Target object position determination method and device, electronic equipment and storage medium

Abstract

The invention relates to the technical field of vehicle control, and provides a target object position determination method and device, electronic equipment and a storage medium. The method comprises the following steps: performing radar detection on a target object through two radars in a target radar group to obtain a direct echo distance detected by each radar; determining a positioning coordinate of the target object in a coordinate system corresponding to each radar according to the direct echo distance detected by each radar; determining the relative position of the target object and the vehicle based on the direct echo distance detected by each radar and the positioning coordinate of the target object in the coordinate system corresponding to each radar; according to the method, the target object is detected through the radars with the overlapped radar detection areas, the direct echo distance between the target object and each radar is obtained, then the position relation between the target object and each radar is determined, and then the target object is positioned through the position relation between the target object and each radar. The position of the target object is accurately positioned.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a method, device, electronic device and storage medium for determining the position of a target object. Background Art

[0002] Ultrasonic radar is one of the key sensors used in smart cars and autonomous driving technology. Ultrasonic radar plays an important role in short-range detection, especially in the Automated Parking Assist (APA) system.

[0003] The working principle of ultrasonic radar is to calculate the distance between the ultrasonic wave and the obstacle based on the time difference by transmitting ultrasonic waves and receiving reflected ultrasonic waves, with a measurement accuracy of about 1 to 3 cm. Although ultrasonic radar has advantages in short-distance measurement, the ultrasonic wave has a large scattering angle and poor directivity, and cannot accurately describe the location of obstacles.

[0004] Therefore, how to accurately obtain the location of the target object through ultrasonic radar has become an urgent problem to be solved. Summary of the invention

[0005] In view of this, the embodiments of the present application provide a method, device, electronic device and storage medium for determining the position of a target object to solve the problem in the prior art that the position of the target object cannot be accurately obtained by ultrasonic radar.

[0006] In a first aspect of an embodiment of the present application, a method for determining the position of a target object is provided, the method comprising: performing radar detection on the target object by two radars in a target radar group to obtain a direct echo distance obtained by each radar detection, the direct echo distance being used to characterize an actual distance between the target object and the radar, the two radars in the target radar group being radars arranged on the same vehicle and having overlapping radar detection areas; determining the positioning coordinates of the target object in a coordinate system corresponding to each radar according to the direct echo distance obtained by each radar detection; determining the relative position of the target object and the vehicle based on the direct echo distance obtained by each radar detection and the positioning coordinates of the target object in the coordinate system corresponding to each radar.

[0007] According to a second aspect of an embodiment of the present application, a device for determining the position of a target object is provided, the device comprising: a detection module, configured to perform radar detection on the target object through two radars in a target radar group to obtain a direct echo distance obtained by each radar detection, the direct echo distance being used to characterize an actual distance between the target object and the radar, the two radars in the target radar group being radars arranged on the same vehicle and having overlapping radar detection areas; a coordinate module, configured to determine the positioning coordinates of the target object in the corresponding coordinate system of each radar according to the direct echo distance obtained by each radar detection; and a positioning module, configured to determine the relative position of the target object and the vehicle based on the direct echo distance obtained by each radar detection and the positioning coordinates of the target object in the corresponding coordinate system of each radar.

[0008] According to a third aspect of an embodiment of the present application, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0009] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, which stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0010] Compared with the prior art, the beneficial effects of the embodiments of the present application are as follows: the method in the embodiments of the present application performs radar detection on the target object by two radars in the target radar group to obtain the direct echo distance obtained by each radar detection; according to the direct echo distance obtained by each radar detection, the positioning coordinates of the target object in the corresponding coordinate system of each radar are determined; based on the direct echo distance obtained by each radar detection and the positioning coordinates of the target object in the corresponding coordinate system of each radar, the relative position of the target object and the vehicle is determined; the method detects the target object by radars with overlapping radar detection areas to obtain the direct echo distance between the target object and each radar, and determines the positioning coordinates of the target object in the corresponding coordinate system of each radar by the direct echo distance, thereby determining the positional relationship between the target object and each radar, and subsequently positioning the target object by the positional relationship between the target object and each radar, thereby accurately locating the position of the target object, thereby achieving the effect of determining the relative position of the target object and the vehicle, avoiding the problem in the related art that the position of the target object cannot be accurately obtained by ultrasonic radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0012] Figure 1 It is a flow chart of a method for determining the position of a target object provided in an embodiment of the present application;

[0013] Figure 2 It is a basic schematic diagram of the coverage area of ​​a radar in a target radar group provided in an embodiment of the present application;

[0014] Figure 3 This is a basic schematic diagram of a radar detecting a target object provided by an embodiment of the present application;

[0015] Figure 4 is a flow chart of another method for determining the position of a target object provided in an embodiment of the present application;

[0016] Figure 5 This is a basic schematic diagram of another radar provided in an embodiment of the present application for detecting a target object;

[0017] Figure 6 is a flow chart of another method for determining the position of a target object provided in an embodiment of the present application;

[0018] Figure 7 It is a flowchart of another method for determining the position of a target object provided in an embodiment of the present application;

[0019] Figure 8 is a flow chart of another optional method for determining the position of a target object provided in an embodiment of the present application;

[0020] Fig. 9 is a flow chart of another optional method for determining the position of a target object provided in an embodiment of the present application;

[0021] Fig.10 is a flow chart of another optional method for determining the position of a target object provided in an embodiment of the present application;

[0022] Fig.11 is a structural schematic diagram of a device for determining the position of a target object provided in an embodiment of the present application;

[0023] Fig.12 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0025] A method and device for determining the position of a target object according to an embodiment of the present application will be described in detail below with reference to the accompanying drawings.

[0026] Figure 1 A method for determining the position of a target object provided in an embodiment of the present application is as follows: Figure 1 As shown, the method includes:

[0027] S101, performing radar detection on the target object by two radars in the target radar group to obtain a direct echo distance obtained by each radar detection, wherein the two radars in the target radar group are radars disposed on the same vehicle and have overlapping radar detection areas;

[0028] S102, determining the positioning coordinates of the target object in the corresponding coordinate system of each radar according to the direct echo distance detected by each radar;

[0029] S103: Determine the relative position of the target object and the vehicle based on the direct echo distance detected by each radar and the positioning coordinates of the target object in the corresponding coordinate system of each radar.

[0030] It can be understood that the target object location determination method provided in this example is applied to vehicles, including vehicles with automatic driving or intelligent driving (including vehicles with manned functions (such as cars, buses, large buses, minibuses, etc.), cargo vehicles (such as ordinary trucks, vans, trailers, closed trucks, tank trucks, flatbed trucks, container trucks, dump trucks, special structure trucks), special vehicles (such as logistics distribution vehicles, automatic guided transport vehicles AGV, patrol cars, cranes, cranes, excavators, bulldozers, forklifts, rollers, loaders, off-road engineering vehicles, armored engineering vehicles, sewage treatment vehicles, sanitation vehicles, vacuum trucks, floor washing vehicles, sprinkler trucks, sweeping robots, food delivery robots, shopping guide robots, lawn mowers, golf carts, etc.), vehicles with entertainment functions (such as entertainment vehicles, amusement park automatic driving devices, balance cars, etc.), rescue vehicles (such as fire trucks, ambulances, power repair vehicles, engineering rescue vehicles, etc.)), etc.

[0031] It can be understood that a vehicle is equipped with multiple ultrasonic radars, and two radars with overlapping radar detection areas are a target radar group; illustratively, the vehicle is equipped with three ultrasonic radars A, B, and C, among which A ultrasonic radar and B ultrasonic radar have overlapping radar detection areas, A ultrasonic radar and C ultrasonic radar have overlapping radar detection areas, and B ultrasonic radar and C ultrasonic radar do not have overlapping radar detection areas, then A ultrasonic radar and B ultrasonic radar are a target radar group, A ultrasonic radar and C ultrasonic radar are a target radar group, and B ultrasonic radar and C ultrasonic radar are not a target radar group.

[0032] Among them, the present application does not limit the type of ultrasonic radar. Exemplarily, 12 ultrasonic radars are installed on the vehicle, of which 8 are parking assistance radars (Advanced Parking Assist, APA) and 4 are ultrasonic parking assistance radars (Ultra Parking Assist, UPA).

[0033] It can be understood that after the radar transmits ultrasonic waves, the ultrasonic echoes are divided into direct echo DE (direct echo) and indirect echo CE (cross echo). For direct echo DE, the ultrasonic wave that uses the same radar to send and receive ultrasonic waves is a direct echo, and the distance traveled by the direct echo is the direct echo distance. For indirect echo CE (commonly called cross echo), the sending radar and the receiving radar of the echo are different, and the distance traveled by the indirect echo is the echo distance. Indirect echoes provide additional information for the electronic control unit, so effective detection is usually required. And ultrasonic sensors can detect and process multiple echoes from one or more objects.

[0034] In some examples, the present application performs radar detection on a target object by two radars in a target radar group to obtain a direct echo distance obtained by each radar detection, wherein the position of the target object is in a radar detection area where the two radars in the target radar group overlap; for example, Figure 2 As shown, the target radar group includes a first radar and a second radar, and the radar detection area corresponding to the first radar is 1, the radar detection area corresponding to the second radar is 3, and the first radar and the second radar have an overlapping radar detection area 2.

[0035] It can be understood that if the position of the target object is in the radar detection area 2, the present application continues to execute steps S102 and S103 to determine the relative position of the target object and the vehicle; if the position of the target object is in other areas (radar detection area 1 or radar detection area 3), the present application will not execute subsequent steps S102 and S103, but will determine the position of the target object by other methods.

[0036] Continuing with the above example, after performing radar detection on the target object through two radars in the target radar group and obtaining the direct echo distance obtained by each radar detection, the method also includes: determining the indirect echo distance corresponding to each radar, comparing the indirect echo distance and the direct echo distance corresponding to each radar with a preset distance threshold, if the indirect echo distance or the direct echo distance corresponding to any radar is equal to the preset distance threshold, it is determined that the target object is not in the radar detection area where the two radars of the target radar group overlap; if the indirect echo distance and the direct echo distance corresponding to each radar are not equal to the preset distance threshold, it is determined that the target object is in the radar detection area where the two radars of the target radar group overlap.

[0037] In some examples, the radar detects the target object and obtains the direct echo distance in the following specific manner: the radar transmits an ultrasonic wave to the target object, then receives the ultrasonic wave returned by the target object, and uses the travel distance of the ultrasonic wave between the radar and the target object as the direct echo distance, which can represent the actual distance between the target object and the radar; for example, Figure 3 As shown, the first radar transmits ultrasonic waves to the target object, the target object reflects the ultrasonic waves, and the first radar receives the ultrasonic waves reflected back by the target object. The actual distance from the first radar to the target object and then from the target object back to the first radar is the direct echo distance.

[0038] In some examples, after obtaining the direct echo distance obtained by each radar detection, the present application determines the positioning coordinates of the target object in the coordinate system corresponding to each radar according to the direct echo distance obtained by each radar detection; illustratively, taking the target radar group including the first radar and the second radar as an example, wherein the coordinate system corresponding to the first radar is established with the first radar as the origin, and the coordinate system corresponding to the second radar is established with the second radar as the origin, and then the positioning coordinates of the target object in the coordinate system corresponding to the first radar are obtained through the direct echo distance corresponding to the first radar, and the positioning coordinates of the target object in the coordinate system corresponding to the second radar are obtained through the direct echo distance corresponding to the second radar.

[0039] In some examples, after obtaining the positioning coordinates of the target object in the radar corresponding coordinate system, the present application will determine the relative position of the target object and the vehicle based on the direct echo distance obtained by each radar detection and the positioning coordinates of the target object in the radar corresponding coordinate system, thereby achieving accurate positioning of the target object.

[0040] According to the technical solution provided in the embodiment of the present application, radar detection is performed on the target object by two radars in the target radar group to obtain the direct echo distance obtained by each radar detection; the positioning coordinates of the target object in the corresponding coordinate system of each radar are determined according to the direct echo distance obtained by each radar detection; the relative position of the target object and the vehicle is determined based on the direct echo distance obtained by each radar detection and the positioning coordinates of the target object in the corresponding coordinate system of each radar; the method detects the target object by radars with overlapping radar detection areas to obtain the direct echo distance between the target object and each radar, and determines the positioning coordinates of the target object in the corresponding coordinate system of each radar according to the direct echo distance, thereby determining the positional relationship between the target object and each radar, and subsequently positioning the target object according to the positional relationship between the target object and each radar, thereby accurately locating the position of the target object, thereby achieving the effect of determining the relative position of the target object and the vehicle, thereby avoiding the problem in the related art that the position of the target object cannot be accurately obtained by ultrasonic radar.

[0041] In some embodiments, Figure 4 As shown, based on the direct echo distance detected by each radar and the positioning coordinates of the target in the corresponding coordinate system of each radar, the relative position of the target and the vehicle is determined, including:

[0042] S401, determining the indirect echo distance of the target object between two radars according to the positioning coordinates of the target object in the corresponding coordinate system of each radar;

[0043] S402, based on the direct echo distance obtained by each radar detection, the positioning coordinates of the target object in the coordinate system corresponding to each radar, and the indirect echo distance of the target object between the two radars, determine the target coordinates in the vehicle coordinate system corresponding to the vehicle, and obtain the relative position of the target object and the vehicle.

[0044] It is understandable that if Figure 5 As shown, when the target object is in the radar detection area overlapped by two radars in the target radar group, the indirect echo distances corresponding to the indirect echoes received by the two radars are the same. Therefore, this example can directly determine the relative position of the target object and the vehicle based on the positioning coordinates of the target object in the corresponding coordinate system of each radar; specifically, the present application will determine the indirect echo distance of the target object between the two radars according to the positioning coordinates of the target object in the corresponding coordinate system of each radar, and the indirect echo distance is the actual distance of the ultrasonic wave between the two radars when the target object reflects the ultrasonic wave; specifically, when the sender and receiver of the ultrasonic wave are different, the ultrasonic wave received by the receiver is the indirect echo, and the actual distance of the ultrasonic wave from the sender to the target object and from the target object to the receiver is the above-mentioned indirect echo distance.

[0045] Exemplarily, a target radar group is provided with a first radar and a second radar, wherein after the first radar transmits an ultrasonic wave to a target object, the target object reflects the ultrasonic wave to the second radar, and the second radar receives the ultrasonic wave as an indirect echo. The ultrasonic wave reaches the target object from the first radar, and then the actual distance from the target object to the second radar is the indirect echo distance.

[0046] After obtaining the indirect echo distance, the present application will determine the target coordinates of the target in the vehicle coordinate system corresponding to the vehicle based on the direct echo distance obtained by each radar detection, the positioning coordinates of the target in the coordinate system corresponding to each radar, and the indirect echo distance of the target between the two radars, and obtain the relative position of the target and the vehicle.

[0047] It can be understood that the vehicle coordinate system corresponding to the vehicle and the coordinate system corresponding to each radar are calibrated in advance so that the coordinates in the radar corresponding coordinate system can be mapped to the vehicle coordinate system, which will not be repeated here.

[0048] According to the technical solution provided in the embodiment of the present application, the indirect echo distance of the target object between the two radars is determined according to the positioning coordinates of the target object in the coordinate system corresponding to each radar; the target coordinates of the target object in the vehicle coordinate system corresponding to the vehicle are determined based on the direct echo distance detected by each radar, the positioning coordinates of the target object in the coordinate system corresponding to each radar, and the indirect echo distance of the target object between the two radars, and the relative position of the target object and the vehicle is obtained. The above steps realize the determination of the indirect echo distance of the target object between the two radars, and jointly determine the target coordinates in the vehicle coordinate system according to the indirect echo distance, the direct echo distance detected by each radar, and the positioning coordinates, thereby improving the accuracy of the target coordinates.

[0049] In some examples, the target radar group includes a first radar and a second radar, and the positioning coordinates include: a first positioning coordinate of the target object in a coordinate system corresponding to the first radar and a second positioning coordinate of the target object in a coordinate system corresponding to the second radar, such as Figure 6 As shown, according to the positioning coordinates of the target in the corresponding coordinate system of each radar, the indirect echo distance of the target between the two radars is determined, including:

[0050] S601, obtaining a horizontal coordinate difference between a first positioning coordinate and a second positioning coordinate, and obtaining a vertical coordinate difference between the first positioning coordinate and the second positioning coordinate;

[0051] S602: Substitute the abscissa difference and the ordinate difference into a preset distance determination formula to obtain an indirect echo distance.

[0052] Specifically, the first positioning coordinate is marked as (x1, y1), and the second positioning coordinate is marked as (x2, y2). The horizontal coordinate difference between the first positioning coordinate and the second positioning coordinate is x2-x1, and the vertical coordinate difference between the first positioning coordinate and the second positioning coordinate is y2-y1.

[0053] After obtaining the horizontal coordinate difference and the vertical coordinate difference, the present application brings the horizontal coordinate difference and the vertical coordinate difference into a preset distance determination formula to obtain the indirect echo distance, and the distance determination formula is as follows:

[0054]

[0055] Wherein, R is the indirect echo distance, x2-x1 is the horizontal coordinate difference between the first positioning coordinate and the second positioning coordinate, and y2-y1 is the vertical coordinate difference between the first positioning coordinate and the second positioning coordinate.

[0056] According to the technical solution provided in the embodiment of the present application, the horizontal coordinate difference between the first positioning coordinate and the second positioning coordinate is obtained, and the vertical coordinate difference between the first positioning coordinate and the second positioning coordinate is obtained; the horizontal coordinate difference and the vertical coordinate difference are substituted into a pre-set distance determination formula to obtain the indirect echo distance. This step realizes the accurate indirect echo distance of the target object between the two radars based on the first positioning coordinate and the second positioning coordinate.

[0057] In some embodiments, Figure 7 As shown, based on the direct echo distance detected by each radar, the positioning coordinates of the target in the coordinate system corresponding to each radar, and the indirect echo distance of the target between the two radars, the target coordinates of the target in the vehicle coordinate system corresponding to the vehicle are determined, and the relative position of the target and the vehicle is obtained, including:

[0058] S701, inputting the direct echo distance, the second positioning coordinates, and the indirect echo distance into a preset target coordinate determination formula to obtain the target coordinates, the target coordinate determination formula comprising:

[0059]

[0060] Among them, x is the horizontal coordinate in the target coordinate, y is the vertical coordinate in the target coordinate, r1 is the direct echo distance corresponding to the first radar, r2 is the direct echo distance corresponding to the second radar, R is the indirect echo distance, x2 is the horizontal coordinate in the second positioning coordinate, and y2 is the vertical coordinate in the second positioning coordinate.

[0061] It can be understood that the target coordinates of the target object in the vehicle coordinate system corresponding to the vehicle can be determined through the above method, and then the relative position of the target object and the vehicle can be obtained; in order to avoid the problem of misidentification caused by object recognition of the vehicle itself, this example only retains the target positioning coordinates of y>0.

[0062] According to the technical solution provided in the embodiment of the present application, the direct echo distance, the second positioning coordinates, and the indirect echo distance are input into a pre-set target coordinate determination formula to obtain the target coordinates. Through this formula, it is possible to accurately determine the coordinates of the target object in the vehicle coordinate system, and then accurately determine the relative position of the target object and the vehicle.

[0063] In some embodiments, each positioning coordinate includes a horizontal coordinate and a vertical coordinate, such as Figure 8 As shown, according to the direct echo distance detected by each radar, the positioning coordinates of the target object in the corresponding coordinate system of each radar are determined, including:

[0064] S801, obtaining a detection angle of the radar, processing the detection angle by a cosine function to obtain a cosine value, and processing the detection angle by a sine function to obtain a sine value;

[0065] S802, weighting the direct echo distance by the cosine value to obtain the abscissa of the target object in the radar corresponding coordinate system, and weighting the direct echo distance by the sine value to obtain the ordinate of the target object in the radar corresponding coordinate system.

[0066] This application can determine the vertical coordinate of the target object in the radar corresponding coordinate system through the direct echo distance and detection angle of each radar. Specifically, this application will obtain the detection angle of the radar, which is the angle between the obstacle and the forward direction of the vehicle. The detection angle is processed by the cosine function to obtain the cosine value, and the detection angle is processed by the sine function to obtain the sine value. Specifically, the detection angle of the radar is recorded as θ, then the cosine value is cosθ, and the sine value is sinθ.

[0067] In some examples, the present application will weight the direct echo distance by the cosine value to obtain the horizontal coordinate of the target object in the radar corresponding coordinate system, and weight the direct echo distance by the sine value to obtain the vertical coordinate of the target object in the radar corresponding coordinate system; specifically, assuming that the direct echo distance is r, the horizontal coordinate x of the target object in the radar corresponding coordinate system is x=r*cosθ, and the vertical coordinate y of the target object in the radar corresponding coordinate system is y=r*sinθ.

[0068] It can be understood that by determining the direct echo distance and detection angle corresponding to each radar in the above manner, the horizontal coordinate and vertical coordinate of the target object in the coordinate system corresponding to each radar can be determined, which will not be repeated here.

[0069] According to the technical solution provided in the embodiment of the present application, the detection angle of the radar is obtained, the detection angle is processed by the cosine function to obtain the cosine value, and the detection angle is processed by the sine function to obtain the sine value; the direct echo distance is weighted by the cosine value to obtain the horizontal coordinate of the target object in the coordinate system corresponding to the radar, and the direct echo distance is weighted by the sine value to obtain the vertical coordinate of the target object in the coordinate system corresponding to the radar, thereby realizing accurate acquisition of the positioning coordinates of the target object in the coordinate system corresponding to the radar.

[0070] In some embodiments, Fig. 9 As shown, the target object is detected by two radars in the target radar group, and the direct echo distance detected by each radar is obtained, including:

[0071] S901, obtaining the ambient temperature of the environment in which the vehicle is located, and determining a correction value of the radar corresponding to the detection speed according to the ambient temperature;

[0072] S902, correcting the radar detection speed according to the determined correction value to obtain the radar detection speed;

[0073] S903, obtaining the time difference between the radar transmitting the ultrasonic wave and receiving the reflected ultrasonic wave, and calculating the direct echo distance according to the time difference and the radar detection speed.

[0074] Specifically, the direct echo distance of ultrasound is determined by the propagation speed (detection speed) and propagation time of ultrasound, and the propagation speed of ultrasound is affected by the temperature. Therefore, this example obtains the ambient temperature of the vehicle's environment and determines the correction value of the radar's corresponding detection speed based on the ambient temperature; specifically, obtains a pre-set temperature weight coefficient, and performs weighted processing on the ambient temperature based on the temperature weight coefficient to obtain the correction value of the detection speed; the temperature weight coefficient ranges from 0.1 to 0.9. For example, assuming that the ambient temperature is T and the temperature weight coefficient is 0.607, the correction value of the detection speed is 0.607*T.

[0075] It can be understood that the detection speed of ultrasound in the air is V0, and the detection speed of the radar is corrected according to the determined correction value to obtain the radar detection speed V=V0+0.607*T; wherein the detection speed ranges from 300 meters per second to 400 meters per second; preferably, the detection speed is 332 meters per second.

[0076] In some examples, the present application also obtains the time difference between the radar transmitting the ultrasonic wave and receiving the reflected ultrasonic wave. The time difference is the propagation time of the ultrasonic wave. Specifically, the time when the radar transmits the ultrasonic wave is recorded as ts, and the time when the radar receives the reflected ultrasonic wave is recorded as tr. Then the time difference Δt between the radar transmitting the ultrasonic wave and receiving the reflected ultrasonic wave is = tr-ts.

[0077] Finally, the present application calculates the direct echo distance based on the time difference and the radar detection speed. Specifically, the direct echo distance = Δt*V*2 = (tr-ts)*(V0+0.607*T)*2.

[0078] According to the technical solution provided in the embodiment of the present application, the present application obtains the ambient temperature of the vehicle's environment, determines the correction value of the radar's corresponding detection speed according to the ambient temperature; corrects the radar's detection speed according to the determined correction value to obtain the radar detection speed; obtains the time difference between the radar transmitting the ultrasonic wave and receiving the reflected ultrasonic wave, and calculates the direct echo distance according to the time difference and the radar detection speed, thereby achieving accurate acquisition of the direct echo distance corresponding to the radar.

[0079] In some embodiments, Fig.10 As shown, the target object is detected by two radars in the target radar group, including:

[0080] S1001, obtaining at least two preset working modes, where different working modes correspond to different ultrasonic wave receiving and transmitting frequencies;

[0081] S1002. Control each radar to operate in a different operating mode.

[0082] It is understandable that the operating frequency of the radar when emitting ultrasonic waves (ultrasonic wave receiving and transmitting frequency) is all below 40KHZ. When the radar receives the echo information, it cannot distinguish which radar sent the echo information. The relevant technical processing method is to send it through different timings, so that the echo information has a timestamp, which can distinguish the echo to a certain extent. However, there will still be some co-frequency interference, which makes it impossible to accurately distinguish between direct echoes and indirect echoes in the future, resulting in the inability to accurately locate the target object.

[0083] In order to avoid the above problems, this example will pre-set at least two working modes, and different working modes correspond to different ultrasonic receiving and transmitting frequencies, and then control each radar to work in a different working mode, so that the radar can directly distinguish the received ultrasonic waves according to different frequencies, thereby accurately obtaining direct echoes and indirect echoes, and then accurately positioning the target object.

[0084] It is understandable that the present application does not limit the above working modes. For example, the above working modes include but are not limited to the Direct Echoes mode and the complex Cross Echoes working mode. In the Direct Echoes working mode, the radar can calculate the distance between the vehicle and the target object by the time of flight (TOF) of the sound wave. The Cross Echoes working mode uses multiple radars as receivers of sound waves to better obtain the spatial position of the obstacle relative to the vehicle, mainly calculating the triangulation positioning, and the problem of co-frequency interference will also be solved when the variable frequency / co-frequency mode is switched at any time.

[0085] In addition, the present application does not limit the specific model of the radar. For example, the Elmos524.17 chip is used as the radar chip. Such a radar is a multi-functional fusion probe that supports real-time switching of multiple modes. The present application adds the ELMOS521.42 chip as the radar probe to receive the echo signal and transmit it to the receiving end of the controller, and retains at least two DIS3 interfaces. The data link of the transmitted signal is the ELMOS 521.42 chip that sends the serial peripheral interface (SPI) signal through the microcontroller unit (MCU), so that it can frequency-convert and transmit sound wave signals. Its operating frequency can be 55±4kHz, the detection angle is 120° horizontally and 60° vertically, and the detection distance is 18-700cm. The frequency conversion transmission of sound wave signals is the basic ability to mainly solve the same-frequency interference of AK1 ultrasonic radar. When the radar is working, ELMOS The 524.17 chip receives the echo (direct echo and / or indirect echo) after transmitting the wave by frequency conversion / same frequency mode, and then transmits it to the ELMOS521.42 chip in the domain controller through the DSI3 channel connected by the data line. The ELMOS 521.42 chip then converts the DSI3 signal into an SPI signal and sends it to the MCU for ultrasonic radar-related signal data processing and sensor data fusion.

[0086] According to the technical solution provided in the embodiment of the present application, at least two pre-set working modes are obtained, and different working modes correspond to different ultrasonic wave receiving and transmitting frequencies; each radar is controlled to work in a different working mode, so that the radar can directly distinguish the received ultrasonic wave according to the different frequencies, thereby achieving accurate acquisition of direct echo and indirect echo, and then achieving accurate positioning of the target object, avoiding the problem in the related technology that different radars cannot accurately distinguish direct echo and indirect echo due to the existence of co-frequency interference, resulting in the inability to accurately position the target object.

[0087] All the above optional technical solutions can be arbitrarily combined to form optional embodiments of the present application, which will not be described one by one here.

[0088] The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application.

[0089] This embodiment also provides a device for determining the position of a target object, such as Fig.11 As shown, the device comprises:

[0090] The detection module 1101 is configured to perform radar detection on the target object through two radars in the target radar group to obtain a direct echo distance obtained by each radar detection, where the direct echo distance is used to characterize an actual distance between the target object and the radar. The two radars in the target radar group are radars arranged on the same vehicle and have overlapping radar detection areas.

[0091] The coordinate module 1102 is configured to determine the positioning coordinates of the target object in the coordinate system corresponding to each radar according to the direct echo distance detected by each radar;

[0092] The positioning module 1103 is configured to determine the relative position of the target object and the vehicle based on the direct echo distance obtained by each radar detection and the positioning coordinates of the target object in the corresponding coordinate system of each radar.

[0093] In some examples, the positioning module 1103 is also configured to determine the indirect echo distance of the target object between two radars based on the positioning coordinates of the target object in the corresponding coordinate system of each radar; based on the direct echo distance detected by each radar, the positioning coordinates of the target object in the corresponding coordinate system of each radar, and the indirect echo distance of the target object between the two radars, determine the target coordinates of the target object in the vehicle coordinate system corresponding to the vehicle, and obtain the relative position of the target object and the vehicle.

[0094] In some examples, the target radar group includes a first radar and a second radar, and the positioning coordinates include: a first positioning coordinate of the target object in a coordinate system corresponding to the first radar and a second positioning coordinate of the target object in a coordinate system corresponding to the second radar; the positioning module 1103 is also configured to obtain a horizontal coordinate difference between the first positioning coordinate and the second positioning coordinate, and obtain a vertical coordinate difference between the first positioning coordinate and the second positioning coordinate; the horizontal coordinate difference and the vertical coordinate difference are substituted into a pre-set distance determination formula to obtain an indirect echo distance.

[0095] In some examples, the positioning module 1103 is further configured to input the direct echo distance, the second positioning coordinates, and the indirect echo distance into a preset target coordinate determination formula to obtain the target coordinates, and the target coordinate determination formula includes:

[0096]

[0097] Among them, x is the horizontal coordinate in the target coordinate, y is the vertical coordinate in the target coordinate, r1 is the direct echo distance corresponding to the first radar, r2 is the direct echo distance corresponding to the second radar, R is the indirect echo distance, x2 is the horizontal coordinate in the second positioning coordinate, and y2 is the vertical coordinate in the second positioning coordinate.

[0098] In some examples, the coordinate module 1102 is also configured to obtain the detection angle of the radar, process the detection angle through a cosine function to obtain a cosine value, and process the detection angle through a sine function to obtain a sine value; weight the direct echo distance through the cosine value to obtain the horizontal coordinate of the target object in the corresponding coordinate system of the radar, and weight the direct echo distance through the sine value to obtain the vertical coordinate of the target object in the corresponding coordinate system of the radar.

[0099] In some examples, the detection module 1101 is also configured to obtain the ambient temperature of the vehicle's environment, determine a correction value for the radar's corresponding detection speed based on the ambient temperature; correct the radar's detection speed based on the determined correction value to obtain the radar detection speed; obtain the time difference between the radar transmitting the ultrasonic wave and receiving the reflected ultrasonic wave, and calculate the direct echo distance based on the time difference and the radar detection speed.

[0100] In some examples, the detection module 1101 is further configured to obtain at least two pre-set working modes, where different working modes correspond to different ultrasonic wave receiving and transmitting frequencies; and control each radar to work in a different working mode.

[0101] According to the technical solution provided in the embodiment of the present application, the target position determination device provided in the embodiment performs radar detection on the target by two radars in the target radar group to obtain the direct echo distance obtained by each radar detection; according to the direct echo distance obtained by each radar detection, the positioning coordinates of the target in the corresponding coordinate system of each radar are determined; based on the direct echo distance obtained by each radar detection and the positioning coordinates of the target in the corresponding coordinate system of each radar, the relative position of the target and the vehicle is determined; the method detects the target by a radar with an overlapping radar detection area to obtain the direct echo distance between the target and each radar, and determines the positioning coordinates of the target in the corresponding coordinate system of each radar by the direct echo distance, thereby determining the position relationship between the target and each radar, and subsequently positioning the target by the position relationship between the target and each radar, thereby accurately locating the position of the target, thereby achieving the effect of determining the relative position of the target and the vehicle, avoiding the problem in the related art that the position of the target cannot be accurately obtained by ultrasonic radar.

[0102] Fig.12 Schematic diagram of an electronic device 12 provided in an embodiment of the present application. Fig.12 As shown, the electronic device 12 of this embodiment includes: a processor 1201, a memory 1202, and a computer program 1203 stored in the memory 1202 and executable on the processor 1201. When the processor 1201 executes the computer program 1203, the steps in each of the above-mentioned method embodiments are implemented. Alternatively, when the processor 1201 executes the computer program 1203, the functions of each module / unit in each of the above-mentioned device embodiments are implemented.

[0103] The electronic device 12 may be a desktop computer, a notebook, a PDA, a cloud server, or other electronic device. The electronic device 12 may include, but is not limited to, a processor 1201 and a memory 1202. Those skilled in the art will appreciate that Fig.12 The electronic device 12 is merely an example and does not limit the electronic device 12 , and may include more or fewer components than those shown in the figure, or different components.

[0104] The processor 1201 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.

[0105] The memory 1202 may be an internal storage unit of the electronic device 12, for example, a hard disk or memory of the electronic device 12. The memory 1202 may also be an external storage device of the electronic device 12, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card (FlashCard), etc. equipped on the electronic device 12. The memory 1202 may also include both an internal storage unit of the electronic device 12 and an external storage device. The memory 1202 is used to store computer programs and other programs and data required by the electronic device.

[0106] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of each functional unit and module is used as an example. In actual application, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit, and the above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units.

[0107] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, 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, and the computer program can implement the steps of each of the above-mentioned method embodiments when executed by the processor. The computer program may include computer program code, and the computer program code may 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 computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier distance, telecommunication distance and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of regional requirements and patent practice. For example, in some areas, according to regional requirements and patent practice, the computer-readable medium does not include electric carrier distance and telecommunication distance.

[0108] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in each of the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of each embodiment of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for determining the position of a target object, characterized in that: The method comprises: Performing radar detection on a target object by two radars in a target radar group to obtain a direct echo distance obtained by each radar detection, wherein the direct echo distance is used to characterize an actual distance between the target object and the radar, wherein the two radars in the target radar group are radars arranged on the same vehicle and have overlapping radar detection areas; Determine the positioning coordinates of the target object in the corresponding coordinate system of each radar according to the direct echo distance detected by each radar; Based on the direct echo distance obtained by each radar detection and the positioning coordinates of the target object in the corresponding coordinate system of each radar, the relative position of the target object and the vehicle is determined.

2. The method according to claim 1, characterized in that: Determining the relative position of the target object and the vehicle based on the direct echo distance detected by each radar and the positioning coordinates of the target object in the coordinate system corresponding to each radar includes: Determine the indirect echo distance of the target object between the two radars according to the positioning coordinates of the target object in the corresponding coordinate system of each radar; Based on the direct echo distance obtained by each radar detection, the positioning coordinates of the target object in the coordinate system corresponding to each radar, and the indirect echo distance of the target object between the two radars, the target coordinates of the target object in the vehicle coordinate system corresponding to the vehicle are determined to obtain the relative position of the target object and the vehicle.

3. The method according to claim 2, characterized in that The target radar group includes a first radar and a second radar, and the positioning coordinates include: a first positioning coordinate of the target object in a coordinate system corresponding to the first radar and a second positioning coordinate of the target object in a coordinate system corresponding to the second radar; determining an indirect echo distance of the target object between the two radars according to the positioning coordinates of the target object in the coordinate system corresponding to each radar, including: Obtaining a horizontal coordinate difference between the first positioning coordinate and the second positioning coordinate, and obtaining a vertical coordinate difference between the first positioning coordinate and the second positioning coordinate; Substitute the abscissa difference and the ordinate difference into a preset distance determination formula to obtain the indirect echo distance.

4. The method according to claim 3, characterized in that Based on the direct echo distance detected by each radar, the positioning coordinates of the target object in the coordinate system corresponding to each radar, and the indirect echo distance of the target object between two radars, the target coordinates of the target object in the vehicle coordinate system corresponding to the vehicle are determined to obtain the relative position of the target object and the vehicle, including: The direct echo distance, the second positioning coordinates, and the indirect echo distance are input into a preset target coordinate determination formula to obtain the target coordinates. The target coordinate determination formula includes: Among them, x is the horizontal coordinate in the target coordinate, y is the vertical coordinate in the target coordinate, r1 is the direct echo distance corresponding to the first radar, r2 is the direct echo distance corresponding to the second radar, R is the indirect echo distance, x2 is the horizontal coordinate in the second positioning coordinate, and y2 is the vertical coordinate in the second positioning coordinate.

5. The method according to claim 1, characterized in that: Each of the positioning coordinates includes a horizontal coordinate and a vertical coordinate; according to the direct echo distance detected by each radar, determining the positioning coordinates of the target object in the coordinate system corresponding to each radar includes: Acquire the detection angle of the radar, process the detection angle through a cosine function to obtain a cosine value, and process the detection angle through a sine function to obtain a sine value; The direct echo distance is weighted by the cosine value to obtain the horizontal coordinate of the target object in the radar corresponding coordinate system, and the direct echo distance is weighted by the sine value to obtain the vertical coordinate of the target object in the radar corresponding coordinate system.

6. The method according to claim 1, characterized in that The target object is detected by two radars in the target radar group, and the direct echo distance obtained by each radar detection is obtained, including: Acquiring the ambient temperature of the environment in which the vehicle is located, and determining a correction value of the radar corresponding to the detection speed according to the ambient temperature; Correcting the radar detection speed according to the determined correction value to obtain the radar detection speed; The time difference between the radar transmitting the ultrasonic wave and receiving the reflected ultrasonic wave is obtained, and the direct echo distance is calculated according to the time difference and the radar detection speed.

7. The method according to claim 1, characterized in that The target object is detected by radar through two radars in the target radar group, including: Acquire at least two preset working modes, where different working modes correspond to different ultrasonic wave receiving and transmitting frequencies; Each radar is controlled to operate in a different operating mode.

8. A device for determining the position of a target object, characterized in that: The device comprises: a detection module, configured to perform radar detection on a target object through two radars in a target radar group, and obtain a direct echo distance obtained by each radar detection, wherein the direct echo distance is used to characterize an actual distance between the target object and the radar, wherein the two radars in the target radar group are radars arranged on the same vehicle and have overlapping radar detection areas; A coordinate module is configured to determine the positioning coordinates of the target object in the coordinate system corresponding to each radar according to the direct echo distance detected by each radar; The positioning module is configured to determine the relative position of the target object and the vehicle based on the direct echo distance obtained by each radar detection and the positioning coordinates of the target object in the corresponding coordinate system of each radar.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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