Passable area detection method and device

Abstract

The invention relates to the technical field of data processing, and provides a passable area detection method and device. The method comprises the steps that in the vehicle driving process, according to the current position and the current sensing angle of an ultrasonic sensor carried on a vehicle and the current distance fed back by the ultrasonic sensor, a fan-shaped sensing area with the current position as the vertex and the center line length as the current distance is obtained; and determining a passable area of the vehicle according to each fan-shaped sensing area. According to the passable area detection method provided by the embodiment of the invention, the accuracy of the detected passable area can be improved.

Description

Technical Field

[0001] The present application relates to the field of data processing technology, and in particular to a method and device for detecting a traversable area. Background Art

[0002] At present, in order to improve the safety of vehicle driving, the surrounding environment of the vehicle is usually detected to identify the passable area of ​​the vehicle to assist the vehicle driving. In the related technology, the passable area of ​​the vehicle can be detected by visually detecting the surrounding environment of the vehicle through the vehicle-mounted camera to identify the passable area of ​​the vehicle.

[0003] However, this detection method is easily affected by light, and when the vehicle is reversing, part of the drivable area will be blocked due to the switching of visual angles, resulting in false detection and affecting the accuracy of the drivable area detection. Summary of the invention

[0004] The present application aims to solve at least one of the technical problems existing in the related art. To this end, the present application proposes a traversable area detection method, which can improve the accuracy of the detected traversable area.

[0005] The present application also proposes a traversable area detection device.

[0006] The application also provides an electronic device.

[0007] The present application also proposes a computer-readable storage medium.

[0008] According to the first aspect of the present application, the traversable area detection method includes:

[0009] During the driving of the vehicle, according to the current position and current sensing angle of the ultrasonic sensor mounted on the vehicle and the current distance fed back by the ultrasonic sensor, a fan-shaped sensing area with the current position as the vertex and the center line length as the current distance is obtained;

[0010] Determining a passable area for the vehicle according to each of the sector-shaped sensing areas;

[0011] The direction of the ultrasonic sensor is different from the driving direction of the vehicle.

[0012] During the driving process of the vehicle, according to the current position and current sensing angle of the ultrasonic sensor mounted on the vehicle, and the current distance fed back by the ultrasonic sensor, a sector-shaped sensing area with the current position as the vertex and the center line length as the current distance is obtained, so as to determine the passable area of ​​the vehicle according to each sector-shaped sensing area. Since the sensing area of ​​the ultrasonic sensor is a sector-shaped sensing area formed with the current distance fed back by the ultrasonic sensor as the center line length, the possibility of obstacles existing in the sector-shaped sensing area formed by the ultrasonic sensor can be reduced, thereby improving the confidence of the passable area determined by using the sector-shaped sensing area formed by the ultrasonic sensor, and improving the accuracy of the detected passable area.

[0013] According to an embodiment of the present application, determining the passable area of ​​the vehicle according to each of the sector-shaped sensing areas includes:

[0014] Determine that the center line lengths of the fan-shaped sensing areas are the same, and obtain the obstacle boundary according to the tangent lines formed by the arc midpoints of the fan-shaped sensing areas;

[0015] The passable area is obtained according to the obstacle boundary and each of the fan-shaped sensing areas.

[0016] According to an embodiment of the present application, determining the passable area of ​​the vehicle according to each of the sector-shaped sensing areas includes:

[0017] Determine that there are adjacent areas with different centerline lengths in each of the fan-shaped sensing areas, and obtain a change trend of the centerline lengths of each of the fan-shaped sensing areas according to an acquisition order of each of the fan-shaped sensing areas;

[0018] When the change trend is a downward trend, determining that there is a first area in each of the fan-shaped perception areas, the center line length of which is the same as the center line length of the previous fan-shaped perception area and is greater than the center line length of the next fan-shaped perception area, and obtaining a first obstacle boundary according to a tangent line of an endpoint located in the first area of ​​the previous fan-shaped perception area of ​​the first area;

[0019] Obtaining the passable area according to the first obstacle boundary, the second obstacle boundary and each of the fan-shaped sensing areas;

[0020] The second obstacle boundary is determined according to a tangent line of a midpoint of an arc of the sector-shaped sensing area having the smallest centerline length among the sector-shaped sensing areas.

[0021] According to an embodiment of the present application, obtaining a first obstacle boundary according to a tangent line of an endpoint located in the first area in the previous sector-shaped sensing area of ​​the first area includes:

[0022] The first obstacle boundary is obtained according to an equidistant line between a tangent line of an endpoint located in the first area in the previous fan-shaped sensing area of ​​the first area and a center line of the first area.

[0023] According to one embodiment of the present application, it also includes:

[0024] When the change trend is an upward trend, determining that there is a second area in each of the fan-shaped perception areas, the center line length of which is greater than the center line length of the previous fan-shaped perception area and the center line length of which is the same as the center line length of the next fan-shaped perception area, and obtaining a third obstacle boundary according to a tangent line of an endpoint located in the second area in the next fan-shaped perception area of ​​the second area;

[0025] The passable area is obtained according to the second obstacle boundary, the third obstacle boundary and each of the fan-shaped sensing areas.

[0026] According to an embodiment of the present application, obtaining a third obstacle boundary according to a tangent line of an endpoint located in the second area in the next sector-shaped sensing area of ​​the second area includes:

[0027] The third obstacle boundary is obtained according to an equidistant line between a tangent line of an endpoint located in the second area in the next fan-shaped sensing area of ​​the second area and a center line of the second area.

[0028] According to one embodiment of the present application, it also includes:

[0029] When the change trend is a downward-increasing trend, the passable area is obtained according to the first obstacle boundary, the second obstacle boundary, the third obstacle boundary and each of the fan-shaped sensing areas.

[0030] According to the second aspect of the present application, a traversable area detection device includes:

[0031] A sensing area acquisition module is used to obtain a fan-shaped sensing area with the current position as the vertex and the center line length as the current distance according to the current position and the current sensing angle of the ultrasonic sensor mounted on the vehicle and the current distance fed back by the ultrasonic sensor during the vehicle's driving;

[0032] A passable area determination module, used to determine the passable area of ​​the vehicle according to each of the sector-shaped sensing areas;

[0033] The direction of the ultrasonic sensor is different from the driving direction of the vehicle.

[0034] According to an electronic device of an embodiment of the third aspect of the present application, the electronic device includes a processor and a memory storing a computer program, and when the processor executes the computer program, the method for detecting a passable area described in any of the above embodiments is implemented.

[0035] According to the computer-readable storage medium of the fourth aspect embodiment of the present application, a computer program is stored thereon, and when the computer program is executed by a processor, the passable area detection method described in any of the above embodiments is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the present application or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are 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.

[0037] Figure 1 It is a schematic diagram of a first process of a traversable area detection method provided in an embodiment of the present application;

[0038] Figure 2 is a schematic diagram of the sensing area of ​​the ultrasonic sensor provided in the embodiment of the present application;

[0039] Figure 3 is a schematic diagram of a fan-shaped sensing area provided in an embodiment of the present application;

[0040] Figure 4 is a first schematic diagram of a traversable area provided in an embodiment of the present application;

[0041] Figure 5 is a second schematic diagram of a traversable area provided in an embodiment of the present application;

[0042] Figure 6 is a third schematic diagram of a traversable area provided in an embodiment of the present application;

[0043] Figure 7 is a fourth schematic diagram of a traversable area provided in an embodiment of the present application;

[0044] Figure 8 is a fifth schematic diagram of a traversable area provided in an embodiment of the present application;

[0045] Fig. 9 is a sixth schematic diagram of a traversable area provided in an embodiment of the present application;

[0046] Fig.10 is a schematic diagram of the structure of a traversable area detection device provided in an embodiment of the present application;

[0047] Fig.11It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0049] The following will introduce and explain in detail the passable area detection method and device provided in the embodiments of the present application through several specific embodiments.

[0050] At present, in order to improve the safety of vehicle driving, the surrounding environment of the vehicle is usually detected to identify the vehicle's passable area to assist the vehicle's driving. In the related technology, the vehicle's passable area can be detected by visually detecting the vehicle's surrounding environment through the vehicle's on-board camera to identify the vehicle's passable area. However, the passable area detection method using vision is easily affected by light, and when the vehicle is reversing, part of the drivable area will be blocked due to the switching of the visual angle, resulting in false detection, affecting the accuracy of the passable area detection.

[0051] To this end, the ultrasonic sensor carried by the vehicle can be used to identify the distance between the vehicle and the obstacle, and the position of the obstacle can be determined based on the distance between the vehicle and the obstacle, so as to determine the passable area of ​​the vehicle based on the position of the obstacle. However, since the sensing area of ​​the ultrasonic sensor is a fan-shaped area, and the ultrasonic sensor feedbacks the distance to the detection point closest to the sensor, at this time, any point in the sensing area may be the detection point, so the specific position of the detection point cannot be determined, resulting in the inability to effectively determine the passable area of ​​the vehicle.

[0052] To this end, in one embodiment, a passable area detection method is provided, which is applied to a terminal device to determine the passable area of ​​a vehicle. The terminal device may be a desktop terminal, a vehicle-mounted terminal or a server, and the server may be an independent server or a server cluster composed of multiple servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence sampling point devices.

[0053] like Figure 1 As shown, a traversable area detection method provided in this embodiment includes:

[0054] Step 101, during the driving of the vehicle, according to the current position and current sensing angle of the ultrasonic sensor mounted on the vehicle, and the current distance fed back by the ultrasonic sensor, a fan-shaped sensing area with the current position as the vertex and a centerline length as the current distance is obtained;

[0055] Step 102, determining a passable area for the vehicle according to each of the sector-shaped sensing areas;

[0056] The direction of the ultrasonic sensor is different from the driving direction of the vehicle.

[0057] In some embodiments, at least one ultrasonic sensor may be mounted on the vehicle, and the ultrasonic sensor may be mounted on one side of the vehicle, such as the front, rear, or side of the vehicle. The detection distance of the ultrasonic sensor may be selected according to actual conditions, such as an ultrasonic sensor with a detection distance of 4.5-5 meters.

[0058] During the driving process of the vehicle, the detection distance fed back by the ultrasonic sensor in a direction different from the driving direction of the vehicle can be obtained to detect the passable area. The direction of the ultrasonic sensor is different from the driving direction of the vehicle, which may mean that the angle between the direction of the ultrasonic sensor and the driving direction of the vehicle is not zero. For example, during the driving process of the vehicle, the detection distance fed back by the sensor located on the left or right side of the vehicle can be obtained to detect the passable area.

[0059] From the perception characteristics of the ultrasonic sensor, it can be known that the perception area of ​​the ultrasonic sensor is a fan-shaped perception area. Therefore, before using the ultrasonic sensor to detect the passable area, the sensor can be calibrated first. For example, by obtaining parameters such as the installation position, sensing angle, and detection distance of the ultrasonic sensor, the perception area of ​​the ultrasonic signal of the ultrasonic sensor is calibrated in advance according to the preset calibration model based on the sensor signal characteristics, and the maximum fan-shaped perception area of ​​the ultrasonic sensor can be obtained. Among them, the preset calibration model can be obtained through experimental testing. Taking the ultrasonic sensor on the right side of the vehicle as an example, the maximum fan-shaped perception area P_regin of the ultrasonic sensor A can be obtained as follows Figure 2 The fan-shaped sensing area shown in the figure. From the detection performance of the ultrasonic sensor, we can know that the distance returned by a single detection result is the distance between the target and the point closest to the ultrasonic sensor. Therefore, if the distance fed back by the ultrasonic sensor is its maximum detection distance, the following can be formed based on the distance fed back by the ultrasonic sensor: Figure 2 The maximum fan-shaped perception area shown indicates that there are no obstacles in the maximum fan-shaped perception area, and the entire maximum fan-shaped perception area can be considered as a passable area.

[0060] In the process of calibrating the maximum sector sensing area of ​​the ultrasonic sensor, after the calibration of the maximum sector sensing area of ​​each ultrasonic sensor carried by the vehicle is preliminarily completed, the coordinates of all points in the maximum sector sensing area of ​​each ultrasonic sensor in the vehicle coordinate system at each moment can be obtained in the vehicle coordinate system, and then the vehicle is tested for driving. After driving, when no obstacles are encountered, the passable attribute of the point in the perception domain increases the confidence, and the passable attribute counter count of the point increases by 1; the probability of the point in the passable attribute is:

[0061] When count == 1, P = 1;

[0062] When count>1, there are k times that the route is passable and count-k times that it is impassable. The passable probability attribute P at the current moment is calculated using the Bayesian formula. The confidence can be an empirical value in the range of [0,1].

[0063] After multiple driving tests, the preset calibration model used to calibrate the maximum fan-shaped sensing area of ​​the ultrasonic sensor can be adjusted through driving tests to obtain an adjusted preset calibration model, so that the adjusted preset calibration model can be used to more accurately calibrate the maximum fan-shaped sensing area of ​​the ultrasonic sensor.

[0064] When an ultrasonic sensor is used to detect a passable area, the current distance fed back by the ultrasonic sensor mounted on the vehicle can be obtained during the driving of the vehicle. The orientation of the ultrasonic sensor is different from the driving direction of the vehicle. For example, the ultrasonic sensor can be a sensor mounted on the left or right side of the vehicle.

[0065] From the detection performance of the ultrasonic sensor, it can be seen that the distance returned by a single detection result is the distance di st of the point closest to the target from the ultrasonic sensor, and all points in the entire fan-shaped sensing area of ​​the ultrasonic sensor that are di st away from the vehicle body may be detection points at this distance. At this time, in order to make the fan-shaped sensing area determined by the ultrasonic sensor passable, it is assumed that there is an obstacle B in the maximum fan-shaped sensing domain of the ultrasonic sensor. The current distance to the obstacle B fed back by the ultrasonic sensor can be defaulted to a point on the center line L with a distance di st in the maximum fan-shaped sensing domain of the ultrasonic sensor. The current sensing area of ​​the ultrasonic sensor is calibrated by the current distance, the current position of the ultrasonic sensor and the current sensing angle. For example, it is substituted into the preset calibration model to obtain the fan-shaped sensing area P_reg n' with the current position as the vertex and the center line length as the current distance, as shown in Figure 3 shown.

[0066] During the driving process of the vehicle, the ultrasonic sensor can be used to obtain the fan-shaped sensing area at each moment, such as Figure 4 As shown, at this time, the area enclosed by the fan-shaped sensing area at each moment can be determined as the passable area Q of the vehicle.

[0067] During the driving process of the vehicle, according to the current position and current sensing angle of the ultrasonic sensor mounted on the vehicle, and the current distance fed back by the ultrasonic sensor, a sector-shaped sensing area with the current position as the vertex and the center line length as the current distance is obtained, so as to determine the passable area of ​​the vehicle according to each sector-shaped sensing area. Since the sensing area of ​​the ultrasonic sensor is a sector-shaped sensing area formed with the current distance fed back by the ultrasonic sensor as the center line length, the possibility of obstacles existing in the sector-shaped sensing area formed by the ultrasonic sensor can be reduced, thereby improving the confidence of the passable area determined by using the sector-shaped sensing area formed by the ultrasonic sensor, and improving the accuracy of the detected passable area.

[0068] In order to more accurately determine the passable area of ​​the vehicle, in some embodiments, determining the passable area of ​​the vehicle according to each of the sector-shaped sensing areas includes:

[0069] Determine that the center line lengths of the fan-shaped sensing areas are the same, and obtain the obstacle boundary according to the tangent lines formed by the arc midpoints of the fan-shaped sensing areas;

[0070] The passable area is obtained according to the obstacle boundary and each of the fan-shaped sensing areas.

[0071] For example, since the distance detection of the ultrasonic sensor is real-time detection, the fan-shaped sensing areas formed by the ultrasonic sensor at each moment in the vehicle's driving process must overlap. If the distances fed back by the ultrasonic sensor at each moment in the vehicle's driving process are the same, it can be determined that the centerline lengths of the fan-shaped sensing areas are the same. At this time, the tangent formed by the arc midpoints of the fan-shaped sensing areas is the obstacle boundary of the obstacle.

[0072] After obtaining the obstacle boundary, the obstacle boundary, the boundary of the first sector-shaped sensing area in each sector-shaped sensing area, and the area enclosed by the boundary of the sector-shaped sensing area in each sector-shaped sensing area at the last moment can be determined as the vehicle's passable area. For example, during the vehicle's driving process, until the current moment, the sector-shaped sensing areas successively acquired by the ultrasonic sensor are the sector-shaped sensing areas at the six moments T1, T2, T3, T4, T5, and T6, and the centerline lengths of the sector-shaped sensing areas at these six moments are the same. At this time, the obstacle boundary determined by the tangent formed by the arc midpoints of the sector-shaped sensing areas at these six moments, and the area enclosed by the boundaries of the sector-shaped sensing areas at the moments T1 and T6 can be determined as the vehicle's passable area Q, as shown in FIG. Figure 5 shown.

[0073] In order to more accurately determine the passable area of ​​the vehicle, in some embodiments, determining the passable area of ​​the vehicle according to each of the sector-shaped sensing areas includes:

[0074] Determine that there are adjacent areas with different centerline lengths in each of the fan-shaped sensing areas, and obtain a change trend of the centerline lengths of each of the fan-shaped sensing areas according to an acquisition order of each of the fan-shaped sensing areas;

[0075] When the change trend is a downward trend, determining that there is a first area in each of the fan-shaped perception areas, the center line length of which is the same as the center line length of the previous fan-shaped perception area and is greater than the center line length of the next fan-shaped perception area, and obtaining a first obstacle boundary according to a tangent line of an endpoint located in the first area of ​​the previous fan-shaped perception area of ​​the first area;

[0076] Obtaining the passable area according to the first obstacle boundary, the second obstacle boundary and each of the fan-shaped sensing areas;

[0077] The second obstacle boundary is determined according to a tangent line of a midpoint of an arc of the sector-shaped sensing area having the smallest centerline length among the sector-shaped sensing areas.

[0078] In some embodiments, after obtaining each sector-shaped sensing area, if there are adjacent areas with different centerline lengths in each sector-shaped sensing area, it means that an obstacle or a change in the boundary of the obstacle is detected. At this time, the change trend of the centerline length of each sector-shaped sensing area can be obtained according to the acquisition order of each sector-shaped sensing area. For example, the change trend of the centerline length of each sector-shaped sensing area can be determined according to the acquisition order of the centerline length of each sector-shaped sensing area, that is, the order of the detection distance fed back by the ultrasonic sensor.

[0079] Among them, when there are adjacent areas with different center line lengths in each fan-shaped perception area, if in each fan-shaped perception area, the center line length of the next fan-shaped perception area is less than or equal to the center line length of the previous fan-shaped perception area, that is, in the detection distance fed back by the ultrasonic sensor, the detection distance at the next moment is less than or equal to the detection distance at the previous moment, then it indicates that the change trend of the center line length of each fan-shaped perception area is a downward trend; if in each fan-shaped perception area, the center line length of the next fan-shaped perception area is greater than or equal to the center line length of the previous fan-shaped perception area, that is, in the detection distance fed back by the ultrasonic sensor, the detection distance at the next moment is greater than or equal to the detection distance at the previous moment, then it indicates that the change trend of the center line length of each fan-shaped perception area is an upward trend; if in each fan-shaped perception area, that is, there is a next fan-shaped perception area with a center line length less than the center line length of the previous fan-shaped perception area, and in each subsequent fan-shaped perception area, there is also a next fan-shaped perception area with a center line length greater than the center line length of the previous fan-shaped perception area, then it indicates that the change trend of the center line length of each fan-shaped perception area is a downward-increasing trend.

[0080] When the changing trend is a downward trend, it can be determined that a new obstacle is scanned during the driving of the vehicle. At this time, from each fan-shaped area, a fan-shaped sensing area with a centerline length that is the same as the centerline length of the previous fan-shaped sensing area and a centerline length greater than the centerline length of the next fan-shaped sensing area can be obtained as the first area. Since the current distance fed back by the ultrasonic sensor will suddenly become shorter when the boundary of the obstacle is just detected, the size of the corresponding fan-shaped sensing area will drop sharply. Therefore, the first area with a centerline length that is the same as the centerline length of the previous fan-shaped sensing area and a centerline length greater than the centerline length of the next fan-shaped sensing area can be determined as the fan-shaped sensing area tangent to the obstacle boundary of the obstacle. Figure 6 As shown, the sector-shaped sensing area at time T2 is the same size as the sector-shaped sensing area at time T1, and when an obstacle is detected at time T3, the size of the sector-shaped sensing area drops sharply. At this time, the sector-shaped sensing area at time T2 is the first area tangent to the obstacle boundary of the obstacle.

[0081] After determining the first area, since the first area is tangent to the boundary of the obstacle, the centerline length of the first area may actually be the distance between the ultrasonic sensor and the boundary of the obstacle when acquiring the first area. At this time, in order to avoid the obstacle being divided into the passable area due to the calibration error of the fan-shaped sensing area of ​​the ultrasonic sensor, the endpoint P1 located in the first area of ​​the previous fan-shaped sensing area of ​​the first area can be obtained, such as Figure 6As shown. Since the endpoint P1 is an endpoint in the previous fan-shaped sensing area of ​​the first area, and the endpoint P1 is located in the first area, it can be determined that there must be no obstacle at the location of the endpoint P1. At this time, the tangent of the endpoint can be determined as the first obstacle boundary L1.

[0082] At the same time, the second obstacle boundary L2 can be determined according to the tangent line of the arc midpoint of the sector-shaped perception area with the smallest centerline length in each sector-shaped perception area, so that the area enclosed by the first obstacle boundary L1, the second obstacle boundary L2, the area boundary of the sector-shaped perception area at the first moment in each sector-shaped perception area, and the area boundary of the sector-shaped perception area at the last moment in each sector-shaped perception area is determined as the passable area Q of the vehicle, such as Figure 6 As shown. This reduces the situation where obstacles exist in the generated passable area due to errors in the maximum fan-shaped sensing area calibrated by the ultrasonic sensor, further improves the credibility of the passable area, and further improves the accuracy of the detected passable area.

[0083] In some real-time, the first obstacle boundary can also be determined based on the equidistant line between the tangent of the endpoint in the first area in the previous fan-shaped perception area of ​​the first area and the center line of the first area to obtain the first obstacle boundary.

[0084] For example, Figure 7 As shown, assuming that in the previous fan-shaped perception area of ​​the first area, the endpoint located in the first area is P1, and the midpoint of the arc of the first area is P2, then the tangent of the endpoint P1 and the equidistant line between the center line determined by the midpoint P2 of the arc of the first area can be used as the first obstacle boundary to further reduce the boundary error between the obtained passable area and the actual passable area.

[0085] When the changing trend is an upward trend, it can be determined that the vehicle has left the original position of the obstacle during its driving. At this time, a fan-shaped sensing area with a centerline length that is the same as the centerline length of the next fan-shaped sensing area and a centerline length greater than the centerline length of the previous fan-shaped sensing area can be obtained from each fan-shaped area as the second area. Because when the largest fan-shaped sensing area of ​​the ultrasonic sensor just leaves the boundary of the obstacle, the current distance fed back by the ultrasonic sensor will suddenly become longer, and the size of the corresponding fan-shaped sensing area will increase sharply. Therefore, the second area with a centerline length that is the same as the centerline length of the next fan-shaped sensing area and a centerline length greater than the centerline length of the previous fan-shaped sensing area can be determined as a fan-shaped sensing area tangent to the obstacle boundary of the obstacle. Figure 8As shown, when an obstacle is detected at time T4, its fan-shaped sensing area will become smaller, and when no obstacle is detected at time T5, the size of the fan-shaped sensing area will suddenly increase, and the size of the fan-shaped sensing area at time T6 is the same as that at time T5. At this time, the fan-shaped sensing area at time T5 is the second area tangent to the obstacle boundary of the obstacle.

[0086] After determining the second area, since the second area is tangent to the boundary of the obstacle, the centerline length of the second area may actually be the distance between the ultrasonic sensor and the boundary of the obstacle when acquiring the second area. At this time, in order to avoid the obstacle being divided into the passable area due to the calibration error of the fan-shaped sensing area of ​​the ultrasonic sensor, the endpoint P4 located in the second area in the next fan-shaped sensing area of ​​the second area can be obtained, such as Figure 8 Since the endpoint P4 is an endpoint in the next fan-shaped sensing area of ​​the second area, and the endpoint P3 is located in the second area, it can be determined that there must be no obstacle at the location of the endpoint P4. At this time, the tangent of the endpoint can be determined as the third obstacle boundary L3.

[0087] Alternatively, the third obstacle boundary may be determined based on an equidistant line between a tangent line of an endpoint in the next fan-shaped perception area of ​​the second area and a center line of the second area to obtain the third obstacle boundary.

[0088] For example, Figure 8 As shown, assuming that in the next fan-shaped perception area of ​​the second area, the endpoint located in the first area is P4, and the midpoint of the arc of the second area is P3, then the tangent of the endpoint P4 and the equidistant line between the center line determined by the midpoint P3 of the arc of the second area can be used as the third obstacle boundary to further reduce the boundary error between the obtained passable area and the actual passable area.

[0089] At the same time, the second obstacle boundary L2 can be determined according to the tangent line of the midpoint of the arc of the sector-shaped perception area with the smallest centerline length in each sector-shaped perception area, so that the area surrounded by the second obstacle boundary L2, the third obstacle boundary L3, the area boundary of the sector-shaped perception area at the first moment in each sector-shaped perception area, and the area boundary of the sector-shaped perception area at the last moment in each sector-shaped perception area is determined as the passable area Q of the vehicle, such as Figure 8 As shown. This reduces the situation where obstacles exist in the generated passable area due to errors in the maximum fan-shaped sensing area calibrated by the ultrasonic sensor, further improves the credibility of the passable area, and further improves the accuracy of the detected passable area.

[0090] In the case where the change trend is a downward-increasing trend, it can be determined that the vehicle has left the location of the obstacle after scanning a new obstacle during driving. At this time, from each sector area, a sector sensing area whose centerline length is the same as the centerline length of the previous sector sensing area and whose centerline length is greater than the centerline length of the next sector sensing area can be obtained as the first area. Fig. 9 As shown, the sector-shaped sensing area at time T2 is the same size as the sector-shaped sensing area at time T1, and when an obstacle is detected at time T3, the size of the sector-shaped sensing area drops sharply. At this time, the sector-shaped sensing area at time T2 is the first area tangent to the obstacle boundary of the obstacle.

[0091] After determining the first area, an endpoint P1 in the previous fan-shaped perception area of ​​the first area and located in the first area can be obtained to determine the equidistant line between the tangent of the endpoint P1 and the center line of the first area as the first obstacle boundary L1.

[0092] Similarly, from each fan-shaped area, a fan-shaped sensing area whose centerline length is the same as the centerline length of the next fan-shaped sensing area and whose centerline length is greater than the centerline length of the previous fan-shaped sensing area can be obtained as the second area. Fig. 9 As shown, when an obstacle is detected at time T4, its fan-shaped sensing area will become smaller, and when no obstacle is detected at time T5, the size of the fan-shaped sensing area will suddenly increase, and the size of the fan-shaped sensing area at time T6 is the same as that at time T5. At this time, the fan-shaped sensing area at time T5 is the second area tangent to the obstacle boundary of the obstacle.

[0093] After determining the second area, an endpoint P4 located in the second area in the next fan-shaped perception area of ​​the second area can be obtained to determine the equidistant line between the tangent of the endpoint P4 and the center line of the second area as the third obstacle boundary L3.

[0094] At the same time, the second obstacle boundary L2 can be determined according to the tangent of the arc midpoint of the sector-shaped perception area with the smallest centerline length in each sector-shaped perception area, so that the area enclosed by the first obstacle boundary L1, the second obstacle boundary L2, the third obstacle boundary L3, the area boundary of the sector-shaped perception area at the first moment in each sector-shaped perception area, and the area boundary of the sector-shaped perception area at the last moment in each sector-shaped perception area can be determined as the passable area for the vehicle, such as Fig. 9 As shown. This further reduces the situation where obstacles exist in the generated passable area due to errors in the maximum fan-shaped sensing area calibrated by the ultrasonic sensor, further improves the credibility of the passable area, and further improves the accuracy of the detected passable area.

[0095] The traversable area detection device provided in the present application is described below. The traversable area detection device described below and the traversable area detection method described above can be referenced to each other.

[0096] In one embodiment, if Fig.10 As shown, a traversable area detection device is provided, comprising:

[0097] The sensing area acquisition module 210 is used to obtain a fan-shaped sensing area with the current position as the vertex and the center line length as the current distance according to the current position and the current sensing angle of the ultrasonic sensor mounted on the vehicle and the current distance fed back by the ultrasonic sensor during the vehicle's driving;

[0098] A passable area determination module 220, configured to determine a passable area for the vehicle according to each of the sector-shaped sensing areas;

[0099] The direction of the ultrasonic sensor is different from the driving direction of the vehicle.

[0100] During the driving process of the vehicle, according to the current position and current sensing angle of the ultrasonic sensor mounted on the vehicle, and the current distance fed back by the ultrasonic sensor, a sector-shaped sensing area with the current position as the vertex and the center line length as the current distance is obtained, so as to determine the passable area of ​​the vehicle according to each sector-shaped sensing area. Since the sensing area of ​​the ultrasonic sensor is a sector-shaped sensing area formed with the current distance fed back by the ultrasonic sensor as the center line length, the possibility of obstacles existing in the sector-shaped sensing area formed by the ultrasonic sensor can be reduced, thereby improving the confidence of the passable area determined by using the sector-shaped sensing area formed by the ultrasonic sensor, and improving the accuracy of the detected passable area.

[0101] In one embodiment, the traffic area determination module 220 is specifically used to:

[0102] Determine that the center line lengths of the fan-shaped sensing areas are the same, and obtain the obstacle boundary according to the tangent lines formed by the arc midpoints of the fan-shaped sensing areas;

[0103] The passable area is obtained according to the obstacle boundary and each of the fan-shaped sensing areas.

[0104] In one embodiment, the traffic area determination module 220 is specifically used to:

[0105] Determine that there are adjacent areas with different centerline lengths in each of the fan-shaped sensing areas, and obtain a change trend of the centerline lengths of each of the fan-shaped sensing areas according to an acquisition order of each of the fan-shaped sensing areas;

[0106] When the change trend is a downward trend, determining that there is a first area in each of the fan-shaped perception areas, the center line length of which is the same as the center line length of the previous fan-shaped perception area and is greater than the center line length of the next fan-shaped perception area, and obtaining a first obstacle boundary according to a tangent line of an endpoint located in the first area of ​​the previous fan-shaped perception area of ​​the first area;

[0107] Obtaining the passable area according to the first obstacle boundary, the second obstacle boundary and each of the fan-shaped sensing areas;

[0108] The second obstacle boundary is determined according to a tangent line of a midpoint of an arc of the sector-shaped sensing area having the smallest centerline length among the sector-shaped sensing areas.

[0109] In one embodiment, the traffic area determination module 220 is specifically used to:

[0110] The first obstacle boundary is obtained according to an equidistant line between a tangent line of an endpoint located in the first area in the previous fan-shaped sensing area of ​​the first area and a center line of the first area.

[0111] In one embodiment, the traffic area determination module 220 is further configured to:

[0112] When the change trend is an upward trend, determining that there is a second area in each of the fan-shaped perception areas, the center line length of which is greater than the center line length of the previous fan-shaped perception area and the center line length of which is the same as the center line length of the next fan-shaped perception area, and obtaining a third obstacle boundary according to a tangent line of an endpoint located in the second area in the next fan-shaped perception area of ​​the second area;

[0113] The passable area is obtained according to the second obstacle boundary, the third obstacle boundary and each of the fan-shaped sensing areas.

[0114] In one embodiment, the traffic area determination module 220 is specifically used to:

[0115] The third obstacle boundary is obtained by the equidistant line between the tangent line of the endpoint in the second area and the center line of the second area in the next fan-shaped sensing area of ​​the second area.

[0116] In one embodiment, the traffic area determination module 220 is further configured to:

[0117] When the change trend is a downward-increasing trend, the passable area is obtained according to the first obstacle boundary, the second obstacle boundary, the third obstacle boundary and each of the fan-shaped sensing areas.

[0118] Fig.11 An example of a physical structure diagram of an electronic device is shown in FIG. Fig.11 As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication interface 820 and the memory 830 communicate with each other through the communication bus 840. The processor 810 may call a computer program in the memory 830 to execute a passable area detection method, for example, including:

[0119] During the driving of the vehicle, according to the current position and current sensing angle of the ultrasonic sensor mounted on the vehicle and the current distance fed back by the ultrasonic sensor, a fan-shaped sensing area with the current position as the vertex and the center line length as the current distance is obtained;

[0120] Determining a passable area for the vehicle according to each of the sector-shaped sensing areas;

[0121] The direction of the ultrasonic sensor is different from the driving direction of the vehicle.

[0122] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art, and the computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0123] On the other hand, an embodiment of the present application further provides a storage medium, the storage medium includes a computer program, the computer program can be stored on a non-transitory computer-readable storage medium, when the computer program is executed by a processor, the computer can execute the passable area detection method provided in the above embodiments, for example, including:

[0124] During the driving of the vehicle, according to the current position and current sensing angle of the ultrasonic sensor mounted on the vehicle and the current distance fed back by the ultrasonic sensor, a fan-shaped sensing area with the current position as the vertex and the center line length as the current distance is obtained;

[0125] Determining a passable area for the vehicle according to each of the sector-shaped sensing areas;

[0126] The direction of the ultrasonic sensor is different from the driving direction of the vehicle.

[0127] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, i.e., they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative effort.

[0128] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0129] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for detecting a traversable area, characterized in that: include: During the driving of the vehicle, according to the current position and current sensing angle of the ultrasonic sensor mounted on the vehicle and the current distance fed back by the ultrasonic sensor, a fan-shaped sensing area with the current position as the vertex and the center line length as the current distance is obtained; Determining a passable area for the vehicle according to each of the sector-shaped sensing areas; The direction of the ultrasonic sensor is different from the driving direction of the vehicle.

2. The traversable area detection method according to claim 1, characterized in that: Determining the passable area of ​​the vehicle according to each of the sector-shaped sensing areas includes: Determine that the center line lengths of the fan-shaped sensing areas are the same, and obtain the obstacle boundary according to the tangent lines formed by the arc midpoints of the fan-shaped sensing areas; The passable area is obtained according to the obstacle boundary and each of the fan-shaped sensing areas.

3. The traversable area detection method according to claim 1 or 2, characterized in that: Determining the passable area of ​​the vehicle according to each of the sector-shaped sensing areas includes: Determine that there are adjacent areas with different centerline lengths in each of the fan-shaped sensing areas, and obtain a change trend of the centerline lengths of each of the fan-shaped sensing areas according to an acquisition order of each of the fan-shaped sensing areas; When the change trend is a downward trend, determining that there is a first area in each of the fan-shaped perception areas, the center line length of which is the same as the center line length of the previous fan-shaped perception area and is greater than the center line length of the next fan-shaped perception area, and obtaining a first obstacle boundary according to a tangent line of an endpoint located in the first area of ​​the previous fan-shaped perception area of ​​the first area; Obtaining the passable area according to the first obstacle boundary, the second obstacle boundary and each of the fan-shaped sensing areas; The second obstacle boundary is determined according to a tangent line of a midpoint of an arc of the sector-shaped sensing area having the smallest centerline length among the sector-shaped sensing areas.

4. The method for detecting a traversable area according to claim 3, characterized in that: Obtaining a first obstacle boundary according to a tangent line of an endpoint located in the first area in the previous sector-shaped sensing area of ​​the first area includes: The first obstacle boundary is obtained according to an equidistant line between a tangent line of an endpoint located in the first area in the previous fan-shaped sensing area of ​​the first area and a center line of the first area.

5. The method for detecting a traversable area according to claim 3, characterized in that: Also includes: When the change trend is an upward trend, determining that there is a second area in each of the fan-shaped perception areas, the center line length of which is greater than the center line length of the previous fan-shaped perception area and the center line length of which is the same as the center line length of the next fan-shaped perception area, and obtaining a third obstacle boundary according to a tangent line of an endpoint located in the second area in the next fan-shaped perception area of ​​the second area; The passable area is obtained according to the second obstacle boundary, the third obstacle boundary and each of the fan-shaped sensing areas.

6. The method for detecting a traversable area according to claim 5, characterized in that: Obtaining a third obstacle boundary according to a tangent line of an endpoint located in the second area in the next sector-shaped sensing area of ​​the second area includes: The third obstacle boundary is obtained according to an equidistant line between a tangent line of an endpoint located in the second area in the next fan-shaped sensing area of ​​the second area and a center line of the second area.

7. The method for detecting a traversable area according to claim 5, characterized in that: Also includes: When the change trend is a downward-increasing trend, the passable area is obtained according to the first obstacle boundary, the second obstacle boundary, the third obstacle boundary and each of the fan-shaped sensing areas.

8. A traversable area detection device, characterized in that: include: A sensing area acquisition module is used to obtain a fan-shaped sensing area with the current position as the vertex and the center line length as the current distance according to the current position and the current sensing angle of the ultrasonic sensor mounted on the vehicle and the current distance fed back by the ultrasonic sensor during the vehicle's driving; A passable area determination module, used to determine the passable area of ​​the vehicle according to each of the sector-shaped sensing areas; The direction of the ultrasonic sensor is different from the driving direction of the vehicle.

9. An electronic device comprising a processor and a memory storing a computer program, characterized in that: When the processor executes the computer program, the traversable area detection method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the traversable area detection method according to any one of claims 1 to 7 is implemented.

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