Obstacle recognition system in ramp road section and vehicle

Abstract

The invention provides an obstacle recognition system in a road section and a vehicle. The system comprises a first laser radar arranged on a vehicle roof, a second laser radar arranged on a vehicle head, and a processor connected with the first laser radar and the second laser radar. The first laser radar emits a first laser beam to a front road surface, the second laser radar emits a second laser beam to the front road surface, and the included angle between the first laser beam and the ground is smaller than that between the second laser beam and the ground; the first laser radar and the second laser radar detect the distances between the roof and the front road surface and between the headstock and the front road surface respectively and send the distances to the processor, and the processor detects obstacles on the ramp road section based on the distance between the roof and the front road surface and the distance between the headstock and the front road surface. The ramp road section where the vehicle is currently located is detected through the monitoring distance change of the two laser radars, front obstacle detection is carried out in combination with the characteristics of the current ramp road section, the obstacle detection method is relatively simple, and the computing power of a controller is greatly liberated.

Description

Technical Field

[0001] The present invention relates to the technical field of wind power, and provides an obstacle recognition system and a vehicle in a slope road section. Background Art

[0002] As vehicle speeds increase and road density grows, the demand for safer driving becomes increasingly stringent. This has led to the emergence of numerous road condition recognition systems, such as hill start, automotive LiDAR and lane assist, and laser ranging sensors, all of which have been successfully applied in automobiles.

[0003] When driving on the road, cars will experience various road conditions. The most typical and frequently encountered road conditions that pose a greater safety hazard include curves, rain and snow, and slopes. When driving on a slope, there is a blind spot at the top of the slope. If a car meets another car at this time, it is very likely to cause a safety hazard.

[0004] At present, most cars first use slope sensors to detect whether the vehicle is currently on a slope. After detecting that the vehicle is on a slope, a fusion of lidar and cameras is used to detect obstacles. The camera collects images in front of the vehicle, and a series of image processing is performed to identify the target obstacle in the image. The lidar monitors the distance information of the obstacle area. The obstacle detection method on slope sections is complex and requires a lot of controller computing power. Summary of the Invention

[0005] In view of this, the present application provides an obstacle identification system in a slope road section, aiming to improve the above-mentioned problem.

[0006] Specifically, the following technical solutions are included:

[0007] In one aspect, an embodiment of the present application provides a system for identifying obstacles in a sloped road section, the system comprising:

[0008] A first laser radar is installed on the roof of the vehicle, a second laser radar is installed on the front of the vehicle, and a processor is connected to the first laser radar and the second laser radar; the first laser radar emits a first laser beam toward the road ahead, and the second laser radar emits a second laser beam toward the road ahead, with the angle between the first laser beam and the ground being smaller than the angle between the second laser beam and the ground;

[0009] The first laser radar and the second laser radar are used to detect the distance L1 and L2 between the roof and the front of the vehicle and the road ahead respectively, and send them to the processor. The processor detects obstacles on the slope section based on the distance L1 between the roof and the road ahead and the distance L2 between the front of the vehicle and the road ahead.

[0010] In some embodiments of the present invention, the method for detecting that a vehicle has entered an uphill section is as follows:

[0011] When the distance L1 between the roof and the road ahead is less than the set first distance threshold L a1 , and the distance L2 between the front of the vehicle and the road ahead is less than the set second distance threshold L a2 When , it is determined that the vehicle is currently entering an uphill section, wherein the calibration method of the first distance threshold and the second distance threshold is as follows:

[0012] Control the vehicle integrated with the first laser radar and the second laser radar to climb the slope on a small slope section, and use the distance L1 between the roof and the road ahead collected by the first laser radar as the first distance threshold L a1 , the distance L1 between the vehicle head and the road ahead collected by the second laser radar at this time is used as the second distance threshold L a2 .

[0013] In some embodiments of the present invention, a method for detecting an obstacle in front of a vehicle on an uphill road section is specifically as follows:

[0014] When the distance L1 between the roof and the road ahead is detected to be less than the third distance threshold L b1 , and / or the distance between the front of the vehicle and the road ahead is less than the fourth distance threshold L b2 When the vehicle is considered to have an obstacle in front of it, the third distance threshold L b1 , the fourth distance threshold L b2 The calibration method is as follows:

[0015] Control the vehicle integrated with the first laser radar and the second laser radar to climb the steep slope section, and use the distance L1 between the roof and the road ahead collected by the first laser radar as the third distance threshold L b1 The distance L2 between the vehicle head and the road ahead collected by the second laser radar at this time is used as the fourth distance threshold L b2 .

[0016] In some embodiments of the present invention, the method for detecting a vehicle entering a slope top section is as follows:

[0017] When the vehicle is on an uphill road, it is detected that the distance between the roof and the road ahead is greater than the fifth distance threshold L c1 , and the distance between the front of the vehicle and the road ahead is less than the set sixth distance threshold L c2 When the vehicle is on the top of the slope, the fifth distance threshold L c1 , the sixth distance threshold L c2 The calibration method is as follows:

[0018] Control the vehicle integrated with the first laser radar and the second laser radar to drive on a flat road section, and use the distance between the roof and the road ahead collected by the first laser radar at this time as the fifth distance threshold L c1 The distance between the vehicle head and the road ahead collected by the second laser radar is used as the sixth distance threshold L c2 .

[0019] In some embodiments of the present invention, the method for detecting an obstacle in front of a vehicle on a slope top section is as follows:

[0020] When the distance L1 between the roof and the road ahead is detected to be less than the fifth distance threshold L c1 , determining that there is an obstacle in front of the vehicle.

[0021] In some embodiments of the present invention, the method for detecting that a vehicle has entered a downhill section is as follows:

[0022] When the distance L1 between the roof and the road ahead is greater than the set seventh distance threshold L d1 , and the distance L2 between the front of the vehicle and the road ahead is greater than the set eighth distance threshold L d2 When the vehicle is determined to be entering a downhill section, the seventh distance threshold L d1 , the eighth distance threshold L d2 The calibration method is as follows:

[0023] The vehicle integrated with the first laser radar and the second laser radar is controlled to go downhill on a small slope section, and the distance L1 between the roof and the road ahead collected by the first laser radar at this time is used as the seventh distance threshold L d1 The distance L2 between the vehicle head and the road ahead collected by the second laser radar at this time is used as the eighth distance threshold L d2 .

[0024] In some embodiments of the present invention, a method for detecting an obstacle in front of a vehicle on a downhill road is specifically as follows:

[0025] The distance L1 between the roof and the road ahead is less than the fifth distance threshold L c1 , the distance L2 between the front of the vehicle and the road ahead is less than the sixth distance threshold L c2 , it is determined that there is an obstacle in front of the vehicle.

[0026] In some embodiments of the present invention, when a vehicle detects an obstacle ahead while on an uphill road, the vehicle issues a deceleration reminder.

[0027] In some embodiments of the present invention, when an obstacle is detected ahead when the vehicle is on a hilltop or downhill section, the vehicle issues a deceleration reminder while activating the vehicle's front camera and sending the road conditions ahead monitored by the front camera to the vehicle's large screen for display.

[0028] On the one hand, an embodiment of the present application provides a vehicle, on which the above-mentioned obstacle recognition system for slope road sections is integrated.

[0029] When the vehicle is driving, the first and second laser radars are used to detect the distances L1 and L2 between the roof and the front of the vehicle and the road ahead in real time. Obstacles on sloped sections are detected by changes in the distance L1 between the roof and the road ahead and the distance L2 between the front of the vehicle and the road ahead, and corresponding processing is then made to improve the safety of the vehicle during driving. The obstacle detection methods on sloped sections are relatively simple, which greatly frees up the computing power of the controller. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0031] Figure 1 A schematic diagram of the structure of an obstacle recognition system for a sloped road section provided by an embodiment of the present invention;

[0032] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0034] Unless otherwise defined, all technical terms used in the embodiments of the present application have the same meanings as commonly understood by those skilled in the art.

[0035] Figure 1 This is a schematic diagram of the structure of an obstacle identification system for a sloped road section provided by an embodiment of the present invention. For ease of explanation, only the parts related to the embodiment of the present invention are shown. The system includes:

[0036] A first laser radar is installed on the roof of the vehicle, a second laser radar is installed on the front of the vehicle, and a processor is connected to the first laser radar and the second laser radar; the first laser radar emits a first laser beam toward the road ahead, and the second laser radar emits a second laser beam toward the road ahead, with the angle between the first laser beam and the ground being smaller than the angle between the second laser beam and the ground;

[0037] The first laser radar and the second laser radar are used to detect the distance L1 and L2 between the roof and the front of the vehicle and the road ahead, respectively, and send them to the processor. The processor detects the current slope section of the vehicle and obstacles on the slope section based on the distance L1 between the roof and the road ahead and the distance L2 between the front of the vehicle and the road ahead.

[0038] In an embodiment of the present invention, a slope road section includes: an uphill section, a slope top section, and a downhill section. Since a vehicle is prone to blind spots when it is on a slope road section, obstacle detection is required. Before performing obstacle detection, it is necessary to first determine the slope road section the vehicle is currently on, and then detect obstacles on the corresponding slope road.

[0039] In an embodiment of the present invention, the method for detecting that a vehicle has entered an uphill section is specifically as follows:

[0040] When the distance L1 between the roof and the road ahead is less than the set first distance threshold L a1 , and the distance L2 between the front of the vehicle and the road ahead is less than the set second distance threshold L a2 When , it is determined that the vehicle is currently entering an uphill section, wherein the first distance threshold and the second distance threshold are calibration values, and the calibration method is as follows:

[0041] Control the vehicle integrated with the first laser radar and the second laser radar to climb a small slope (15 degrees), and use the distance L1 between the roof and the road ahead collected by the first laser radar as the first distance threshold L a1 , the distance L1 between the vehicle head and the road ahead collected by the second laser radar at this time is used as the second distance threshold L a2 The greater the slope the vehicle climbs, the smaller the distance L2 between the roof and the road ahead and the distance L2 between the front of the vehicle and the road ahead. When the distance L1 between the roof and the road ahead is less than the first distance threshold L a1 , and the distance L2 between the front of the vehicle and the road ahead is less than the set second distance threshold L a2 , it means that the slope of the road section where the vehicle is currently located is greater than 15 degrees.

[0042] In an embodiment of the present invention, a method for detecting obstacles in front of a vehicle on an uphill road section is specifically as follows:

[0043] When the vehicle is on an uphill road, it is detected that the distance L1 between the roof and the road ahead is less than the third distance threshold L b1, and / or the distance between the front of the vehicle and the road ahead is less than the fourth distance threshold L b2 When the vehicle is considered to have an obstacle in front of it, the third distance threshold L b1 , the fourth distance threshold L b2 The calibration method is as follows:

[0044] Control the vehicle integrated with the first laser radar and the second laser radar to climb the steep slope (45 degrees), and use the distance L1 between the roof and the road ahead collected by the first laser radar as the third distance threshold L b1 The distance L2 between the vehicle head and the road ahead collected by the second laser radar at this time is used as the fourth distance threshold L b2 Since the slope of the road section generally does not exceed 45 degrees, when the distance between the roof and the road surface is too small, or the distance between the front of the vehicle and the road surface is too small, the distance measurement is usually reduced due to obstacles in front, rather than due to climbing the slope.

[0045] After a vehicle enters an uphill section, it then enters a downhill section or a flat section after completing the climb. If it enters a downhill section, the section between exiting the uphill section and entering the downhill section is considered the top of the hill. The specific method for detecting a vehicle entering a top of the hill section is as follows:

[0046] When the vehicle is on an uphill road, it is detected that the distance between the roof and the road ahead is greater than the fifth distance threshold L c1 , and the distance between the front of the vehicle and the road ahead is less than the set sixth distance threshold L c2 When the vehicle is on the top of the slope, the fifth distance threshold L c1 , the sixth distance threshold L c2 is the calibration value, and the calibration method is as follows:

[0047] Control the vehicle integrated with the first laser radar and the second laser radar to drive on a flat road section, and use the distance between the roof and the road ahead collected by the first laser radar at this time as the fifth distance threshold L c1 The distance between the vehicle head and the road ahead collected by the second laser radar is used as the sixth distance threshold L c2 .

[0048] In an embodiment of the present invention, a method for detecting obstacles in front of a vehicle on a slope top section is specifically as follows:

[0049] When the vehicle is on the top of a slope, it is detected that the distance L1 between the top of the vehicle and the road ahead is less than the fifth distance threshold L c1, it is determined that there is an obstacle in front of the vehicle, the flat road section connected to the uphill section or the downhill section. Due to the smoothness of the road, the slope of the uphill section generally shows a decreasing trend from small to large. Therefore, the top section is generally composed of an uphill section with a smaller slope, a short flat road section and a downhill section with a smaller slope. Therefore, when it is detected that the distance L1 between the roof and the road ahead is less than the fifth distance threshold L c1 When the vehicle is detected, it is determined that there is an obstacle in front of the vehicle.

[0050] Of course, when the vehicle is on an uphill road, it is detected that the distance between the roof and the road ahead is at the fifth distance threshold L c1 Nearby, and the distance between the front of the vehicle and the road ahead is within the sixth distance threshold L c2 If the vehicle is near a certain road, it is deemed that the vehicle has entered a flat road section.

[0051] In an embodiment of the present invention, the method for detecting that a vehicle has entered a downhill section is as follows:

[0052] When the distance L1 between the roof and the road ahead is greater than the set seventh distance threshold L d1 , and the distance L2 between the front of the vehicle and the road ahead is greater than the set eighth distance threshold L d2 When the vehicle is determined to be entering a downhill section, the seventh distance threshold L d1 , the eighth distance threshold L d2 The calibration method is as follows:

[0053] The vehicle integrated with the first laser radar and the second laser radar is controlled to go downhill on a small slope (15 degrees), and the distance L1 between the roof and the road ahead collected by the first laser radar at this time is used as the seventh distance threshold L d1 The distance L2 between the vehicle head and the road ahead collected by the second laser radar at this time is used as the eighth distance threshold L d2 The greater the downhill slope of the vehicle, the greater the distance L1 between the roof and the road ahead and the distance L2 between the front of the vehicle and the road ahead. When the distance L1 between the roof and the road ahead is greater than the first distance threshold L d1 , and the distance L2 between the front of the vehicle and the road ahead is greater than the set second distance threshold L d2 , it means that the slope of the road section where the vehicle is currently located is greater than 15 degrees.

[0054] In an embodiment of the present invention, a method for detecting an obstacle in front of a vehicle on a downhill road is specifically as follows:

[0055] When the vehicle is on a downhill section, the distance L1 between the roof and the road ahead is less than the fifth distance threshold L c1 , the distance L2 between the front of the vehicle and the road ahead is less than the sixth distance threshold L c2 , it is determined that there is an obstacle in front of the vehicle.

[0056] In an embodiment of the present invention, the system also includes: a prompt unit, a front camera and an on-board large screen, and the prompt unit and the front camera are connected to the processor; when the vehicle is on an uphill section and detects an obstacle ahead, the prompt unit on the vehicle issues a deceleration reminder; when the vehicle is on the top of the slope and detects an obstacle ahead, the prompt unit of the vehicle issues a deceleration reminder while activating the front camera of the vehicle, and sends the road conditions ahead monitored by the front camera to the on-board large screen for display; when the vehicle is on a downhill section and detects an obstacle ahead, the prompt unit of the vehicle issues a deceleration reminder while activating the front camera of the vehicle, and sends the road conditions ahead monitored by the front camera to the on-board large screen for display.

[0057] The present invention detects the current slope section of the vehicle by monitoring the changes in the distance between the two lidars, and detects obstacles ahead based on the characteristics of the current slope section. The obstacle detection methods on the slope section are relatively simple, which greatly liberates the computing power of the controller.

[0058] The present invention also provides a vehicle, which is integrated with the above-mentioned obstacle recognition system for slope sections. During driving, the vehicle uses a first laser radar and a second laser radar to detect in real time the distances L1 and L2 between the roof and the front of the vehicle and the road surface ahead. Obstacles on the slope section are detected by changes in the distance L1 between the roof and the road surface ahead and the distance L2 between the front of the vehicle and the road surface ahead, and corresponding processing is then performed to improve the safety of the vehicle during driving.

[0059] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the present invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only.

[0060] It should be understood that the present application is not limited to the exact structure described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. An obstacle recognition system in a slope section, characterized in that: The system comprises: A first laser radar is installed on the roof of the vehicle, a second laser radar is installed on the front of the vehicle, and a processor is connected to the first laser radar and the second laser radar; the first laser radar emits a first laser beam toward the road ahead, and the second laser radar emits a second laser beam toward the road ahead, with the angle between the first laser beam and the ground being smaller than the angle between the second laser beam and the ground; The first laser radar and the second laser radar are used to detect the distance L1 and L2 between the roof and the front of the vehicle and the road ahead respectively, and send them to the processor. The processor detects obstacles on the slope section based on the distance L1 between the roof and the road ahead and the distance L2 between the front of the vehicle and the road ahead.

2. The obstacle recognition system in a slope section according to claim 1, characterized in that: The specific method for detecting a vehicle entering an uphill section is as follows: When the distance L1 between the roof and the road ahead is less than the set first distance threshold L a1 , and the distance L2 between the front of the vehicle and the road ahead is less than the set second distance threshold L a2 When , it is determined that the vehicle is currently entering an uphill section, wherein the calibration method of the first distance threshold and the second distance threshold is as follows: Control the vehicle integrated with the first laser radar and the second laser radar to climb the slope on a small slope section, and use the distance L1 between the roof and the road ahead collected by the first laser radar as the first distance threshold L a1 , the distance L1 between the vehicle head and the road ahead collected by the second laser radar at this time is used as the second distance threshold L a2 .

3. The obstacle recognition system in a slope section according to claim 2, characterized in that: The method for detecting obstacles in front of the vehicle on an uphill road is as follows: When the distance L1 between the roof and the road ahead is detected to be less than the third distance threshold L b1 , and / or the distance between the front of the vehicle and the road ahead is less than the fourth distance threshold L b2 When the vehicle is considered to have an obstacle in front of it, the third distance threshold L b1 , the fourth distance threshold L b2 The calibration method is as follows: Control the vehicle integrated with the first laser radar and the second laser radar to climb the steep slope section, and use the distance L1 between the roof and the road ahead collected by the first laser radar as the third distance threshold L b1 The distance L2 between the vehicle head and the road ahead collected by the second laser radar at this time is used as the fourth distance threshold L b2 .

4. The obstacle recognition system in a slope section according to claim 1, characterized in that: The specific method for detecting a vehicle entering a slope top section is as follows: When the vehicle is on an uphill road, it is detected that the distance between the roof and the road ahead is greater than the fifth distance threshold L c1 , and the distance between the front of the vehicle and the road ahead is less than the set sixth distance threshold L c2 When the vehicle is on the top of the slope, the fifth distance threshold L c1 , the sixth distance threshold L c2 The calibration method is as follows: Control the vehicle integrated with the first laser radar and the second laser radar to drive on a flat road section, and use the distance between the roof and the road ahead collected by the first laser radar at this time as the fifth distance threshold L c1 The distance between the vehicle head and the road ahead collected by the second laser radar is used as the sixth distance threshold L c2 .

5. The obstacle recognition system in a slope section according to claim 4, characterized in that: The method for detecting obstacles in front of the vehicle on the top of the slope is as follows: When the distance L1 between the roof and the road ahead is detected to be less than the fifth distance threshold L c1 , determining that there is an obstacle in front of the vehicle.

6. The obstacle recognition system in a slope section according to claim 1, characterized in that: The specific method for detecting a vehicle entering a downhill section is as follows: When the distance L1 between the roof and the road ahead is greater than the set seventh distance threshold L d1 , and the distance L2 between the front of the vehicle and the road ahead is greater than the set eighth distance threshold L d2 When the vehicle is determined to be entering a downhill section, the seventh distance threshold L d1 , the eighth distance threshold L d2 The calibration method is as follows: The vehicle integrated with the first laser radar and the second laser radar is controlled to go downhill on a small slope section, and the distance L1 between the roof and the road ahead collected by the first laser radar at this time is used as the seventh distance threshold L d1 The distance L2 between the vehicle head and the road ahead collected by the second laser radar at this time is used as the eighth distance threshold L d2 .

7. The obstacle recognition system in a slope section according to claim 6, characterized in that: The method for detecting obstacles in front of the vehicle on a downhill road is as follows: The distance L1 between the roof and the road ahead is less than the fifth distance threshold L c1 , the distance L2 between the front of the vehicle and the road ahead is less than the sixth distance threshold L c2 , it is determined that there is an obstacle in front of the vehicle.

8. The obstacle recognition system in a slope section according to claim 1, characterized in that: When the vehicle detects an obstacle ahead while on an uphill road, it issues a deceleration reminder.

9. The obstacle recognition system in a slope section according to claim 1, characterized in that: When the vehicle is on the top of a slope or a downhill section and detects an obstacle ahead, the vehicle issues a deceleration reminder and activates the vehicle's front camera. The road conditions ahead monitored by the front camera are sent to the on-board large screen for display.

10. A vehicle, characterized in that: The vehicle is integrated with the obstacle recognition system for the slope road section according to any one of claims 1 to 9.

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