An obstacle indication method and device, vehicle and medium

Abstract

Embodiments of the present application provide an obstacle indication method and device, a vehicle and a medium. The method comprises: obtaining surrounding environment information of the vehicle and a steering wheel angle value of the vehicle; constructing and displaying a surrounding environment graph in three-dimensional graphics on an instrument or a head-up display of the vehicle according to the surrounding environment information; determining a trajectory of the vehicle according to the steering wheel angle value; traversing the trajectory of the vehicle; determining an object overlapping with the vehicle in the surrounding environment graph as an obstacle invading the vehicle; and sending information of the obstacle to a laser pointer installed on the vehicle for indicating the obstacle and an instrument or a head-up display for displaying the obstacle. According to the embodiments of the present application, the obstacle and the invading part thereof at risk of collision can be directly indicated, and the indication is not limited to the ground, and is more intuitive and explicit.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of assisted driving, and in particular to a method and device for indicating obstacles, a vehicle and a medium. BACKGROUND

[0002] With the progress 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 the safety of the vehicle. Related technologies can determine the distance between the vehicle and the surrounding obstacles when the vehicle actually reaches the current irradiation point by observing the distance between the irradiation point of the laser emitter on the ground and the surrounding obstacles, and then take corresponding measures to avoid collision. However, the related technology can only irradiate 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 of the vehicle and obstacles in space. SUMMARY

[0003] In view of the above problems, the present application aims to provide a method and device for indicating obstacles, a vehicle and a medium to solve the problem that current technology can only indicate vehicle driving by projecting the future trajectory of the vehicle onto a two-dimensional ground, and cannot indicate the collision risk of the vehicle in three-dimensional space.

[0004] According to a first aspect of the present application, a method for indicating obstacles is provided, characterized in that the method comprises:

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

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

[0007] determining a trajectory of the vehicle by the steering wheel angle value;

[0008] traversing the trajectory of the vehicle to determine objects overlapping with the vehicle in the surrounding environment graph as obstacles invading the vehicle;

[0009] sending information of the obstacles to a laser indicator installed on the vehicle for indicating the obstacles and an instrument or head-up display for displaying the obstacles; wherein the laser indicator is used to adjust the irradiation angle according to the information of the obstacles and indicate the obstacles, and the instrument or head-up display is used to highlight display the obstacles in the surrounding environment graph according to the information of the obstacles.

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

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

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

[0013] Optionally, the constructing and displaying a surrounding environment graph in a three-dimensional graph on the instrument or head-up display of the vehicle according to the surrounding environment information comprises:

[0014] converting the surrounding environment information into the three-dimensional 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 graph according to the positional relationship;

[0016] displaying the three-dimensional surrounding environment graph in the instrument or head-up display.

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

[0018] 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 surrounding environment information in the three-dimensional coordinate system.

[0019] Optionally, the determining the trajectory of the vehicle through the steering wheel angle value comprises:

[0020] converting the steering wheel angle value into the steering angle of the front wheel of the vehicle;

[0021] determining the turning radius of the vehicle according to the steering angle of the front wheel and the wheelbase;

[0022] calculating the trajectory of the vehicle according to the turning radius of the vehicle.

[0023] Optionally, the traversing the trajectory of the vehicle, and determining the objects overlapping with the vehicle in the surrounding environment graph as the obstacles invading the vehicle comprises:

[0024] traversing the trajectory of the vehicle in time sequence, and determining the position coordinates of the vehicle at different time points; the position coordinates of the vehicle are the coordinates of the key points on the outer contour of the vehicle;

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

[0026] in a case where the coordinates of the object in the surrounding environment map overlap with the coordinates of the key points on the vehicle outer contour, determining the coordinates of the object in the surrounding environment map that overlap with the coordinates of the key points on the vehicle outer contour as the obstacle coordinates intruding into the vehicle.

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

[0028] sending the obstacle coordinates intruding into the vehicle to the laser pointer and the instrument or head-up display; wherein the laser pointer is used to adjust the irradiation angle according to the received obstacle coordinates and irradiate the obstacle; and 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 application, there is also provided an obstacle indicating device, characterized in that the device comprises:

[0030] a data acquisition module for acquiring surrounding environment information of a vehicle and a steering wheel angle value of the vehicle;

[0031] a surrounding environment map construction and display module for constructing and displaying a surrounding environment map in a three-dimensional graph on an instrument or head-up display of the vehicle according to the surrounding environment information;

[0032] a trajectory determination module for determining a trajectory of the vehicle through the steering wheel angle value;

[0033] an obstacle determination module for traversing the trajectory of the vehicle and determining an object overlapping with the vehicle in the surrounding environment map as an obstacle intruding into the vehicle;

[0034] an obstacle indicating module for sending information of the obstacle 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 irradiation angle according to the information of the obstacle 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 information of the obstacle.

[0035] According to a third aspect of the present application, there is further provided a vehicle comprising a processor, a memory, and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the method for indicating obstacles as described above.

[0036] According to a fourth aspect of the present application, there is further provided a computer readable storage medium, the computer readable storage medium storing a computer program, the computer program, when executed by a processor, implementing the method for indicating obstacles as described above.

[0037] The method for indicating obstacles provided by the embodiments of the present application can reconstruct the environment, display the obstacles that are about to intrude into the vehicle on the display device such as the instrument or the head-up display, and is more intelligent. The obstacles that have the risk of collision and the intrusion part thereof are directly indicated, and are not limited to the ground. The indication is more intuitive and explicit, and can be performed before the obstacles intrude, so that the driving strategy can be changed in advance to avoid the risk.

[0038] The above description is only a summary of the technical solutions of the present application. In order to make the technical means of the present application more clearly understood, the embodiments of the present application can be implemented according to the content of the description, and in order to make the above and other purposes, characteristics and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application are described below. BRIEF DESCRIPTION OF DRAWINGS

[0039] Various other advantages and benefits will become apparent to those of ordinary skill in the art, upon reading the following detailed description of the preferred embodiments. The accompanying drawings are intended to depict only preferred embodiments of the application, and therefore should not be considered to narrow the scope of the present application in any way. Similarly, it should be appreciated that where considered useful to control or modify the present application, the functions of the preferred embodiments can be combined or interchanged, and / or further described in other patents, both domestic and foreign.

[0040] Figure 1 FIG. 1 is a step flow chart of a method for indicating obstacles according to an embodiment of the present application;

[0041] Figure 2 FIG. 2 is a component architecture diagram according to an embodiment of the present application;

[0042] Figure 3 is a schematic diagram of a sensor and a matrix laser pointer arrangement provided by an embodiment of the present application;

[0043] Figure 4 is a schematic diagram of a vehicle trajectory provided by an embodiment of the present application;

[0044] Figure 5 is a schematic diagram of a matrix laser pointer indicating a collision portion provided by an embodiment of the present application;

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

[0046] Figure 7 is a schematic diagram of a structure of an obstacle indicating device provided by an embodiment of the present application. DETAILED DESCRIPTION

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

[0048] Referring to Figure 1 , a step flowchart of an obstacle indicating method provided by an embodiment of the present application is shown, which can specifically include the following steps:

[0049] In step 101, the surrounding environment information of a vehicle and a steering wheel angle value of the vehicle are acquired.

[0050] In order to perform accurate environment perception and obstacle detection, the geometric parameters of the vehicle and the sensor installation positions need to be defined in advance.

[0051] A three-dimensional space coordinate system is established with the center of the rear axle of the vehicle as the coordinate origin, and the related parameters are written into the controller in advance. In the three-dimensional space coordinate system, the forward direction of the vehicle 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 outer contour are written into the controller in advance, and the key points can include the coordinates of the four corner points of the front and rear bumpers, the mounting positions of the left and right rearview mirrors, the four corner points of the vehicle chassis, and the coordinates of other key structure points. Meanwhile, the mounting position coordinates of the matrix laser pointer on the vehicle body are also written into the controller in advance.

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

[0054] When the vehicle passes through an area with obstacles, the surrounding environment of the vehicle is sensed in real time through the vehicle-mounted sensors installed on the vehicle. Among them, the vehicle-mounted sensors such as cameras, ultrasonic radars, laser radars can be used to sense the surrounding environment, which is not limited in the present application.

[0055] The steering wheel angle sensor can be used to monitor the steering wheel angle in real time to assist in determining the driving direction and trajectory of the vehicle.

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

[0057] Taking the camera, ultrasonic radar and laser radar as an example, the camera can recognize lane lines, traffic signs, pedestrians, vehicles and other targets, provide two-dimensional image information of the targets, and can provide image coordinates, categories, confidence of objects in the surrounding environment; the ultrasonic radar can detect close-range obstacles, such as obstacles when parking, and can provide distance, azimuth angle, etc. of objects in the surrounding environment; the laser radar can provide high-precision three-dimensional environment modeling, and provide accurate position, size and shape information of obstacles.

[0058] The controller can receive raw data from the camera, ultrasonic radar and laser radar, and then use sensor fusion algorithms to fuse the data of different sensors to obtain more comprehensive surrounding environment sensing information; further filtering, denoising and calibration can be performed on the fused data to eliminate sensor noise and errors. Among them, the sensor fusion algorithm can use weighted average method, Kalman filter, particle filter, etc., and the appropriate algorithm can be selected according to actual needs, which is not limited in the present application.

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

[0060] Referring to Figure 3 , a sensor and matrix laser pointer arrangement schematic diagram provided by an embodiment of the present application is shown, which is as follows:

[0061] The matrix laser pointer 2 is installed on the vehicle outside rearview mirror 1, the camera 3 and the laser radar 4 are installed on the vehicle body.

[0062] The matrix laser pointer 2 installed on the vehicle outside rearview mirror 1 can cover the blind area on both sides of the vehicle.

[0063] In step 102, the surrounding environment graph is constructed and displayed on the instrument or head-up display of the vehicle in three-dimensional graphics 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, assuming that the position vector of the object is P=(x, y, z), wherein 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 =P-P vehicle

[0066] Wherein, P rel represents the relative position of the object 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 object in the surrounding environment, and P vehicle is the position vector of the vehicle, which is usually a zero vector.

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

[0068]

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

[0070] According to the surrounding environment data collected by the sensor and the relative position and distance information calculated, the surrounding environment graph is constructed in three-dimensional graphics in the three-dimensional space coordinate system with the center of the rear axle of the vehicle as the origin.

[0071] The surrounding environment graph is displayed on the instrument or HUD (Head Up Display, head-up display) of the vehicle, which can help the driver intuitively understand the surrounding environment.

[0072] It should be noted that other ways can be used to determine the position relationship between the object in the surrounding environment and the vehicle, and the present application does not limit the same.

[0073] In step 103, the trajectory of the vehicle is determined by the steering wheel angle value.

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

[0075] Generally, there is a fixed transmission ratio between the steering wheel angle and the front wheel steering angle. Let the steering wheel angle be θ and the transmission ratio be G, then the front wheel steering angle δ can be represented as:

[0076]

[0077] 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 and the front wheel steering angle δ and the wheelbase L is:

[0079]

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

[0081] In the plane, the trajectory of the vehicle when turning can be approximated as a circular arc. Let the initial position of the vehicle be (x0, y0, z0) and the initial heading angle be φ0, then the position of the vehicle at time t (x(t), y(t), z(t)) can be represented as:

[0082] x(t) = x0 + R sin(φ0 + wt)

[0083] y(t) = y0 + R sin(φ0 + wt)

[0084] z(t) = z0 + R sin(φ0 + wt)

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

[0086] It should be noted that the trajectory of the vehicle can also be calculated in other ways, which is not limited in the present application.

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

[0088] The trajectory of the vehicle is traversed in chronological order. In order to traverse the trajectory of the vehicle, a time step Δt needs to be set. In each time step, the position of the vehicle (x(t), y(t), z(t)) and the 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] As described above, objects in the surrounding environment have been transformed into a three-dimensional spatial coordinate system with the rear axle center of the vehicle as the origin. At each time step, it is checked whether the vehicle's position coordinates (x(t), y(t), z(t)) overlap with the coordinates of objects in the surrounding environment. The vehicle's position coordinates can be the coordinates of key points on the vehicle's outer contour.

[0094] If the vehicle's coordinates overlap with the coordinates of objects in the surrounding environment, it is considered that the objects in the surrounding environment will intrude into the vehicle at the current turning angle, and a collision will occur at the current turning angle. After detecting the overlap, the coordinates of the objects in the surrounding environment that overlap with the vehicle's coordinates are determined as the coordinates of the obstacles intruding into the vehicle. The partial coordinates of the obstacles intruding into the vehicle are extracted, and these coordinates represent the specific location where the obstacles and the vehicle overlap.

[0095] Reference Figure 4 The diagram shows a top view of a vehicle trajectory according to an embodiment of the present invention, as detailed below:

[0096] During the vehicle's journey, by calculating and traversing the vehicle's trajectory, it is possible to anticipate potential collisions with objects in the surrounding environment. This enhances the driver's perception of the vehicle's path and provides crucial path planning and driving decision-making support for the autonomous driving system, thereby improving driving safety.

[0097] Step 105: Send the information of the obstacle to a laser pointer installed on the vehicle for indicating the obstacle and an instrument panel 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 information of the obstacle, and the instrument panel or head-up display is used to highlight the obstacle in the surrounding environment map according to the information of the obstacle.

[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 forms a matrix pattern using multiple laser beams, commonly used for indicating, projecting or displaying information, by controlling the switching and intensity of multiple laser beams to form a two-dimensional or three-dimensional matrix pattern.

[0100] The coordinates of the intruding obstacle are sent to the matrix laser pointer, which can adjust the irradiation angle of the laser beams 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 instrument or HUD of the vehicle, and the instrument or HUD 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 intruded by the obstacle to the matrix laser pointer and the instrument or HUD. The matrix laser pointer illuminates the intruding part by adjusting the irradiation angle, while the instrument or HUD highlights the corresponding intruding part in the constructed surrounding environment map. These information not only improves the driver's perception of potential collision risk, but also provides key decision basis for automatic driving system, thereby improving driving safety.

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

[0103] When it is determined that the object in the surrounding environment will intrude the vehicle and a collision will occur at the current corner, the matrix laser pointer installed on the outside rearview mirror of the vehicle adjusts the irradiation angle of the laser beam 2 to illuminate the intruding part 1, reminding the driver of the potential collision risk.

[0104] Reference Figure 6 also shows the rear view schematic diagram of the matrix laser pointer indicating the collision part provided by an embodiment of the present application, as follows:

[0105] When it is determined that the object in the surrounding environment will intrude the vehicle and a collision will occur at the current corner, the matrix laser pointer installed on the outside rearview mirror 2 of the vehicle 1 adjusts the angle of the laser beam 4 to illuminate the intruding part 3, reminding the driver of the potential collision risk.

[0106] In the embodiment of the present application, by acquiring the surrounding environment information of the vehicle and the steering wheel angle value of the vehicle, the surrounding environment graph is constructed and displayed on the instrument or head-up display of the vehicle in three-dimensional graphics 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, the object overlapping with the vehicle in the surrounding environment graph is determined as the obstacle invading the vehicle, and the information of the obstacle is sent to the laser pointer installed on the vehicle for indicating the obstacle and the instrument or head-up display for displaying the obstacle; wherein the laser pointer 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 display the obstacle in the surrounding environment graph according to the information of the obstacle. The embodiment of the present application can reconstruct the environment, display the obstacle invading the vehicle on the display device such as the instrument or head-up display, and is more intelligent; the obstacle with collision risk and the invading part thereof are directly indicated, which is not limited to the ground, the prompt is more intuitive and clear, and the indication can be performed before the obstacle invades, so that the driving strategy can be changed in advance to avoid risks.

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

[0108] S1. 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 the 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 forward direction of the vehicle 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, the coordinates of all key points on the outer contour of the vehicle are determined, such as the coordinates of the four corner points of the front and rear bumpers, the mounting positions of the left and right rearview mirrors, the four corner points of the vehicle chassis and other key structural points, and these coordinates of the key points are pre-written into the controller for calling when needed.

[0111] S2. Determine the wheelbase of the vehicle; the wheelbase is the distance between the centers of the front and rear wheels of the vehicle.

[0112] The wheelbase of the vehicle is an important parameter in vehicle design, which affects the handling, stability and internal space of the vehicle. Different types of vehicles select different wheelbases according to their purposes and design goals.

[0113] Specifically, the wheelbase of the vehicle refers to the horizontal distance between the centers of the front and rear wheels. Usually, the wheelbase is the straight-line distance from the center of the front wheel to the center of the rear wheel. The vehicle can be parked on a horizontal ground to ensure that the vehicle is in a stationary state, and then the horizontal distance from the center of the front wheel to the center of the rear wheel is measured to obtain the wheelbase of the vehicle.

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

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

[0116] S1021, convert the surrounding environment information into a three-dimensional space coordinate system, and calculate the positional 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] Suppose 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 center of the rear axle of the vehicle in the global coordinate system is (x v ,y v ,z v ), and the position in the three-dimensional space coordinate system of the vehicle is (x ov ,y ov ,z ov ), 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] Suppose the heading angle of the vehicle 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] where the rotation matrix R a , R b , R c are respectively:

[0126]

[0127]

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

[0129] S1022, constructing a three-dimensional surrounding environment map in three-dimensional graphics according to the positional relationship.

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

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

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

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

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

[0135] Specifically, in the three-dimensional 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 =P-P vehicle

[0137] where P rel represents the relative position of the object in the surrounding environment in the three-dimensional coordinate system with the center of the rear axle of the vehicle as the origin, P represents the position vector of the object in the surrounding environment, and P vehicle is the position vector of the vehicle, which is usually a zero vector.

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

[0139]

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

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

[0142] S1031, converting the steering wheel angle value to the front wheel steering angle of the vehicle.

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

[0144]

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

[0146] S1032, determining the turning radius of the vehicle according to the front wheel steering angle and the wheelbase.

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

[0148]

[0149] where L is the wheelbase pre-written into the controller, and tan(δ) is the tangent value of the steering angle.

[0150] S1033, calculating the trajectory of the vehicle according to the turning radius of the vehicle.

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

[0152] x(t) = x0 + R sin(φ0 + wt)

[0153] y(t) = y0 + R sin(φ0 + wt)

[0154] z(t) = z0 + R sin(φ0 + wt)

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

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

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

[0158] Specifically, the trajectory of the vehicle is traversed in time sequence, and in order to traverse the trajectory of the vehicle, a time step Δt is set, and in each time step, the position (x(t), y(t), z(t)) and the 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, for any time point, judging whether the coordinates of the object in the surrounding environment map overlap with the coordinates of the key points on the vehicle outer contour.

[0164] Specifically, 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 object in the surrounding environment.

[0165] S1043, in the case that the coordinates of the object in the surrounding environment map overlap with the coordinates of the key points on the vehicle outer contour, determining the coordinates of the object in the surrounding environment map which overlap with the coordinates of the key points on the vehicle outer contour as the obstacle coordinates invading the vehicle.

[0166] Specifically, if the vehicle body coordinates overlap with the coordinates of the object in the surrounding environment, it is considered that the object in the surrounding environment will invade the vehicle at the current turning angle, and a collision will occur at the current turning angle. After detecting the overlap, the coordinates of the object in the surrounding environment which overlap with the vehicle body coordinates are determined as the obstacle coordinates invading the vehicle, and the part coordinates of the obstacle invading the vehicle are extracted, which represent the specific position where the obstacle overlaps with the vehicle.

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

[0168] S1051, send the coordinates of the obstacle intruding into the vehicle to the laser pointer and the instrument or head-up display; wherein the laser pointer is used to adjust the irradiation angle according to the received coordinates of the obstacle and irradiate the obstacle; and the instrument or head-up display is used to highlight the obstacle in the surrounding environment map according to the received coordinates of the obstacle.

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

[0170] The coordinates of the obstacle intruding into the vehicle are sent to the matrix laser pointer, which can adjust the irradiation angle of the laser beam according to the received coordinates of the obstacle to illuminate the intruding part. At the same time, the coordinates of the intruding part are sent to the instrument or HUD of the vehicle, and the instrument or HUD 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 embodiments of the application, by projecting the vehicle's outer contour into the vehicle's three-dimensional coordinate system, the judgment of obstacle intrusion is more accurate and comprehensive. The matrix laser pointer can directly indicate the obstacle with collision risk and its intruding part, which is not limited to the ground, and the prompt is more intuitive and clear. Moreover, the indication can be made before the obstacle intrudes, so as to change the driving strategy in advance and avoid risks.

[0172] Referring to Figure 2 , a component architecture diagram provided by an embodiment of the application is shown, which is specifically as follows:

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

[0174] Referring to Figure 7 , a structure schematic diagram of an obstacle indicating device provided by an embodiment of the application is shown, which comprises:

[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] The surrounding environment map construction and display module 202 is used to construct and display a surrounding environment map in a three-dimensional graph on the instrument or head-up display of the vehicle according to the surrounding environment information.

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

[0178] an obstacle determination module 204, configured to traverse the trajectory of the vehicle, and determine, in the surrounding environment map, an object overlapping with the vehicle as an obstacle intruding into the vehicle;

[0179] an obstacle indication module 205, configured to send information of the obstacle to a laser pointer installed on the vehicle and used for indicating the obstacle, and a meter or a head-up display used for displaying the obstacle; wherein the laser pointer is used for adjusting an irradiation angle according to the information of the obstacle and indicating the obstacle, and the meter or the head-up display is used for highlighting the obstacle in the surrounding environment map according to the information of the obstacle

[0180] In an optional embodiment of the present application, the data acquisition module 201 comprises the following steps:

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

[0182] an axle distance determination module, configured to determine an axle distance of the vehicle; the axle distance is a distance between two wheel axle centers of the vehicle.

[0183] In an optional embodiment of the present application, the surrounding environment map construction and display module 202 comprises the following steps:

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

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

[0186] a display module, configured to display the three-dimensional surrounding environment map in the meter or the head-up display.

[0187] In an optional embodiment of the present application, the position relationship calculation module comprises the following steps:

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

[0189] In an optional embodiment of the present application, the trajectory determination module 203 comprises the following steps:

[0190] an angle conversion module, configured to convert the steering wheel angle value into a steering angle of a front wheel of the vehicle;

[0191] a turning radius determination module, configured to determine a turning radius of the vehicle according to the steering angle of the front wheel and a wheelbase;

[0192] a trajectory calculation module, configured to calculate a trajectory of the vehicle according to the turning radius of the vehicle.

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

[0194] a trajectory traversal module, configured to traverse the trajectory of the vehicle in time sequence to determine position coordinates of the vehicle at different time points; the position coordinates of the vehicle are coordinates of key points on an outer contour of the vehicle;

[0195] a judgment module, configured to judge whether the coordinates of the objects in the surrounding environment map overlap with the coordinates of the key points on the outer contour of the vehicle at any time point;

[0196] a coordinate determination module, configured to determine the coordinates of the objects in the surrounding environment map that overlap with the coordinates of the key points on the outer contour of the vehicle as obstacle coordinates that intrude into the vehicle in the case that the coordinates of the objects in the surrounding environment map overlap with the coordinates of the key points on the outer contour of the vehicle.

[0197] In the embodiment of the present application, the surrounding environment information of the vehicle and the steering wheel angle value of the vehicle are acquired, the surrounding environment map is constructed and displayed in a three-dimensional graph on the instrument or head-up display of the vehicle according to the surrounding environment information, the trajectory of the vehicle is determined according to the steering wheel angle value, the trajectory of the vehicle is traversed, the objects that overlap with the vehicle in the surrounding environment map are determined as the obstacles that intrude into the vehicle, and the information of the obstacles is sent to the laser pointer installed on the vehicle for indicating the obstacles and the instrument or head-up display for displaying the obstacles; wherein the laser pointer is used for adjusting the irradiation angle and indicating the obstacles according to the information of the obstacles, and the instrument or head-up display is used for highlighting the obstacles in the surrounding environment map according to the information of the obstacles. The embodiment of the present application can reconstruct the environment, display the obstacles that will intrude into the vehicle on the display device such as the instrument or head-up display, and is more intelligent; the obstacles that have the risk of collision and the intrusion parts thereof are directly indicated, and are not limited to the ground, the prompt is more intuitive and clear, and the indication can be performed before the obstacles intrude, the driving strategy can be changed in advance, and the risk can be avoided.

[0198] An embodiment of the present application further provides a vehicle, comprising a processor, a memory, and a computer program stored on the memory and capable of running on the processor, and the computer program is executed by the processor to implement the obstacle indication method as described above.

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

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

[0201] An embodiment of the present application further provides a computer readable storage medium, and the computer readable storage medium stores a computer program. The computer program is executed by the processor to implement the method for indicating the obstacle as described above.

[0202] For the device embodiment, it is basically similar to the method embodiment, so it is described more simply, and the related parts refer to the part of the method embodiment.

[0203] In the embodiments described above, all or some of the steps can be implemented by software, hardware, firmware or any combination thereof. When implemented in software, all or some of the steps can be implemented in the form of one or more computer programs which are stored in a computer readable storage medium. The computer readable storage medium can be located in a computing device which is in operation. These computer programs (which may

[0204] It is to be noted that, in the present document, the terms such as first and second, etc. are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between such entities or operations. Moreover, the terms "comprising", "including", or any other variant are intended to cover a non-exclusive inclusion, such that processes, methods, articles, or apparatuses that comprise a list of elements are not required to include only those elements in the list, but can include other elements not expressly listed, or also include elements inherent in such processes, methods, articles, or apparatuses. Without more limitations, an element defined by the statement "comprising a..." does not exclude the existence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0205] Each of the embodiments in the present document is described in a related manner, and the same or similar parts among the embodiments can be referred to each other. Each of the embodiments focuses on the difference from other embodiments. In particular, for the system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the part of the description of the method embodiments.

[0206] The above merely provides the preferred embodiments of the application, and not intended to limit the protection scope of the application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application shall fall within the protection scope of the application.

Claims

1. A method of indicating an obstacle, characterized in that, The method comprises: acquiring the surrounding environment information of the vehicle and the steering wheel angle value of the vehicle; constructing and displaying a surrounding environment graph in three-dimensional graphics on the instrument or head-up display of the vehicle according to the surrounding environment information; determining the trajectory of the vehicle through the steering wheel angle value; traversing the trajectory of the vehicle to determine the objects overlapping with the vehicle in the surrounding environment graph as obstacles invading the vehicle; sending the information of the obstacles to the laser pointer installed on the vehicle for indicating the obstacles and the instrument or head-up display for displaying the obstacles; wherein the laser pointer is used to adjust the irradiation angle and indicate the obstacles according to the information of the obstacles, and the instrument or head-up display is used to highlight the obstacles in the surrounding environment graph according to the information of the obstacles; the traversing the trajectory of the vehicle to determine the objects overlapping with the vehicle in the surrounding environment graph as obstacles invading the vehicle comprises: traversing the trajectory of the vehicle in time sequence to determine the position coordinates of the vehicle at different time points; the position coordinates of the vehicle are the coordinates of the key points on the vehicle contour; for any time point, judging whether the coordinates of the objects in the surrounding environment graph overlap with the coordinates of the key points on the vehicle contour; in the case that the coordinates of the objects in the surrounding environment graph overlap with the coordinates of the key points on the vehicle contour, determining the coordinates of the objects in the surrounding environment graph overlapping with the coordinates of the key points on the vehicle contour as the obstacle coordinates invading the vehicle.

2. The method of claim 1, wherein, Before the acquiring the surrounding environment information of the vehicle and the steering wheel angle value of the vehicle, the method comprises: 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 the key points on the vehicle contour; determining the wheelbase of the vehicle; the wheelbase is the distance between the centers of the front and rear wheels of the vehicle.

3. The method of claim 2, wherein, The constructing and displaying a surrounding environment graph in three-dimensional graphics on the instrument or head-up display of the vehicle according to the surrounding environment information comprises: converting the surrounding environment information into the three-dimensional space coordinate system, and calculating the position relationship between each object in the surrounding environment information and the vehicle; constructing a three-dimensional surrounding environment graph in three-dimensional graphics according to the position relationship; displaying the three-dimensional surrounding environment graph in the instrument or head-up display.

4. The method of claim 3, wherein, The converting the surrounding environment information into the three-dimensional space coordinate system, and calculating the position relationship between each object in the surrounding environment information and the vehicle comprises: 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 surrounding environment information in the three-dimensional space coordinate system.

5. The method of claim 2, wherein, The determining the trajectory of the vehicle through the steering wheel angle value comprises: converting the steering wheel angle value into the steering angle of the front wheel of the vehicle; determining the turning radius of the vehicle according to the steering angle of the front wheel and the wheelbase; calculating the trajectory of the vehicle according to the turning radius of the vehicle.

6. The method of claim 1, wherein, The sending of the information of the obstacle to a laser pointer installed on the vehicle for indicating the obstacle and an instrument or a head-up display for displaying the obstacle comprises: sending the coordinates of the obstacle intruding into the vehicle to the laser pointer and the instrument or the head-up display; wherein the laser pointer is used to adjust the irradiation angle according to the received coordinates of the obstacle and irradiate the obstacle; and the instrument or the head-up display is used to highlight the obstacle in the surrounding environment map according to the received coordinates of the obstacle.

7. An indication device for obstacles, characterized in that The device comprises: a data acquisition module for acquiring surrounding environment information of a vehicle and a steering wheel angle value of the vehicle; a surrounding environment map construction and display module for constructing and displaying a surrounding environment map in a three-dimensional graph on an instrument or a head-up display of the vehicle according to the surrounding environment information; a trajectory determination module for determining a trajectory of the vehicle through the steering wheel angle value; an obstacle determination module for traversing the trajectory of the vehicle and determining objects overlapping with the vehicle in the surrounding environment map as obstacles intruding into the vehicle; an obstacle indication module for sending information of the obstacle to a laser pointer installed on the vehicle for indicating the obstacle and an instrument or a head-up display for displaying the obstacle; wherein the laser pointer is used to adjust the irradiation angle according to the information of the obstacle and indicate the obstacle, and the instrument or the head-up display is used to highlight the obstacle in the surrounding environment map according to the information of the obstacle; The obstacle determination module comprises: a trajectory traversal module for traversing the trajectory of the vehicle in time sequence, determining position coordinates of the vehicle at different time points; the position coordinates of the vehicle are coordinates of key points on an outer contour of the vehicle; a judgment module for judging whether coordinates of an object in the surrounding environment map overlap with coordinates of key points on the outer contour of the vehicle for any time point; a coordinate determination module for determining, in the case that 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, the coordinates of the object in the surrounding environment map overlapping with the coordinates of the key points on the outer contour of the vehicle as coordinates of an obstacle intruding into the vehicle.

8. A vehicle characterized by comprising: A computer program is stored on the computer readable storage medium and is executable on the processor to implement the obstacle indication method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, A computer program is stored on the computer readable storage medium and is executable on the processor to implement the obstacle indication method according to any one of claims 1 to 6.

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