Obstacle avoidance warning method and device for vehicle

Abstract

The invention relates to the technical field of auxiliary driving, and provides an obstacle avoidance warning method and device for a vehicle. The method comprises the following steps: according to the scanning interval of any one range finder, the ground speed of the range finder in the scanning interval and the latest range finding result of the range finder, obtaining a predicted distance corresponding to each moment of the range finder in the scanning interval; obtaining a detection distance corresponding to the range finding device at any moment according to the latest range finding result of the range finding device and the predicted distance corresponding to each moment of the range finding device in the scanning interval; and at a target moment when the detection distance corresponding to at least one range finder is detected to be less than or equal to a preset distance, executing obstacle avoidance alarm of the vehicle carrying each range finder. According to the obstacle avoidance warning method for the vehicle, the timeliness of obstacle avoidance warning can be improved, so that the safety of vehicle driving is improved.

Description

Technical Field

[0001] This application relates to the field of assisted driving technology, and in particular, to an obstacle avoidance warning method and device for a vehicle. Background Art

[0002] To improve the safety of vehicle driving, corresponding devices are usually configured on the vehicle to detect the distance between the vehicle and obstacles, so as to perform warning operations such as braking the vehicle and / or generating a warning prompt when the distance between the vehicle and the obstacle is too close.

[0003] In related technologies, ranging devices such as lidar, millimeter-wave radar, or ultrasonic radar can be configured on the vehicle to detect the distance between the vehicle and obstacles through the ranging devices, so as to achieve obstacle avoidance warning for the vehicle. However, due to the time delay between the transmission and reception of the ranging device, the distance between the vehicle and the obstacle cannot be determined during the scanning interval of the ranging device, that is, the time interval between two adjacent distance detection results of the ranging device, resulting in the inability to determine the distance between the vehicle and the obstacle to perform obstacle avoidance warning when in the scanning interval of the ranging device, which affects the safety of vehicle driving. Summary of the Invention

[0004] This application aims to at least solve one of the technical problems existing in the related technologies. For this reason, this application proposes an obstacle avoidance warning method for a vehicle, which can improve the timeliness of obstacle avoidance warning to improve the safety of vehicle driving.

[0005] According to an embodiment of the first aspect of this application, the obstacle avoidance warning method for a vehicle includes:

[0006] According to the scanning interval of any ranging device, the ground speed of the ranging device within the scanning interval, and the latest ranging result of the ranging device, obtain the predicted distances corresponding to each moment within the scanning interval of the ranging device;

[0007] According to the latest ranging result of the ranging device and the predicted distances corresponding to each moment within the scanning interval of the ranging device, obtain the detected distance corresponding to the ranging device at any moment;

[0008] At a target moment when it is detected that the detected distance corresponding to at least one of the ranging devices is less than or equal to a preset distance, perform obstacle avoidance warning for the vehicle equipped with each of the ranging devices;

[0009] Wherein, the ranging device faces the traveling direction of the vehicle, the latest ranging result is the distance from the detection device to the obstacle detected latest, and the predicted distance is the predicted distance between the ranging device and the obstacle.

[0010] Based on the scanning interval of any ranging device, the ground speed of the ranging device within the scanning interval, and the latest ranging result of the ranging device, obtain the predicted distance corresponding to each moment within the scanning interval of the ranging device, and based on the latest ranging result of the ranging device and the predicted distance corresponding to each moment within the scanning interval of the ranging device, obtain the detection distance corresponding to the ranging device at any moment, so as to execute obstacle avoidance warning for the vehicle carrying each ranging device at the target moment when it is detected that the detection distance corresponding to at least one ranging device is less than or equal to a preset distance. Thus, when in the scanning interval of the ranging device, the distance between the vehicle and the obstacle can be determined through the predicted distances at each moment in the scanning interval to perform obstacle avoidance warning, thereby improving the timeliness of obstacle avoidance warning and enhancing the safety of vehicle driving.

[0011] According to an embodiment of the present application, the ground speed of the ranging device is determined based on the wheel speeds of the left and right wheels of the vehicle, the relative distance after the ranging device and the center of the left wheel of the vehicle are simultaneously mapped to the target coordinate line, and the relative distance after the ranging device and the center of the right wheel of the vehicle are simultaneously mapped to the target coordinate line;

[0012] The target coordinate line is parallel to the center line of the front wheels or the center line of the rear wheels of the vehicle.

[0013] According to an embodiment of the present application, based on the scanning interval of any ranging device, the ground speed of the ranging device within the scanning interval, and the latest ranging result of the ranging device, obtaining the predicted distance corresponding to each moment within the scanning interval of the ranging device includes:

[0014] When the latest ranging result of the ranging device is greater than the distance threshold, it is determined that at least one target ranging device has detected an obstacle, and based on the scanning interval of the ranging device, the ground speed of the ranging device within the scanning interval, and the latest ranging result of the ranging device, the predicted distance corresponding to each moment within the scanning interval of the ranging device is obtained;

[0015] Wherein, the target ranging device is a ranging device whose detection range is within the traveling trajectory of the vehicle.

[0016] According to an embodiment of the present application, it further includes:

[0017] It is determined that none of the target ranging devices has detected an obstacle, and based on the latest ranging result of the ranging device, the predicted distance corresponding to each moment within the scanning interval of the ranging device is obtained.

[0018] According to an embodiment of the present application, based on the scanning interval of any ranging device, the ground speed of the ranging device within the scanning interval, and the latest ranging result of the ranging device, obtaining the predicted distance corresponding to each moment within the scanning interval of the ranging device includes:

[0019] When the latest ranging result of the ranging device is greater than the distance threshold, based on the latest ranging result of the ranging device and the predicted distance corresponding to the ranging device determined according to the previous ranging result of the ranging device when the latest ranging result is obtained, the relative position of the obstacle detected by the ranging device is obtained.

[0020] Determine that the relative position of the obstacle detected by the ranging device is that the obstacle is within the vehicle's traveling trajectory. Based on the scanning interval of the ranging device, the ground speed of the ranging device within the scanning interval, and the latest ranging result of the ranging device, the predicted distances corresponding to each moment within the scanning interval of the ranging device are obtained.

[0021] According to an embodiment of the present application, it further includes:

[0022] Determine that the relative position of the obstacle detected by the ranging device is that the obstacle is outside the vehicle's traveling trajectory. Based on the latest ranging result of the ranging device, the predicted distances corresponding to each moment within the scanning interval of the ranging device are obtained.

[0023] According to an embodiment of the present application, it further includes:

[0024] When the latest ranging result of the ranging device is less than or equal to the distance threshold, based on the scanning interval of the ranging device, the ground speed of the ranging device within the scanning interval, and the latest ranging result of the ranging device, the predicted distances corresponding to each moment within the scanning interval of the ranging device are obtained.

[0025] The obstacle avoidance warning device of a vehicle according to an embodiment of the second aspect of the present application includes:

[0026] A predicted distance determination module, configured to obtain the predicted distances corresponding to each moment within the scanning interval of the ranging device based on the scanning interval of any ranging device, the ground speed of the ranging device within the scanning interval, and the latest ranging result of the ranging device;

[0027] A detected distance determination module, configured to obtain the detected distance corresponding to any moment of the ranging device based on the latest ranging result of the ranging device and the predicted distances corresponding to each moment within the scanning interval of the ranging device;

[0028] A vehicle obstacle avoidance warning module, configured to perform obstacle avoidance warning for the vehicle equipped with each ranging device at a target moment when it is detected that the detected distance corresponding to at least one of the ranging devices is less than or equal to a preset distance.

[0029] Wherein, the ranging device faces the traveling direction of the vehicle, the latest ranging result is the distance from the detection device to the obstacle detected most recently, and the predicted distance is the predicted distance from the ranging device to the obstacle.

[0030] An electronic device according to an embodiment of the third aspect of the present application includes a processor and a memory storing a computer program. When the processor executes the computer program, the obstacle avoidance warning method for a vehicle described in any of the above embodiments is implemented.

[0031] A computer-readable storage medium according to an embodiment of the fourth aspect of the present application stores a computer program thereon. When the computer program is executed by a processor, the obstacle avoidance warning method for a vehicle described in any of the above embodiments is implemented.

[0032] A vehicle according to an embodiment of the fifth aspect of the present application includes the electronic device described in the above embodiment. Description of the Drawings

[0033] To more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, and thus should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0034] Figure 1 It is a first flowchart of the obstacle avoidance warning method for a vehicle provided by an embodiment of the present application;

[0035] Figure 2 It is a schematic diagram of the positional relationship between the ranging device and the vehicle provided by an embodiment of the present application;

[0036] Figure 3 It is a schematic diagram of the positional relationship between the ranging device and the wheel provided by an embodiment of the present application;

[0037] Figure 4 It is a schematic diagram of the detection range of the ranging device provided by an embodiment of the present application;

[0038] Figure 5 It is a schematic diagram of the structure of the obstacle avoidance warning device for a vehicle provided by an embodiment of the present application;

[0039] Figure 6 It is a schematic diagram of the structure of the electronic device provided by an embodiment of the present application. Detailed Embodiments

[0040] To make the objectives, technical solutions, and advantages of this application clearer, the following will clearly and completely describe the technical solutions in this application in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are some, but not all, of the embodiments of this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts shall fall within the scope of protection of this application.

[0041] Next, several specific embodiments will be used to introduce and illustrate in detail the obstacle avoidance warning method and device for vehicles provided in the embodiments of this application.

[0042] To improve the safety of vehicle driving, corresponding devices are usually configured on vehicles to detect the distance between the vehicle and obstacles, so as to perform warning operations such as braking the vehicle and / or generating warning prompts when the distance between the vehicle and obstacles is too close.

[0043] In the related art, a ranging device, such as a lidar, a millimeter-wave radar, or an ultrasonic radar, can be configured on the vehicle to detect the distance between the vehicle and obstacles through the ranging device to achieve obstacle avoidance warning for the vehicle. However, due to the time delay between the transmission and reception of the ranging device, during the scanning interval of the ranging device, that is, the time interval between two adjacent distance detections of the ranging device, the distance between the vehicle and the obstacle cannot be determined. For example, assume that the scanning interval of the ranging device is a radar is 0.5 seconds, that is, the time interval between the two distance detection results of the ranging device is 0.5 seconds. During these 0.5 seconds, the distance between the moving vehicle and the obstacle changes, but the ranging device cannot detect the distance change between the vehicle and the obstacle during these 0.5 seconds, resulting in the inability to determine the distance between the vehicle and the obstacle for obstacle avoidance warning during the scanning interval of the ranging device, affecting the safety of vehicle driving.

[0044] Therefore, in one embodiment, an obstacle avoidance warning method for a vehicle is provided. This method is applied to a terminal device for performing obstacle avoidance warning for the vehicle. Among them, the terminal device may include a mobile terminal, a desktop terminal, or an in-vehicle terminal. The in-vehicle terminal may be a vehicle's VCU (Vehicle Control Unit) or MCU (Microcontroller Unit), etc.

[0045] As Figure 1 shown, an obstacle avoidance warning method for a vehicle provided in this embodiment includes:

[0046] Step 101, according to the scanning interval of any ranging device, the ground speed of the ranging device within the scanning interval, and the latest ranging result of the ranging device, obtain the predicted distances corresponding to each moment within the scanning interval of the ranging device;

[0047] Step 102: Obtain the detection distance corresponding to the ranging device at any moment according to the latest ranging result of the ranging device and the predicted distances corresponding to each moment within the scanning interval of the ranging device.

[0048] Step 103: When a target moment at which the detection distance corresponding to at least one of the ranging devices is less than or equal to a preset distance is detected, execute obstacle avoidance warning for the vehicle carrying each of the ranging devices.

[0049] Wherein, the ranging device faces the traveling direction of the vehicle, the latest ranging result is the distance from the detection device to the obstacle detected most recently, and the predicted distance is the predicted distance between the ranging device and the obstacle.

[0050] In some embodiments, the ranging device can be a lidar, a millimeter-wave radar, an ultrasonic radar, etc. A plurality of ranging devices can be mounted on the vehicle, and the sensing parts of each ranging device face the traveling direction of the vehicle to detect obstacles in the traveling direction of the vehicle. Each ranging device can be mounted in front of or behind the vehicle. The vehicle can be any vehicle, such as a motor vehicle.

[0051] As a possible implementation manner, the vehicle can be equipped with at least three ranging devices. As Figure 2 shown, 4 ranging devices are mounted behind the vehicle. The installation positions of the 4 ranging devices from left to right are respectively mounted at the left rear (marked as RL), the left middle rear (marked as RLM), the right middle rear (marked as RRM), and the right rear (marked as RR) of the vehicle, so as to perform comprehensive coverage detection on the traveling trajectory behind the vehicle when the vehicle is reversing.

[0052] For any ranging device, its scanning interval T, the latest ranging result L, and the ground speed V within the scanning interval can be obtained. Among them, for the scanning interval T of the ranging device, it can be determined by detecting the signal refresh frequency f of the ranging device, that is, the scanning interval T = 1 / f. Alternatively, the interval duration between two signals of the ranging device can be detected to determine its scanning interval. The ground speed of the ranging device within the scanning interval can be the speed of the vehicle carrying the ranging device. For example, if the latest ranging result L of the ranging device is obtained at time t1 and the scanning interval of the ranging device is T, then the time t2 when the ranging result of the ranging device is obtained next time can be determined as t2 = t1 + T. At this time, the speed of the vehicle during the time period from t1 to t2 can be used as the ground speed V of the ranging device within the scanning interval.

[0053] After obtaining the scanning interval T, the latest ranging result L, and the ground speed V within the scanning interval T of the ranging device, since the ranging device is oriented in the traveling direction of the vehicle, the ground speed V of the ranging device can be integrated within the scanning interval T to determine the moving distance ΔL of the vehicle at any moment t within the scanning interval T, so as to obtain the predicted distance corresponding to any moment t within the scanning interval T of the ranging device as L 预 = L - ΔL.

[0054] If the latest ranging result of the ranging device is that the distance between the ranging device and the obstacle is greater than the maximum detection distance of the ranging device, that is, the latest ranging result of the ranging device is that the ranging device does not detect an obstacle, then the latest ranging result L of the ranging device is empty. At this time, the predicted distance corresponding to any moment t within the scanning interval T of the ranging device is also empty, that is, there is no predicted distance, or the predicted distance is greater than the maximum detection distance of the ranging device.

[0055] Since the predicted distance is determined based on the latest ranging result of the ranging device, at the moment when the latest ranging result of the ranging device is updated, the predicted distance of the ranging device will be reset to the updated latest ranging result to recalculate the predicted distance based on the updated latest ranging result, thereby improving the reliability of the predicted distance.

[0056] After obtaining the predicted distances corresponding to each moment within the scanning interval of the ranging device, the predicted distances can be used to fill in the detection distances at each moment during the period from the moment when the ranging device obtains the latest ranging result to the moment when the ranging result is obtained next time. For example, if the latest ranging result obtained by the ranging device at time t1 is L, and the moment when the ranging result is obtained next time is t2 = t1 + T, then the predicted distances corresponding to each moment within the period t1 - t2 of the ranging device can be used as the distances between the ranging device and the obstacle detected at each moment during this period, that is, the detection distances corresponding to the ranging device. The detection distances at time t1 and time t2 are the actual distances detected by the ranging device at time t1 and time t2. Thus, within the scanning interval of the ranging device, the predicted distance can be used as the detection distance corresponding to the ranging device, and at the moment when the latest ranging result of the ranging device is updated, the updated latest ranging result is used as the detection distance corresponding to the ranging device, so that at any moment, the detection distance corresponding to the ranging device can be obtained.

[0057] For each ranging device, if it is detected at a certain moment that the detection distance corresponding to a certain ranging device is less than or equal to the preset distance, then that moment is determined as the target moment, and the vehicle's obstacle avoidance warning is executed at the target moment. Such as triggering the emergency braking of the vehicle and / or generating an alarm signal to prompt the driver.

[0058] The predicted distance corresponding to each moment in the scanning interval of the ranging device is obtained through the scanning interval of any ranging device, the ground speed of the ranging device in the scanning interval and the latest ranging result of the ranging device, and the detection distance corresponding to the ranging device at any moment is obtained according to the latest ranging result of the ranging device and the predicted distance corresponding to each moment in the scanning interval of the ranging device, so as to execute the obstacle avoidance warning of the vehicle equipped with each ranging device at the target moment when it is detected that the detection distance corresponding to at least one ranging device is less than or equal to the preset distance, so that when the ranging device is in the scanning interval, the distance between the vehicle and the obstacle can be determined through the predicted distance at each moment in the scanning interval to perform the obstacle avoidance warning, thereby improving the timeliness of the obstacle avoidance warning and improving the safety of vehicle driving.

[0059] Taking into account the different installation positions of the ranging devices, for example, the ranging devices may be installed at the left rear, middle rear and right rear of the vehicle respectively, and the vehicle often involves turning conditions when reversing. If the vehicle is in a turning condition, the ground speed of the ranging device is not the same. If the ground speed of the ranging device is determined only by the vehicle speed at this time, the accuracy of the ground speed of the ranging device will be affected.

[0060] To this end, in some embodiments, the ground speed of the ranging device can be determined based on the left and right wheel speeds of the vehicle, the relative distance between the ranging device and the center of the left wheel of the vehicle after being simultaneously mapped to a target coordinate line, and the relative distance between the ranging device and the center of the right wheel of the vehicle after being simultaneously mapped to a target coordinate line; the target coordinate line is parallel to the center line of the front wheels or the center line of the rear wheels of the vehicle.

[0061] For example, assuming that the distance measuring device mounted on the rear of the vehicle is Figure 2 As shown, taking the distance measuring device RLM at the left rear center as an example, according to the principle that the angular velocity of each part of the vehicle body is equal when the vehicle turns, it can be concluded that:

[0062] Vr lm / Rr lm≈V l / R l=Vr / Rr (1)

[0063] Among them, Vr lm is the estimated vehicle speed at the ranging device RLM, V l is the left wheel speed, Vr is the right wheel speed, Rr lm is the turning radius at the ranging device RLM, R l is the turning radius at the center of the left wheel, and Rr is the turning radius at the center of the right wheel.

[0064] The relative distance after the distance measuring device RLM and the center of the left wheel of the vehicle are simultaneously mapped to the target coordinate line is d2, and the relative distance after the distance measuring device RLM and the center of the right wheel of the vehicle are simultaneously mapped to the target coordinate line is d1. The following relationship of turning radius can be obtained:

[0065] Rr lm ≈ Rr+d1= R l-d2 (2)

[0066] For example, the target coordinate line may be the center line of the front wheels or the center line of the rear wheels of the vehicle, or other coordinate lines parallel to the center line of the front wheels or the center line of the rear wheels. Figure 3 As shown, taking the distance measuring device RLM as an example, the distance measuring device is installed at the rear of the vehicle, and the target coordinate line can be the center line L' of the rear wheel of the vehicle. The center line L' of the rear wheel refers to the straight line where the plane passing through the center of the rear wheel of the vehicle and perpendicular to the axle is located. d1 can be the relative distance between the distance measuring device RLM and the center of the right wheel after being mapped to the center line L' of the rear wheel; d2 can be the relative distance between the distance measuring device RLM and the center of the left wheel after being mapped to the center line L' of the rear wheel.

[0067] Combining the above equations (1) and (2), we can get the ground speed of the ranging device RLM as:

[0068] Vr lm=(d1 / (d1+d2))*V l+(d2 / (d1+d2))*Vr

[0069] Similarly, the ground speed of other ranging devices can be determined based on the left and right wheel speeds of the vehicle, the relative distance between other ranging devices and the center of the left wheel of the vehicle after being simultaneously mapped to the target coordinate line, and the relative distance between other ranging devices and the center of the right wheel of the vehicle after being simultaneously mapped to the target coordinate line.

[0070] Considering that the detection range of the distance measuring device is usually fan-shaped, when the distance measuring device installed on the outside of the vehicle, such as the left rear side or the right rear side of the vehicle, is working, it may detect obstacles located on the side of the measurement. Figure 4 As shown, taking the distance measuring device RL installed at the left rear of the vehicle as an example, if the obstacle is located on the side of the vehicle's travel trajectory, there will be no obstacle in the normal travel trajectory of the vehicle. However, since the detection range of the distance measuring device RL is a fan-shaped sensing area P, which exceeds the range of the vehicle's travel trajectory, it may detect obstacles located on the side. The predicted distance obtained based on the latest distance measurement result of the distance measuring device assumes that the obstacle is behind the vehicle, that is, within the vehicle's travel trajectory, so the predicted distance at this time may cause false alarms to the vehicle.

[0071] To this end, in some embodiments, according to the scanning interval of any ranging device, the ground speed of the ranging device in the scanning interval and the latest ranging result of the ranging device, the predicted distance corresponding to each moment in the scanning interval of the ranging device is obtained, including:

[0072] When the latest ranging result of the ranging device is greater than the distance threshold, it is determined that at least one target ranging device has detected an obstacle. According to the scanning interval of the ranging device, the ground speed of the ranging device within the scanning interval, and the latest ranging result of the ranging device, the predicted distances corresponding to each moment within the scanning interval of the ranging device are obtained;

[0073] Wherein, the target ranging device is a ranging device whose detection range is located within the traveling trajectory of the vehicle.

[0074] In some embodiments, for any ranging device, it can first be determined whether its latest ranging result is greater than the distance threshold A. Wherein, the distance threshold A can be the maximum safe distance that the vehicle can allow from the obstacle, and can be specifically set according to the actual situation.

[0075] If the latest ranging result of the ranging device is greater than the distance threshold A, it means that the vehicle position where the ranging device is located within the scanning interval of the ranging device is unlikely to scrape against the obstacle. At this time, the latest ranging results of each target ranging device can be obtained. The target ranging device refers to a ranging device whose detection range is located within the traveling trajectory of the vehicle, and the width of its detection range is within the width of the traveling trajectory of the vehicle. Preferably, the width of the detection range composed of all target ranging devices is equal to the width of the traveling trajectory of the vehicle. As Figure 4 shown, the ranging device RLM and the ranging device RRM are the target ranging devices.

[0076] If at least one target ranging device detects an obstacle, such as the latest ranging result of at least one target ranging device is less than or equal to its maximum detection distance, it means that the obstacle is located on the traveling trajectory of the vehicle. At this time, according to the scanning interval of any ranging device, the ground speed of the ranging device within the scanning interval, and the latest ranging result of the ranging device, the predicted distances corresponding to each moment within the scanning interval of the ranging device can be calculated. For example, according to the scanning interval of the ranging device RL, the ground speed of the ranging device RL within the scanning interval, and the latest ranging result of the ranging device RL, the predicted distances corresponding to each moment within the scanning interval of the ranging device RL are calculated. Thus, the situation of false alarms caused by misjudgment of the predicted distances calculated within the scanning interval due to detecting an obstacle on the side of the vehicle traveling trajectory can be reduced, and the accuracy of the obstacle avoidance alarm of the vehicle can be improved.

[0077] In some embodiments, the method further includes:

[0078] It is determined that none of the target ranging devices has detected an obstacle, and according to the latest ranging result of the ranging device, the predicted distances corresponding to each moment within the scanning interval of the ranging device are obtained.

[0079] In some embodiments, if no obstacle is detected by each target ranging device, for example, if the latest ranging results of each target ranging device are all greater than its maximum detection distance, it indicates that there is temporarily no obstacle on the vehicle's traveling trajectory. At this time, to avoid misjudgment of the predicted distance caused by detecting an obstacle on the side and resulting in false alarms due to the predicted distance, the calculation function of the predicted distance can be turned off, and the latest ranging result of the ranging device can be directly used as the predicted distance corresponding to each moment within the scanning interval of the ranging device.

[0080] Exemplarily, as Figure 4 shown, assume that the target ranging devices are ranging device RLM and ranging device RRM, and neither ranging device RLM nor ranging device RRM detects an obstacle, which indicates that there is temporarily no obstacle on the vehicle's traveling trajectory. At this time, for ranging device RL, the latest ranging result of ranging device RL can be used as the predicted distance corresponding to each moment within its scanning interval, so as to avoid misjudgment of the predicted distance within the scanning interval and false alarms caused by detecting an obstacle on the side, and improve the accuracy of the vehicle's obstacle avoidance alarm.

[0081] In addition to using the target ranging device to judge the position of the obstacle, in some embodiments, according to the scanning interval of any ranging device, the ground speed of the ranging device within the scanning interval, and the latest ranging result of the ranging device, obtaining the predicted distance corresponding to each moment within the scanning interval of the ranging device includes:

[0082] When the latest ranging result of the ranging device is greater than the distance threshold, based on the latest ranging result of the ranging device and the predicted distance corresponding to the ranging device determined according to the previous ranging result of the ranging device when the latest ranging result is obtained, the relative position of the obstacle detected by the ranging device is obtained;

[0083] Determine that the relative position of the obstacle detected by the ranging device is that the obstacle is within the vehicle's traveling trajectory. According to the scanning interval of the ranging device, the ground speed of the ranging device within the scanning interval, and the latest ranging result of the ranging device, the predicted distance corresponding to each moment within the scanning interval of the ranging device is obtained.

[0084] In some embodiments, for any ranging device, it can first be determined whether its latest ranging result is greater than distance threshold A. If the latest ranging result of the ranging device is greater than distance threshold A, the latest ranging result of the ranging device and the predicted distance corresponding to the ranging device determined according to the previous ranging result of the ranging device at the moment when the latest ranging result is obtained can be acquired.

[0085] Exemplarily, assume that the moment when the latest ranging result of the ranging device is obtained is t1, and the moment when the previous ranging result of the ranging device is obtained is t0. Then, the ground speed V of the ranging device within the scanning interval from t0 to t1 can be integrated to predict the moving distance ΔL1 of the position where the ranging device is located from the moment t0 to t1. Based on the previous ranging result L1 and the moving distance ΔL1, the predicted distance L corresponding to the ranging device at the moment t1 when the latest ranging result is obtained can be obtained. 预 = L1 - ΔL1.

[0086] If the previous ranging result L1 of the ranging device is that the distance between the ranging device and the obstacle is greater than the maximum detection distance of the ranging device, that is, the previous ranging result L1 of the ranging device is that the ranging device does not detect an obstacle, then the previous ranging result L1 of the ranging device is empty. At this time, the predicted distance corresponding to the ranging device at the moment t1 when the latest ranging result is obtained is also empty, that is, there is no predicted distance, or the predicted distance is greater than the maximum detection distance of the ranging device.

[0087] After determining the predicted distance corresponding to the ranging device at the moment when the latest ranging result is obtained, that is, comparing the latest ranging result of the ranging device with the predicted distance. If the difference between the latest ranging result and the predicted distance is less than the preset value, that is, the error between the latest ranging result and the predicted distance is small, it indicates that the relative position of the obstacle detected by the ranging device is that the obstacle is located within the driving trajectory of the vehicle. At this time, according to the scanning interval of the ranging device, the ground speed of the ranging device within the scanning interval, and the latest ranging result of the ranging device, the predicted distances corresponding to each moment within the scanning interval of the ranging device are obtained, thereby improving the accuracy of the obstacle avoidance warning of the vehicle.

[0088] In some embodiments, if the difference between the latest ranging result and the predicted distance is greater than or equal to the preset value, that is, the error between the latest ranging result and the predicted distance is large, it indicates that the relative position of the obstacle detected by the ranging device is that the obstacle is located outside the driving trajectory of the vehicle. For example, the obstacle is located on the side of the driving trajectory of the vehicle, and there is temporarily no obstacle on the driving trajectory of the vehicle. Then, the calculation function of the predicted distance can be turned off, and the latest ranging result of the ranging device is directly used as the predicted distances corresponding to each moment within the scanning interval of the ranging device, so as to avoid misjudgment of the distance between the vehicle and the obstacle within the scanning interval due to the fact that the predicted distance is actually the distance between the ranging device and the side obstacle, thereby improving the accuracy of the obstacle avoidance warning of the vehicle.

[0089] In some embodiments, for any ranging device, if it is determined that its latest ranging result is less than or equal to the distance threshold A, it means that within the scanning interval of the ranging device, the vehicle position where the ranging device is located is likely to scrape against an obstacle. At this time, to reduce the possibility of vehicle scraping, the predicted distances corresponding to each moment within the scanning interval of the ranging device can be directly obtained based on the scanning interval of the ranging device, the ground speed of the ranging device within the scanning interval, and the latest ranging result of the ranging device.

[0090] The obstacle avoidance warning device for a vehicle provided by the present application will be described below. The obstacle avoidance warning device for a vehicle described below can be correspondingly referred to with the obstacle avoidance warning method for a vehicle described above.

[0091] In one embodiment, as Figure 5 shown, an obstacle avoidance warning device for a vehicle is provided, including:

[0092] A predicted distance determination module 210, configured to obtain the predicted distances corresponding to each moment within the scanning interval of the ranging device based on the scanning interval of any ranging device, the ground speed of the ranging device within the scanning interval, and the latest ranging result of the ranging device;

[0093] A detected distance determination module 220, configured to obtain the detected distance corresponding to the ranging device at any moment based on the latest ranging result of the ranging device and the predicted distances corresponding to each moment within the scanning interval of the ranging device;

[0094] A vehicle obstacle avoidance warning module 230, configured to perform obstacle avoidance warning for the vehicle equipped with each ranging device at a target moment when it is detected that the detected distance corresponding to at least one ranging device is less than or equal to a preset distance;

[0095] Wherein, the ranging device faces the traveling direction of the vehicle, the latest ranging result is the distance from the detection device to the obstacle detected most recently, and the predicted distance is the predicted distance between the ranging device and the obstacle.

[0096] Based on the scanning interval of any ranging device, the ground speed of the ranging device within the scanning interval, and the latest ranging result of the ranging device, the predicted distance corresponding to each moment within the scanning interval of the ranging device is obtained. And based on the latest ranging result of the ranging device and the predicted distances corresponding to each moment within the scanning interval of the ranging device, the detection distance corresponding to the ranging device at any moment is obtained. When the detection distance corresponding to at least one ranging device is less than or equal to a preset distance at the target moment, obstacle avoidance warning for the vehicle equipped with each ranging device is executed. Thus, when in the scanning interval of the ranging device, the distance between the vehicle and the obstacle can be determined through the predicted distances at each moment in the scanning interval for obstacle avoidance warning, thereby improving the timeliness of obstacle avoidance warning and enhancing the safety of vehicle driving.

[0097] In one embodiment, the ground speed of the ranging device is determined based on the left and right wheel speeds of the vehicle, the relative distance after the ranging device and the center of the left wheel of the vehicle are simultaneously mapped to the target coordinate line, and the relative distance after the ranging device and the center of the right wheel of the vehicle are simultaneously mapped to the target coordinate line;

[0098] The target coordinate line is parallel to the center line of the front wheels or the center line of the rear wheels of the vehicle.

[0099] In one embodiment, the predicted distance determination module 210 is specifically configured to:

[0100] When the latest ranging result of the ranging device is greater than the distance threshold, it is determined that at least one target ranging device has detected an obstacle. Based on the scanning interval of the ranging device, the ground speed of the ranging device within the scanning interval, and the latest ranging result of the ranging device, the predicted distances corresponding to each moment within the scanning interval of the ranging device are obtained; wherein, the target ranging device is a ranging device whose detection range is within the traveling trajectory of the vehicle.

[0101] In one embodiment, the predicted distance determination module 210 is further configured to:

[0102] When it is determined that none of the target ranging devices has detected an obstacle, based on the latest ranging result of the ranging device, the predicted distances corresponding to each moment within the scanning interval of the ranging device are obtained.

[0103] In one embodiment, the predicted distance determination module 210 is specifically configured to:

[0104] When the latest ranging result of the ranging device is greater than the distance threshold, based on the latest ranging result of the ranging device and the predicted distance corresponding to the ranging device determined according to the previous ranging result of the ranging device when the latest ranging result is obtained, the relative position of the obstacle detected by the ranging device is obtained;

[0105] Determine the relative position of the obstacle detected by the ranging device. If the obstacle is within the vehicle's travel trajectory, based on the scanning interval of the ranging device, the ground speed of the ranging device within the scanning interval, and the latest ranging result of the ranging device, obtain the predicted distances corresponding to each moment within the scanning interval of the ranging device.

[0106] In one embodiment, the predicted distance determination module 210 is further configured to:

[0107] Determine the relative position of the obstacle detected by the ranging device. If the obstacle is outside the vehicle's travel trajectory, based on the latest ranging result of the ranging device, obtain the predicted distances corresponding to each moment within the scanning interval of the ranging device.

[0108] In one embodiment, the predicted distance determination module 210 is further configured to:

[0109] When the latest ranging result of the ranging device is less than or equal to the distance threshold, based on the scanning interval of the ranging device, the ground speed of the ranging device within the scanning interval, and the latest ranging result of the ranging device, obtain the predicted distances corresponding to each moment within the scanning interval of the ranging device.

[0110] Figure 6 An example of the physical structure diagram of an electronic device is shown as Figure 6 shown. The electronic device may include: a processor 810, a communication interface 820, a memory 830, and a communication bus 840. Among them, the processor 810, the communication interface 820, and the memory 830 communicate with each other through the communication bus 840. The processor 810 can call the computer program in the memory 830 to execute the obstacle avoidance warning method for the vehicle, for example, including:

[0111] Based on the scanning interval of any ranging device, the ground speed of the ranging device within the scanning interval, and the latest ranging result of the ranging device, obtain the predicted distances corresponding to each moment within the scanning interval of the ranging device;

[0112] Based on the latest ranging result of the ranging device and the predicted distances corresponding to each moment within the scanning interval of the ranging device, obtain the detection distance corresponding to the ranging device at any moment;

[0113] At the target moment when it is detected that the detection distance corresponding to at least one of the ranging devices is less than or equal to the preset distance, execute the obstacle avoidance warning for the vehicle equipped with each of the ranging devices;

[0114] Wherein, the ranging device faces the traveling direction of the vehicle, the latest ranging result is the distance from the detection device to the obstacle detected latest, and the predicted distance is the predicted distance from the ranging device to the obstacle.

[0115] In addition, when the logical instructions in the above-mentioned memory 830 are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in various embodiments of this application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0116] On the other hand, an embodiment of this application further provides a storage medium. The storage medium includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the obstacle avoidance warning method for the vehicle provided in the above-mentioned various embodiments, for example, including:

[0117] According to the scanning interval of any ranging device, the ground speed of the ranging device within the scanning interval, and the latest ranging result of the ranging device, obtain the predicted distance corresponding to each moment within the scanning interval of the ranging device;

[0118] According to the latest ranging result of the ranging device and the predicted distance corresponding to each moment within the scanning interval of the ranging device, obtain the detection distance corresponding to the ranging device at any moment;

[0119] At the target moment when it is detected that the detection distance corresponding to at least one of the ranging devices is less than or equal to a preset distance, execute the obstacle avoidance warning of the vehicle equipped with each of the ranging devices;

[0120] Wherein, the ranging device faces the traveling direction of the vehicle, the latest ranging result is the distance from the detection device to the obstacle detected latest, and the predicted distance is the predicted distance from the ranging device to the obstacle.

[0121] On the other hand, an embodiment of this application further provides a vehicle, and this vehicle includes an electronic device as in the above-mentioned embodiment.

[0122] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0123] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the essence of the above technical solution, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0124] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A vehicle obstacle avoidance warning method, characterized in that: include: According to the scanning interval of any ranging device, the ground speed of the ranging device in the scanning interval and the latest ranging result of the ranging device, the predicted distance corresponding to each moment of the ranging device in the scanning interval is obtained; According to the latest ranging result of the ranging device and the predicted distance corresponding to each moment of the ranging device within the scanning interval, the detection distance corresponding to the ranging device at any moment is obtained; When it is detected that the detection distance corresponding to at least one of the distance measuring devices is less than or equal to the preset distance, an obstacle avoidance warning is executed for the vehicle equipped with each of the distance measuring devices; The distance measuring device is facing the traveling direction of the vehicle, the latest distance measuring result is the distance to the obstacle detected by the detection device the most recently, and the predicted distance is the predicted distance between the distance measuring device and the obstacle.

2. The vehicle obstacle avoidance warning method according to claim 1, characterized in that: The ground speed of the distance measuring device is determined according to the left and right wheel speeds of the vehicle, the relative distance between the distance measuring device and the center of the left wheel of the vehicle after being simultaneously mapped to the target coordinate line, and the relative distance between the distance measuring device and the center of the right wheel of the vehicle after being simultaneously mapped to the target coordinate line; The target coordinate line is parallel to a front wheel centerline or a rear wheel centerline of the vehicle.

3. The vehicle obstacle avoidance warning method according to claim 1, characterized in that: According to the scanning interval of any ranging device, the ground speed of the ranging device in the scanning interval and the latest ranging result of the ranging device, the predicted distance corresponding to each moment in the scanning interval of the ranging device is obtained, including: When the latest ranging result of the ranging device is greater than the distance threshold, it is determined that at least one target ranging device has detected an obstacle, and a predicted distance corresponding to each moment of the ranging device in the scanning interval is obtained according to the scanning interval of the ranging device, the ground speed of the ranging device in the scanning interval, and the latest ranging result of the ranging device; Wherein, the target distance measuring device is a distance measuring device whose detection range is located within the traveling track of the vehicle.

4. The vehicle obstacle avoidance warning method according to claim 3, characterized in that: Also includes: It is determined that each of the target distance measuring devices has not detected an obstacle, and based on the latest distance measuring result of the distance measuring device, a predicted distance corresponding to each moment of the distance measuring device within a scanning interval is obtained.

5. The vehicle obstacle avoidance warning method according to claim 1, characterized in that: According to the scanning interval of any ranging device, the ground speed of the ranging device in the scanning interval and the latest ranging result of the ranging device, the predicted distance corresponding to each moment in the scanning interval of the ranging device is obtained, including: When the latest ranging result of the ranging device is greater than the distance threshold, the relative position of the obstacle detected by the ranging device is obtained according to the latest ranging result of the ranging device and the predicted distance corresponding to the ranging device determined according to the last ranging result of the ranging device when the latest ranging result is obtained; The relative position of the obstacle detected by the ranging device is determined, that is, the obstacle is located within the vehicle's travel trajectory, and the predicted distance corresponding to each moment of the ranging device within the scanning interval is obtained according to the scanning interval of the ranging device, the ground speed of the ranging device within the scanning interval, and the latest ranging result of the ranging device.

6. The vehicle obstacle avoidance warning method according to claim 5, characterized in that: Also includes: The relative position of the obstacle detected by the ranging device is determined, that is, the obstacle is located outside the travel track of the vehicle, and the predicted distance corresponding to each moment of the ranging device within the scanning interval is obtained according to the latest ranging result of the ranging device.

7. The vehicle obstacle avoidance warning method according to claim 3 or 5, characterized in that: Also includes: When the latest ranging result of the ranging device is less than or equal to the distance threshold, the predicted distance corresponding to each moment of the ranging device in the scanning interval is obtained according to the scanning interval of the ranging device, the ground speed of the ranging device in the scanning interval and the latest ranging result of the ranging device.

8. A vehicle obstacle avoidance warning device, characterized in that: include: A predicted distance determination module, used to obtain the predicted distance corresponding to each moment of the ranging device within the scanning interval according to the scanning interval of any ranging device, the ground speed of the ranging device within the scanning interval and the latest ranging result of the ranging device; A detection distance determination module, used to obtain the detection distance corresponding to the ranging device at any time according to the latest ranging result of the ranging device and the predicted distance corresponding to each time of the ranging device within the scanning interval; A vehicle obstacle avoidance warning module, configured to execute an obstacle avoidance warning for vehicles equipped with each of the distance measuring devices when it is detected that the detection distance corresponding to at least one of the distance measuring devices is less than or equal to a preset distance; The distance measuring device is facing the traveling direction of the vehicle, the latest distance measuring result is the distance to the obstacle detected by the detection device the most recently, and the predicted distance is the predicted distance between the distance measuring device and the obstacle.

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

10. A vehicle, characterized in that: Comprising the electronic device as claimed in claim 9.

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