 3, wherein the radar control module 41, the first distance calculation module 42, the second distance calculation module 43, the relative height calculation module 44 and the target height calculation module 45 respectively execute the above steps S1 to S5.

[0036] The motor vehicle obstacle height detection device 3 can be a computing device such as a desktop computer, a notebook, a PDA, and a cloud server. The motor vehicle obstacle height detection device 3 can include, but is not limited to, a processor 30 and a memory 32. Those skilled in the art can understand that the schematic diagram is only an example of the motor vehicle obstacle height detection device 3 and does not constitute a limitation on the motor vehicle obstacle height detection device 3. It can include more or less components than shown in the figure, or combine certain components, or different components. For example, the motor vehicle obstacle height detection device 3 can also include input and output devices, network access devices, buses, etc.

[0037] The processor 30 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. The processor 30 is the control center of the motor vehicle obstacle height detection device 3, and uses various interfaces and lines to connect various parts of the entire motor vehicle obstacle height detection device 3.

[0038] The memory 32 can be used to store the computer program and / or module. The processor 30 realizes various functions of the motor vehicle obstacle height detection device 3 by running or executing the computer program and / or module stored in the memory 32 and calling the data stored in the memory 32. The memory 32 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a graphic recognition function, a graphic overlay function, etc.), etc.; the data storage area can store data (such as graphic data, etc.) created according to the use of the control device, etc. In addition, the memory 32 can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0039] If the functions described in the embodiments of the present invention are implemented in the form of software function modules or units and sold or used as independent products, they can be stored in a storage medium readable by a computing device. Based on this understanding, the embodiments of the present invention implement all or part of the processes in the above-mentioned embodiments, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor 30, the steps of the above-mentioned various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0040] On the other hand, an embodiment of the present invention further provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the motor vehicle obstacle height detection method as described in the above embodiment.

[0041] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0042] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, which all belong to the protection scope of the present invention.

Claims

1. A method for detecting the height of an obstacle in a motor vehicle, characterized in that: The method comprises the following steps: Sending detection instructions to two ultrasonic radars installed at the same height on the motor vehicle and with partially overlapping detection areas to control the two ultrasonic radars to each emit a wave once in one detection cycle to detect obstacles ahead in the driving direction, and when one ultrasonic radar acts as a emitting radar to emit ultrasonic detection waves, the other ultrasonic radar acts as a listening radar; Acquire the detection return waves received by each ultrasonic radar as the transmitting radar and the listening radar respectively, and calculate the main transmitting detection distance and the listening detection distance corresponding to each ultrasonic radar according to the detection return waves; Based on the plane geometric relationship and in combination with the main detection distance and the listening detection distance of different ultrasonic radars during the same wave detection and the preset actual installation distance m of the two ultrasonic radars, the actual vertical distance between the obstacle and the connection line of the two ultrasonic radars during two wave detections within the same detection cycle is calculated respectively; Obtaining an actual moving distance S of the motor vehicle within a time interval of two wave detections in the same detection cycle of the two ultrasonic radars, and calculating an actual relative height H1 of the obstacle relative to the two ultrasonic radars based on a plane geometric relationship, the actual vertical distance during the two wave detections, and the actual moving distance S; and The actual installation heights H2 of the two ultrasonic radars relative to the road surface on which the motor vehicle is traveling are obtained, and the target height H3 of the obstacle relative to the road surface on which the motor vehicle is traveling is calculated by combining the actual relative height H1 and the actual installation height H2.

2. The motor vehicle obstacle height detection method according to claim 1, characterized in that: Set the main detection range of the transmitting radar to a and the listening detection range of the listening radar to b during the first wave detection. Set the main detection range of the transmitting radar to c and the listening detection range of the listening radar to d during the second wave detection. The actual vertical distance D1 during the first wave detection is expressed as: ， in, ; The actual vertical distance D2 during the second wave detection is expressed as: ， in, .

3. The motor vehicle obstacle height detection method according to claim 2, characterized in that: The actual relative height H1 of the obstacle relative to the two ultrasonic radars is expressed as: ， in, .

4. The motor vehicle obstacle height detection method according to claim 3, characterized in that: Calculating the target height H3 of the obstacle relative to the road surface on which the motor vehicle is traveling in combination with the actual relative height H1 and the actual installation height H2 specifically means: comparing the actual relative height H1 with the actual installation height H2; if the actual relative height H1 is less than or equal to the actual installation height H2, determining that the target height H3 of the obstacle is not higher than the actual installation height H2, and the target height H3=H2-H1; otherwise, determining that the target height H3 of the obstacle is higher than the actual installation height H2, and the target height H3=H2+H1.

5. The motor vehicle obstacle height detection method according to claim 1, characterized in that: In one detection cycle, the time interval between the two ultrasonic radars transmitting waves is 40-50ms.

6. A motor vehicle obstacle height detection device connected to two ultrasonic radars installed on a motor vehicle, characterized in that: The device includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and the processor implements the motor vehicle obstacle height detection method according to any one of claims 1 to 5 when executing the computer program.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored computer program, wherein when the computer program is executed, the device where the computer-readable storage medium is located is controlled to execute the motor vehicle obstacle height detection method according to any one of claims 1 to 5.

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