Obstacle indication method and device, vehicle and medium

Abstract

The embodiment of the invention provides an obstacle indication method and device, a vehicle and a medium, and the method comprises the steps: obtaining the surrounding environment information of the vehicle and the steering wheel angle value of the vehicle, and constructing and displaying a surrounding environment map on an instrument or a head-up display of the vehicle through a three-dimensional graph according to the surrounding environment information, the method comprises the following steps: determining a track of a vehicle according to a steering wheel angle value, traversing the track of the vehicle, determining an object overlapped with the vehicle in a surrounding environment map as an obstacle invading the vehicle, and sending information of the obstacle to a laser indicator which is mounted on the vehicle and is used for indicating the obstacle and an instrument or a head-up display which is used for displaying the obstacle. According to the embodiment of the invention, the obstacle with the collision risk and the invasion part of the obstacle can be directly indicated without being limited by the ground, and the indication is more visual and clear.

Description

Technical Field

[0001] The present invention relates to the field of assisted driving, and in particular to an obstacle indication method, device, vehicle and medium. Background Art

[0002] With the advancement of artificial intelligence and sensor technology, autonomous driving technology has made significant progress in the past decade. Autonomous vehicles rely on a large number of sensors to perceive the surrounding environment and make corresponding decisions and actions to ensure the safety of the vehicle. The detection and indication technology of obstacles around the vehicle is an important part of ensuring vehicle safety. The relevant technology can observe the distance between the irradiation point of the laser transmitter on the ground and the surrounding obstacles to know the actual distance between the vehicle and the surrounding obstacles when it reaches the current irradiation point, and then take corresponding measures to avoid collision. However, the relevant technology can only irradiate the laser to the ground, and can only indicate the two-dimensional driving trajectory of the vehicle on the ground. It cannot effectively indicate the trajectory and obstacles on the side of the vehicle and in space. Summary of the invention

[0003] In view of the above problems, the present invention aims to propose an obstacle indication method, device, vehicle and medium to solve the problem that the current vehicle driving can only be indicated by projecting the future trajectory of the vehicle onto the two-dimensional ground, but the collision risk of the vehicle in three-dimensional space cannot be indicated.

[0004] According to a first aspect of the present invention, a method for indicating an obstacle is first provided, wherein the method comprises:

[0005] Acquiring surrounding environment information of the vehicle and a steering wheel angle value of the vehicle;

[0006] constructing and displaying a surrounding environment map in a three-dimensional graphic on an instrument panel or a head-up display of the vehicle according to the surrounding environment information;

[0007] Determining the trajectory of the vehicle by means of the steering wheel angle value;

[0008] Traversing the trajectory of the vehicle, and determining objects overlapping with the vehicle in the surrounding environment map as obstacles invading the vehicle;

[0009] The information of the obstacle is sent to a laser indicator for indicating the obstacle and an instrument or head-up display for displaying the obstacle installed in the vehicle; wherein the laser indicator is used to adjust the illumination angle and indicate the obstacle according to the information of the obstacle, and the instrument or head-up display is used to highlight the obstacle in the surrounding environment map according to the information of the obstacle.

[0010] Optionally, before acquiring the surrounding environment information of the vehicle and the steering wheel angle value of the vehicle, the method includes:

[0011] Establishing a three-dimensional space coordinate system with the center of the rear axle of the vehicle as the origin, and determining the coordinates of key points on the outer contour of the vehicle;

[0012] Determine the wheelbase of the vehicle; the wheelbase is the distance between the axles of the front and rear wheels of the vehicle.

[0013] Optionally, constructing and displaying a surrounding environment map in a three-dimensional graphic on a meter or a head-up display of the vehicle according to the surrounding environment information includes:

[0014] Converting the surrounding environment information into a three-dimensional space coordinate system, and calculating the positional relationship between each object in the surrounding environment information and the vehicle;

[0015] Constructing a three-dimensional surrounding environment map with three-dimensional graphics according to the positional relationship;

[0016] The three-dimensional surrounding environment image is displayed in the instrument or head-up display.

[0017] Optionally, converting the surrounding environment information into a three-dimensional space coordinate system and calculating the positional relationship between each object in the surrounding environment information and the vehicle includes:

[0018] According to the position of each object in the surrounding environment information in the three-dimensional space coordinate system, the relative position and distance between each object in the surrounding environment information and the vehicle are calculated.

[0019] Optionally, determining the trajectory of the vehicle by using the steering wheel angle value includes:

[0020] Converting the steering wheel angle value into a steering angle of the front wheels of the vehicle;

[0021] Determining a turning radius of the vehicle according to a steering angle and a wheelbase of the front wheels;

[0022] The trajectory of the vehicle is calculated based on the turning radius of the vehicle.

[0023] Optionally, traversing the trajectory of the vehicle and determining an object overlapping with the vehicle in the surrounding environment map as an obstacle invading the vehicle includes:

[0024] Traversing the trajectory of the vehicle in chronological order to determine the position coordinates of the vehicle at different time points; the position coordinates of the vehicle are the coordinates of key points on the outer contour of the vehicle;

[0025] At any time point, determining whether the coordinates of an object in the surrounding environment map overlap with the coordinates of a key point on the outer contour of the vehicle;

[0026] When the coordinates of an object in the surrounding environment map overlap with the coordinates of a key point on the outer contour of the vehicle, the coordinates of the object in the surrounding environment map that overlap with the coordinates of the key point on the outer contour of the vehicle are determined as the coordinates of an obstacle invading the vehicle.

[0027] Optionally, the step of sending the obstacle information to a laser indicator for indicating the obstacle and an instrument or a head-up display for displaying the obstacle installed on the vehicle comprises:

[0028] The coordinates of the obstacle invading the vehicle are sent to the laser pointer and the instrument or head-up display; wherein the laser pointer is used to adjust the illumination angle according to the received obstacle coordinates and illuminate the obstacle; the instrument or head-up display is used to highlight the obstacle in the surrounding environment map according to the received obstacle coordinates.

[0029] According to a second aspect of the present invention, there is also provided an obstacle indication device, characterized in that the device comprises:

[0030] A data acquisition module, used to acquire the surrounding environment information of the vehicle and the steering wheel angle value of the vehicle;

[0031] A surrounding environment map construction and display module, used to construct and display a surrounding environment map in a three-dimensional graphic on an instrument or a head-up display of the vehicle according to the surrounding environment information;

[0032] A trajectory determination module, used to determine the trajectory of the vehicle according to the steering wheel angle value;

[0033] An obstacle determination module, configured to traverse the trajectory of the vehicle and determine objects overlapping with the vehicle in the surrounding environment map as obstacles intruding into the vehicle;

[0034] An obstacle indication module is used to send the information of the obstacle to a laser indicator for indicating the obstacle and an instrument or head-up display for displaying the obstacle installed in the vehicle; wherein the laser indicator is used to adjust the illumination angle and indicate the obstacle according to the information of the obstacle, and the instrument or head-up display is used to highlight the obstacle in the surrounding environment map according to the information of the obstacle.

[0035] According to a third aspect of the present invention, a vehicle is also provided, characterized in that it includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor, and when the computer program is executed by the processor, the obstacle indication method as described above is implemented.

[0036] According to a fourth aspect of the present invention, there is further provided a computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the obstacle indication method as described above is implemented.

[0037] The obstacle indication method provided by the embodiment of the present invention obtains the surrounding environment information of the vehicle and the steering wheel angle value of the vehicle, constructs and displays the surrounding environment map in a three-dimensional graphic on the instrument or head-up display of the vehicle according to the surrounding environment information, determines the trajectory of the vehicle by the steering wheel angle value, traverses the trajectory of the vehicle, determines the objects overlapping with the vehicle in the surrounding environment map as obstacles invading the vehicle, and sends the obstacle information to the laser indicator for indicating obstacles and the instrument or head-up display for displaying obstacles installed in the vehicle; wherein the laser indicator is used to adjust the irradiation angle and indicate the obstacle according to the information of the obstacle, and the instrument or head-up display is used to highlight the obstacle in the surrounding environment map according to the information of the obstacle. The embodiment of the present invention can reconstruct the environment, display the obstacle that is about to invade the vehicle on the display device such as the instrument or head-up display, which is more intelligent; directly indicate the obstacle with collision risk and its invading part, not limited to the ground, the prompt is more intuitive and clear, and can indicate before the obstacle invasion occurs, so that the driving strategy can be changed in advance to avoid risks.

[0038] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0040] Figure 1 is a flowchart of a method for indicating an obstacle provided by an embodiment of the present invention;

[0041] Figure 2 It is a component architecture diagram provided by an embodiment of the present invention;

[0042] Figure 3 It is a schematic diagram of the arrangement of sensors and matrix laser indicators provided by one embodiment of the present invention;

[0043] Figure 4 is a schematic top view of a vehicle trajectory provided by an embodiment of the present invention;

[0044] Figure 5 is a schematic top view of a collision indication portion of a matrix laser indicator provided by an embodiment of the present invention;

[0045] Figure 6 is a rear view schematic diagram of a matrix laser indicator indicating a collision portion provided by an embodiment of the present invention;

[0046] Figure 7 It is a structural schematic diagram of an obstacle indicating device provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. However, it can be understood by those skilled in the art that in the embodiments of the present invention, many technical details are proposed in order to enable readers to better understand the present invention. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present invention can also be implemented. The division of the following embodiments is for the convenience of description and should not constitute any limitation on the specific implementation of the present invention. The various embodiments can be combined and referenced with each other without contradiction.

[0048] Reference Figure 1 , shows a flowchart of a method for indicating an obstacle provided by an embodiment of the present invention, which may specifically include the following steps:

[0049] Step 101, obtaining the surrounding environment information of the vehicle and the steering wheel angle value of the vehicle.

[0050] For accurate environment perception and obstacle detection, the vehicle's geometric parameters and sensor installation locations need to be defined in advance.

[0051] A three-dimensional space coordinate system is established with the center of the vehicle's rear axle as the coordinate origin, and the relevant parameters are pre-written into the controller. In the three-dimensional space coordinate system, the vehicle's forward direction is the positive direction of the X axis, the left side of the vehicle is the positive direction of the Y axis, and the vertical upward direction is the positive direction of the Z axis.

[0052] After establishing the three-dimensional space coordinate system, the coordinates of all key points on the vehicle's outer contour are pre-written into the controller. The key points may include: the four corners of the front and rear bumpers, the installation positions of the left and right rearview mirrors, the four corners of the vehicle chassis, and the coordinates of other key structural points. At the same time, the coordinates of the installation position of the matrix laser pointer on the vehicle body are also pre-written into the controller.

[0053] The wheelbase of the vehicle is pre-written into the controller. The controller stores all the above parameters in the internal memory and calls them when needed.

[0054] When a vehicle passes through an area with obstacles, the vehicle's surrounding environment is perceived in real time through on-board sensors installed on the vehicle. Among them, on-board sensors such as cameras, ultrasonic radars, and laser radars can be used to perceive the surrounding environment, and this application does not limit this.

[0055] A steering wheel angle sensor can be used to monitor the steering wheel angle in real time to assist in determining the vehicle's direction and trajectory.

[0056] It should be noted that the present application receives data from vehicle-mounted sensors through a controller installed in the vehicle, and processes and sends information and instructions through the controller.

[0057] Taking cameras, ultrasonic radars and lidars as examples, cameras can identify targets such as lane lines, traffic signs, pedestrians, vehicles, etc., provide two-dimensional image information of the targets, and can provide image coordinates, categories, confidence levels, etc. of objects in the surrounding environment; ultrasonic radars can detect close-range obstacles, such as obstacles during parking, and can provide distances and azimuths of objects in the surrounding environment; lidars can perform high-precision three-dimensional environment modeling and provide accurate location, size, and shape information of obstacles.

[0058] The controller can receive raw data from the camera, ultrasonic radar and lidar, and then use the sensor fusion algorithm to fuse the data from different sensors to obtain more comprehensive surrounding environment perception information; the fused data can also be further filtered, denoised and calibrated to eliminate sensor noise and errors. Among them, the sensor fusion algorithm can use weighted averaging, Kalman filtering, particle filtering, etc., and the appropriate algorithm can be selected according to actual needs, and this application does not limit this.

[0059] The controller converts the surrounding environment data collected by the sensor into a three-dimensional space coordinate system established with the center of the vehicle's rear axle as the origin through translation and rotation transformation.

[0060] Reference Figure 3 , shows a schematic diagram of the arrangement of sensors and matrix laser indicators provided in an embodiment of the present invention, as follows:

[0061] A matrix laser indicator 2 is installed on the vehicle's exterior rearview mirror 1, and a camera 3 and a laser radar 4 are installed on the vehicle body.

[0062] The matrix laser indicator 2 installed on the vehicle's exterior rearview mirror 1 can cover the blind spots on both sides of the vehicle.

[0063] Step 102 : constructing and displaying a surrounding environment map in a three-dimensional graphic on a meter or a head-up display of the vehicle according to the surrounding environment information.

[0064] In the three-dimensional space coordinate system with the center of the rear axle of the vehicle as the origin, the relative position of each object in the surrounding environment is calculated. Assume that the position vector of the object is P = (x, y, z), where x is the distance of the object in front of (or behind) the vehicle, y is the distance of the object on the left (or right) side of the vehicle, and z is the distance of the object above (or below) the vehicle. The relative position of the object can be calculated by the following formula:

[0065] P rel =PP vehicle

[0066] Among them, P rel It represents the relative position of objects in the surrounding environment in the three-dimensional space coordinate system with the center of the rear axle of the vehicle as the origin. P represents the position vector of the objects in the surrounding environment. vehicle is the vehicle's position vector, usually the zero vector.

[0067] The relative distance between objects in the surrounding environment and the vehicle can be calculated using the following formula:

[0068]

[0069] Where d is the distance between the object and the vehicle.

[0070] Based on the surrounding environment data collected by the sensor and the calculated relative position and distance information, a surrounding environment map is constructed in a three-dimensional graphic in a three-dimensional space coordinate system with the center of the vehicle's rear axle as the origin.

[0071] Displaying a surrounding environment map on the vehicle's instrument panel or HUD (Head Up Display) can help the driver intuitively understand the surrounding environment.

[0072] It should be noted that other methods may also be used to determine the positional relationship between objects in the surrounding environment and the vehicle, and this application does not impose any limitation thereto.

[0073] Step 103: determining the trajectory of the vehicle through the steering wheel angle value.

[0074] The current steering wheel angle value is obtained through the steering wheel sensor. The steering wheel sensor is usually installed on the steering wheel shaft and can measure the rotation angle of the steering wheel in real time.

[0075] Usually, there is a fixed transmission ratio between the steering wheel angle and the front wheel steering angle. Assuming the steering wheel angle is θ and the transmission ratio is G, the front wheel steering angle δ can be expressed as:

[0076]

[0077] Among them, the transmission ratio is defined as the ratio between the steering wheel angle and the front wheel angle, reflecting the relationship between the number of turns required by the driver to turn the steering wheel and the actual steering effect.

[0078] The relationship between the turning radius R, the front wheel steering angle δ and the wheelbase L is:

[0079]

[0080] Where L is the wheelbase pre-written in the controller and tan(δ) is the tangent of the steering angle.

[0081] In a plane, the trajectory of a vehicle when turning can be approximated as an arc. Assuming the initial position of the vehicle is (x0, y0, z0) and the initial heading angle is φ0, the position of the vehicle after time t (x(t), y(t), z(t)) can be expressed as:

[0082] x(t)=x0+Rsin(φ0+wt)

[0083] y(t)=y0+Rsin(φ0+wt)

[0084] z(t)=z0+Rsin(φ0+wt)

[0085] Among them, w is the angular velocity of the vehicle, which is obtained by dividing the vehicle speed by the turning radius; the heading angle refers to the angular difference between the vehicle's forward direction and the vehicle's longitudinal axis, that is, the angle between the vehicle's front wheel steering angle and the vehicle's driving direction.

[0086] It should be noted that the vehicle trajectory can also be calculated using other methods, which are not limited in this application.

[0087] Step 104 , traverse the trajectory of the vehicle and determine objects overlapping with the vehicle in the surrounding environment map as obstacles invading the vehicle.

[0088] Traverse the vehicle's trajectory in chronological order. In order to traverse the vehicle's trajectory, a time step Δt needs to be set. In each time step, the vehicle's position (x(t), y(t), z(t)) and heading angle φ(t) are calculated:

[0089] x(t+Δt)=x(t)+Rsin(φ(t)+wΔt)

[0090] y(t+Δt)=y(t)+Rsin(φ(t)+wΔt)

[0091] z(t+Δt)=z(t)+Rsin(φ(t)+wΔt)

[0092] φ(t+Δt)=φ(t)+wΔt

[0093] In the above, the objects in the surrounding environment have been converted into a three-dimensional space coordinate system with the center of the rear axle of the vehicle as the origin. In each time step, it is checked whether the position coordinates (x(t), y(t), z(t)) of the vehicle overlap with the coordinates of the objects in the surrounding environment. The position coordinates of the vehicle may be the coordinates of key points on the outer contour of the vehicle.

[0094] If the coordinates of the vehicle body overlap with the coordinates of objects in the surrounding environment, it is considered that the objects in the surrounding environment will invade the vehicle at the current turning corner, and a collision will occur at the current turning corner. After the overlap is detected, the coordinates of the object in the surrounding environment that overlap with the coordinates of the vehicle body are determined as the coordinates of the obstacle that invades the vehicle, and the partial coordinates of the obstacle that invades the vehicle are extracted. These coordinates represent the specific location where the obstacle overlaps with the vehicle.

[0095] Reference Figure 4 , shows a schematic diagram of a top view of a vehicle trajectory provided by an embodiment of the present invention, as follows:

[0096] During the driving process, by calculating and traversing the vehicle trajectory, the vehicle can know in advance that the vehicle will collide with objects 1 in the surrounding environment, which can improve the driver's perception of the vehicle path and provide key path planning and driving decision-making basis for the automatic driving system, thereby improving driving safety.

[0097] Step 105, sending the obstacle information to a laser pointer installed on the vehicle for indicating the obstacle and an instrument or head-up display for displaying the obstacle; wherein the laser pointer is used to adjust the illumination angle and indicate the obstacle according to the obstacle information, and the instrument or head-up display is used to highlight the obstacle in the surrounding environment map according to the obstacle information.

[0098] It should be noted that the laser pointer is a matrix laser pointer, which is installed on the vehicle's exterior rearview mirror.

[0099] A matrix laser pointer is a device that uses multiple laser beams to form a matrix pattern. It is usually used to indicate, project or display information. It forms a two-dimensional or three-dimensional matrix pattern by controlling the switching and intensity of multiple laser beams.

[0100] The coordinates of the obstacle intruding the vehicle are sent to the matrix laser indicator, which can adjust the irradiation angle of the laser beam according to the received obstacle coordinates to illuminate the intruding part. At the same time, the coordinates of the intruding part are sent to the vehicle's instrument or HUD, which highlights the corresponding intruding part in the constructed surrounding environment map to remind the driver of the potential collision risk.

[0101] Through the above method, the controller can send the coordinates of the part of the obstacle that intrudes into the vehicle to the matrix laser pointer and the instrument or HUD. The matrix laser pointer illuminates the intruding part by adjusting the illumination angle, while the instrument or HUD highlights the corresponding intruding part in the constructed surrounding environment map. This information not only improves the driver's perception of potential collision risks, but also provides key decision-making basis for the autonomous driving system, thereby improving driving safety.

[0102] Reference Figure 5 , shows a schematic top view of a matrix laser pointer indicating a collision portion provided by an embodiment of the present invention, as follows:

[0103] When it is determined that an object in the surrounding environment will intrude into the vehicle and a collision will occur at the current turning angle, the matrix laser indicator installed in the vehicle's exterior rearview mirror will adjust the irradiation angle of the laser beam 2 to illuminate the intruding part 1, alerting the driver to the potential risk of collision.

[0104] Reference Figure 6 , and also shows a rear view schematic diagram of a matrix laser indicator indicating a collision portion provided by an embodiment of the present invention, as follows:

[0105] When it is determined that an object in the surrounding environment will intrude into the vehicle and a collision will occur at the current turning angle, the matrix laser indicator installed on the exterior rearview mirror 2 of the vehicle 1 will adjust the angle of the laser beam 4 to illuminate the intruding part 3, alerting the driver to the potential risk of collision.

[0106] In an embodiment of the present invention, by acquiring the surrounding environment information of the vehicle and the steering wheel angle value of the vehicle, a surrounding environment map is constructed and displayed in a three-dimensional graphic on the instrument or head-up display of the vehicle according to the surrounding environment information, the trajectory of the vehicle is determined by the steering wheel angle value, the trajectory of the vehicle is traversed, and the objects overlapping with the vehicle are determined in the surrounding environment map as obstacles invading the vehicle, and the information of the obstacle is sent to the laser indicator for indicating the obstacle and the instrument or head-up display for displaying the obstacle installed in the vehicle; wherein the laser indicator is used to adjust the irradiation angle and indicate the obstacle according to the information of the obstacle, and the instrument or head-up display is used to highlight the obstacle in the surrounding environment map according to the information of the obstacle. The embodiment of the present invention can reconstruct the environment, display the obstacle that is about to invade the vehicle on the display device such as the instrument or head-up display, which is more intelligent; directly indicate the obstacle with collision risk and its invading part, not limited to the ground, the prompt is more intuitive and clear, and can indicate before the obstacle invasion occurs, and can change the driving strategy in advance to avoid risks.

[0107] In an optional embodiment of the present invention, before step 101, the following steps are also included:

[0108] S1, establishing a three-dimensional space coordinate system with the center of the rear axle of the vehicle as the origin, and determining the coordinates of key points on the outer contour of the vehicle.

[0109] Specifically, a three-dimensional space coordinate system is established with the center of the rear axle of the vehicle as the coordinate origin. In the three-dimensional space coordinate system, the vehicle's forward direction is the positive direction of the X axis, the left side of the vehicle is the positive direction of the Y axis, and the vertical upward direction is the positive direction of the Z axis.

[0110] In this three-dimensional space coordinate system, determine the coordinates of all key points on the vehicle's outer contour, such as the four corner points of the front and rear bumpers, the installation positions of the left and right rearview mirrors, the four corner points of the vehicle chassis and the coordinates of other key structural points, and write the coordinates of these key points into the controller in advance for calling when needed.

[0111] S2, determining the wheelbase of the vehicle; the wheelbase is the distance between the axles of the front and rear wheels of the vehicle.

[0112] The wheelbase of a vehicle is an important parameter in vehicle design, affecting the vehicle's handling, stability and interior space. Different types of vehicles choose different wheelbases according to their purpose and design goals.

[0113] Specifically, the wheelbase of a vehicle refers to the horizontal distance between the center of the front and rear axles of the vehicle. Usually, the wheelbase is the straight-line distance from the center of the front axle to the center of the rear axle. The wheelbase of a vehicle can be obtained by parking the vehicle on a level surface, ensuring that the vehicle is stationary, and measuring the horizontal distance from the center of the front axle to the center of the rear axle.

[0114] The vehicle wheelbase is pre-written into the vehicle controller and called when needed.

[0115] In an optional embodiment of the present invention, step 102 further includes the following sub-steps:

[0116] S1021, converting the surrounding environment information into a three-dimensional space coordinate system, and calculating the position relationship between each object in the surrounding environment information and the vehicle.

[0117] Specifically, first, the controller converts the surrounding environment data collected by the sensor into a three-dimensional space coordinate system established with the center of the rear axle of the vehicle as the origin through translation transformation and rotation transformation.

[0118] Assume that the position of the object in the surrounding environment in the global coordinate system is (x g ,y g ,z g ), the position of the vehicle's rear axle center in the global coordinate system is (x v ,y v ,z v ), the position converted to the vehicle's three-dimensional space coordinate system is (x ov ,y ov ,z ov ), then the translation transformation formula is:

[0119] x ov =x g -x v

[0120] y ov =y g -y v

[0121] z ov =z g -z v

[0122] Assume that the vehicle's heading angle in the global coordinate system is a (rotation around the Z axis), the pitch angle is b (rotation around the Y axis), and the roll angle is c (rotation around the X axis).

[0123] The rotation transformation formula is:

[0124]

[0125] The rotation matrix R a , R b , R c They are:

[0126]

[0127]

[0128] After the conversion, the positional relationship between the objects in the surrounding environment and the vehicle can be calculated based on the position of each object in the three-dimensional space coordinate system in the surrounding environment information.

[0129] S1022: construct a three-dimensional surrounding environment map using three-dimensional graphics according to the positional relationship.

[0130] Specifically, based on the surrounding environment data collected by the sensor and the calculated relative position and distance information, a surrounding environment map is constructed in a three-dimensional graphic in a three-dimensional space coordinate system with the center of the rear axle of the vehicle as the origin.

[0131] S1023: Display the three-dimensional surrounding environment map in the instrument or head-up display.

[0132] Specifically, displaying a surrounding environment map on a vehicle's instrument panel or HUD (Head Up Display) can help the driver intuitively understand the surrounding environment.

[0133] In an optional embodiment of the present invention, S1021 further includes the following sub-steps:

[0134] S1021-1, calculating the relative position and distance between each object in the surrounding environment information and the vehicle according to the position of each object in the three-dimensional space coordinate system.

[0135] Specifically, in a three-dimensional space coordinate system with the center of the rear axle of the vehicle as the origin, the relative position of each object in the surrounding environment is calculated, assuming that the position vector of the object is P = (x, y, z), where x is the distance of the object in front of (or behind) the vehicle, y is the distance of the object on the left (or right) side of the vehicle, and z is the distance of the object above (or below) the vehicle. The relative position of the object can be calculated by the following formula:

[0136] P rel =PP vehicle

[0137] Among them, P rel It represents the relative position of objects in the surrounding environment in the three-dimensional space coordinate system with the center of the rear axle of the vehicle as the origin. P represents the position vector of the objects in the surrounding environment. vehicle is the vehicle's position vector, usually the zero vector.

[0138] The relative distance between objects in the surrounding environment and the vehicle can be calculated using the following formula:

[0139]

[0140] Where d is the distance between the object and the vehicle.

[0141] In an optional embodiment of the present invention, step 103 further includes the following sub-steps:

[0142] S1031, converting the steering wheel angle value into a steering angle of the front wheels of the vehicle.

[0143] Specifically, the current steering wheel angle value θ is obtained through the steering wheel sensor, and there is a fixed transmission ratio G between the steering wheel angle and the front wheel steering angle. The front wheel steering angle δ can be expressed as:

[0144]

[0145] The specific value of the transmission ratio depends on the design of the steering system and is usually between 12:1 and 20:1.

[0146] S1032: Determine the turning radius of the vehicle according to the steering angle and wheelbase of the front wheels.

[0147] Specifically, the relationship between the turning radius R, the front wheel steering angle δ and the wheelbase L is:

[0148]

[0149] Where L is the wheelbase pre-written in the controller and tan(δ) is the tangent of the steering angle.

[0150] S1033: Calculate the trajectory of the vehicle according to the turning radius of the vehicle.

[0151] Specifically, in the plane, the trajectory of the vehicle when turning can be approximated as an arc. Assuming the initial position of the vehicle is (x0, y0, z0) and the initial heading angle is φ0, the position (x, y, z) of the vehicle after time t can be expressed as:

[0152] x(t)=x0+Rsin(φ0+wt)

[0153] y(t)=y0+Rsin(φ0+wt)

[0154] z(t)=z0+Rsin(φ0+wt)

[0155] Among them, w is the angular velocity of the vehicle, which is obtained by dividing the vehicle speed by the turning radius; the heading angle refers to the angular difference between the vehicle's forward direction and the vehicle's longitudinal axis, that is, the angle between the vehicle's front wheel steering angle and the vehicle's driving direction.

[0156] In an optional embodiment of the present invention, step 104 further includes the following sub-steps:

[0157] S1041, traversing the trajectory of the vehicle in chronological order to determine the position coordinates of the vehicle at different time points; the position coordinates of the vehicle are the coordinates of key points on the outer contour of the vehicle.

[0158] Specifically, the trajectory of the vehicle is traversed in time order. In order to traverse the trajectory of the vehicle, a time step Δt needs to be set. In each time step, the position (x(t), y(t), z(t)) and heading angle φ(t) of the vehicle are calculated:

[0159] x(t+Δt)=x(t)+Rsin(φ(t)+wΔt)

[0160] y(t+Δt)=y(t)+Rsin(φ(t)+wΔt)

[0161] z(t+Δt)=z(t)+Rsin(φ(t)+wΔt)

[0162] φ(t+Δt)=φ(t)+wΔt

[0163] S1042: At any time point, determine whether the coordinates of the object in the surrounding environment map overlap with the coordinates of the key points on the outer contour of the vehicle.

[0164] Specifically, within each time step, check whether the vehicle's position coordinates (x(t), y(t), z(t)) overlap with the coordinates of objects in the surrounding environment.

[0165] S1043, when the coordinates of an object in the surrounding environment map overlap with the coordinates of a key point on the outer contour of the vehicle, the coordinates of the object in the surrounding environment map that overlap with the coordinates of the key point on the outer contour of the vehicle are determined as the coordinates of an obstacle that invades the vehicle.

[0166] Specifically, if the coordinates of the vehicle body overlap with the coordinates of objects in the surrounding environment, it is considered that the objects in the surrounding environment will invade the vehicle at the current turning corner, and a collision will occur at the current turning corner. After the overlap is detected, the coordinates of the object in the surrounding environment that overlap with the vehicle body coordinates are determined as the coordinates of the obstacle that invades the vehicle, and the partial coordinates of the obstacle that invades the vehicle are extracted. These coordinates represent the specific location where the obstacle overlaps with the vehicle.

[0167] In an optional embodiment of the present invention, step 105 may further include the following steps:

[0168] S1051, sending the coordinates of the obstacle invading the vehicle to the laser pointer and the instrument or head-up display; wherein the laser pointer is used to adjust the illumination angle according to the received obstacle coordinates and illuminate the obstacle; the instrument or head-up display is used to highlight the obstacle in the surrounding environment map according to the received obstacle coordinates.

[0169] Specifically, the laser pointer is a matrix laser pointer, which is installed on the vehicle's exterior rearview mirror.

[0170] The coordinates of the obstacle intruding the vehicle are sent to the matrix laser indicator, which can adjust the irradiation angle of the laser beam according to the received obstacle coordinates to illuminate the intruding part. At the same time, the coordinates of the intruding part are sent to the vehicle's instrument or HUD, which highlights the corresponding intruding part in the constructed surrounding environment map to remind the driver of the potential collision risk.

[0171] Through the above-mentioned invention embodiments, by projecting the outer contour of the vehicle onto the three-dimensional space coordinate system of the vehicle, the judgment of obstacle intrusion is more accurate and comprehensive, and the matrix laser indicator can directly indicate obstacles with collision risks and their intruding parts without being restricted by the ground. The prompts are more intuitive and clear, and can indicate before the obstacle invades, so as to change the driving strategy in advance and avoid risks.

[0172] Reference Figure 2 , shows a component architecture diagram provided by an embodiment of the present invention, which is as follows:

[0173] The controller installed in the vehicle can receive surrounding environment data from the steering wheel angle sensor, camera, lidar and ultrasonic radar. After processing the received surrounding environment data, the controller sends the obtained obstacle coordinates to the matrix laser indicator and the instrument or head-up display. After the matrix laser indicator receives the obstacle coordinates from the controller, it illuminates the corresponding obstacle by adjusting the illumination angle. After receiving the coordinates, the instrument or head-up display highlights the corresponding obstacle in the surrounding environment map constructed previously.

[0174] Reference Figure 7 , showing a schematic structural diagram of an obstacle indication device provided by an embodiment of the present invention, the device comprising:

[0175] The data acquisition module 201 is used to acquire the surrounding environment information of the vehicle and the steering wheel angle value of the vehicle;

[0176] A surrounding environment map construction and display module 202, for constructing and displaying a surrounding environment map in a three-dimensional graphic on a meter or a head-up display of the vehicle according to the surrounding environment information;

[0177] A trajectory determination module 203, configured to determine the trajectory of the vehicle according to the steering wheel angle value;

[0178] An obstacle determination module 204 is used to traverse the trajectory of the vehicle and determine objects overlapping with the vehicle in the surrounding environment map as obstacles invading the vehicle;

[0179] The obstacle indication module 205 is used to send the obstacle information to a laser indicator for indicating the obstacle and an instrument or head-up display for displaying the obstacle installed in the vehicle; wherein the laser indicator is used to adjust the illumination angle according to the obstacle information and indicate the obstacle, and the instrument or head-up display is used to highlight the obstacle in the surrounding environment map according to the obstacle information.

[0180] In an optional embodiment of the present invention, before the data acquisition module 201, it includes:

[0181] A coordinate system establishment module, used to establish a three-dimensional space coordinate system with the center of the rear axle of the vehicle as the origin, and determine the coordinates of key points on the outer contour of the vehicle;

[0182] The wheelbase determination module is used to determine the wheelbase of the vehicle; the wheelbase is the distance between the axles of the front and rear wheels of the vehicle.

[0183] In an optional embodiment of the present invention, the surrounding environment map construction and display module 202 includes:

[0184] A position relationship calculation module, used to convert the surrounding environment information into a three-dimensional space coordinate system and calculate the position relationship between each object in the surrounding environment information and the vehicle;

[0185] A surrounding environment map construction module, used to construct a three-dimensional surrounding environment map in three-dimensional graphics according to the position relationship;

[0186] A display module is used to display the three-dimensional surrounding environment map in the instrument or head-up display.

[0187] In an optional embodiment of the present invention, the position relationship calculation module includes:

[0188] The position and distance calculation module is used to calculate the relative position and distance between each object in the surrounding environment information and the vehicle according to the position of each object in the three-dimensional space coordinate system.

[0189] In an optional embodiment of the present invention, the trajectory determination module 203 includes:

[0190] An angle conversion module, used to convert the steering wheel angle value into a steering angle of the front wheels of the vehicle;

[0191] A turning radius determination module, used to determine the turning radius of the vehicle according to the steering angle and wheelbase of the front wheels;

[0192] A trajectory calculation module is used to calculate the trajectory of the vehicle according to the turning radius of the vehicle.

[0193] In an optional embodiment of the present invention, the obstacle determination module 204 includes:

[0194] A trajectory traversal module, used to traverse the trajectory of the vehicle in chronological order to determine the position coordinates of the vehicle at different time points; the position coordinates of the vehicle are the coordinates of key points on the outer contour of the vehicle;

[0195] A judgment module, used for judging, at any time point, whether the coordinates of the object in the surrounding environment map overlap with the coordinates of the key points on the outer contour of the vehicle;

[0196] A coordinate determination module is used to determine the coordinates of the object in the surrounding environment map that overlap with the key point coordinates on the vehicle outer contour as the coordinates of the obstacle invading the vehicle when the coordinates of the object in the surrounding environment map overlap with the key point coordinates on the vehicle outer contour.

[0197] In an embodiment of the present invention, by acquiring the surrounding environment information of the vehicle and the steering wheel angle value of the vehicle, a surrounding environment map is constructed and displayed in a three-dimensional graphic on the instrument or head-up display of the vehicle according to the surrounding environment information, the trajectory of the vehicle is determined by the steering wheel angle value, the trajectory of the vehicle is traversed, and the objects overlapping with the vehicle are determined in the surrounding environment map as obstacles invading the vehicle, and the information of the obstacle is sent to the laser indicator for indicating the obstacle and the instrument or head-up display for displaying the obstacle installed in the vehicle; wherein the laser indicator is used to adjust the irradiation angle and indicate the obstacle according to the information of the obstacle, and the instrument or head-up display is used to highlight the obstacle in the surrounding environment map according to the information of the obstacle. The embodiment of the present invention can reconstruct the environment, display the obstacle that is about to invade the vehicle on the display device such as the instrument or head-up display, which is more intelligent; directly indicate the obstacle with collision risk and its invading part, not limited to the ground, the prompt is more intuitive and clear, and can indicate before the obstacle invasion occurs, and can change the driving strategy in advance to avoid risks.

[0198] An embodiment of the present invention further provides a vehicle, comprising a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the obstacle indication method as described above when executed by the processor.

[0199] The memory may include a random access memory (RAM) or a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0200] The processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0201] An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the obstacle indication method as described above is implemented.

[0202] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0203] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk Solid State Disk (SSD)), etc.

[0204] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0205] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0206] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A method for indicating an obstacle, characterized in that: The method comprises: Acquiring surrounding environment information of the vehicle and a steering wheel angle value of the vehicle; constructing and displaying a surrounding environment map in a three-dimensional graphic on an instrument panel or a head-up display of the vehicle according to the surrounding environment information; Determining the trajectory of the vehicle by means of the steering wheel angle value; Traversing the trajectory of the vehicle, and determining objects overlapping with the vehicle in the surrounding environment map as obstacles invading the vehicle; The information of the obstacle is sent to a laser indicator for indicating the obstacle and an instrument or head-up display for displaying the obstacle installed in the vehicle; wherein the laser indicator is used to adjust the illumination angle and indicate the obstacle according to the information of the obstacle, and the instrument or head-up display is used to highlight the obstacle in the surrounding environment map according to the information of the obstacle.

2. The method according to claim 1, characterized in that Before obtaining the surrounding environment information of the vehicle and the steering wheel angle value of the vehicle, the method includes: Establishing a three-dimensional space coordinate system with the center of the rear axle of the vehicle as the origin, and determining the coordinates of key points on the outer contour of the vehicle; Determine the wheelbase of the vehicle; the wheelbase is the distance between the axles of the front and rear wheels of the vehicle.

3. The method according to claim 1 or 2, characterized in that: The method of constructing and displaying a surrounding environment map in a three-dimensional graphic on a meter or a head-up display of the vehicle according to the surrounding environment information includes: Converting the surrounding environment information into a three-dimensional space coordinate system, and calculating the positional relationship between each object in the surrounding environment information and the vehicle; Constructing a three-dimensional surrounding environment map with three-dimensional graphics according to the positional relationship; The three-dimensional surrounding environment image is displayed in the instrument or head-up display.

4. The method according to claim 3, characterized in that: The converting the surrounding environment information into a three-dimensional space coordinate system and calculating the positional relationship between each object in the surrounding environment information and the vehicle includes: According to the position of each object in the surrounding environment information in the three-dimensional space coordinate system, the relative position and distance between each object in the surrounding environment information and the vehicle are calculated.

5. The method according to claim 1 or 2, characterized in that: Determining the trajectory of the vehicle by using the steering wheel angle value includes: Converting the steering wheel angle value into a steering angle of the front wheels of the vehicle; Determining a turning radius of the vehicle according to a steering angle and a wheelbase of the front wheels; The trajectory of the vehicle is calculated based on the turning radius of the vehicle.

6. The method according to claim 1, characterized in that The traversing the trajectory of the vehicle and determining in the surrounding environment map an object overlapping with the vehicle as an obstacle invading the vehicle includes: Traversing the trajectory of the vehicle in chronological order to determine the position coordinates of the vehicle at different time points; the position coordinates of the vehicle are the coordinates of key points on the outer contour of the vehicle; At any time point, determining whether the coordinates of an object in the surrounding environment map overlap with the coordinates of a key point on the outer contour of the vehicle; When the coordinates of an object in the surrounding environment map overlap with the coordinates of a key point on the outer contour of the vehicle, the coordinates of the object in the surrounding environment map that overlap with the coordinates of the key point on the outer contour of the vehicle are determined as the coordinates of an obstacle invading the vehicle.

7. The method according to claim 1 or 6, characterized in that: The step of sending the obstacle information to a laser indicator for indicating the obstacle and an instrument or a head-up display for displaying the obstacle installed on the vehicle includes: The coordinates of the obstacle invading the vehicle are sent to the laser pointer and the instrument or head-up display; wherein the laser pointer is used to adjust the illumination angle according to the received obstacle coordinates and illuminate the obstacle; the instrument or head-up display is used to highlight the obstacle in the surrounding environment map according to the received obstacle coordinates.

8. An obstacle indication device, characterized in that: The device comprises: A data acquisition module, used to acquire the surrounding environment information of the vehicle and the steering wheel angle value of the vehicle; A surrounding environment map construction and display module, used to construct and display a surrounding environment map in a three-dimensional graphic on an instrument or a head-up display of the vehicle according to the surrounding environment information; A trajectory determination module, used to determine the trajectory of the vehicle according to the steering wheel angle value; An obstacle determination module, configured to traverse the trajectory of the vehicle and determine objects overlapping with the vehicle in the surrounding environment map as obstacles intruding into the vehicle; An obstacle indication module is used to send the information of the obstacle to a laser indicator for indicating the obstacle and an instrument or head-up display for displaying the obstacle installed in the vehicle; wherein the laser indicator is used to adjust the illumination angle and indicate the obstacle according to the information of the obstacle, and the instrument or head-up display is used to highlight the obstacle in the surrounding environment map according to the information of the obstacle.

9. A vehicle, characterized in that: The invention comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the obstacle indication method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the obstacle indication method according to any one of claims 1 to 7 is implemented.

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