Obstacle height determination method, vehicle and readable storage medium

Abstract

The application provides an obstacle height determination method, a vehicle and a readable storage medium. The obstacle height determination method comprises controlling a left low beam and a right low beam of the vehicle to be separately turned on at different times. A first image collected when the left low beam is separately turned on and a second image collected when the right low beam is separately turned on are acquired. When an obstacle exists in front of the vehicle, the height of the obstacle in front of the vehicle is determined according to the first image and the second image. If the minimum ground clearance of the chassis of the vehicle is greater than the height of the obstacle, the vehicle is controlled to drive through above the obstacle. If the minimum ground clearance of the chassis of the vehicle is not greater than the height of the obstacle, a prompt device of the vehicle is controlled to send prompt information. Thus, the detection accuracy is higher.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a method for determining obstacle height, a vehicle, and a readable storage medium. Background Technology

[0002] When vehicles are driving in low-light environments such as underground parking garages or nighttime roads, they are prone to colliding with low obstacles, resulting in damage such as chassis scrapes, tire punctures, and body collisions.

[0003] Some vehicles use conventional vision cameras to identify obstacles. However, conventional vision cameras are highly dependent on ambient light. In low-light environments, the image quality is poor, the contrast between low-lying obstacles and the ground is extremely low, the visual features are not obvious, and it is easy to miss detections, resulting in low detection accuracy. Summary of the Invention

[0004] This application provides a method for determining the height of an obstacle with high detection accuracy, a vehicle, and a readable storage medium.

[0005] This application provides a method for determining the height of an obstacle, including: Control the left and right low beam headlights of the vehicle to illuminate independently at different times; Acquire a first image when the left low beam headlight is turned on alone and a second image when the right low beam headlight is turned on alone; When there is an obstacle in front of the vehicle, the height of the obstacle in front of the vehicle is determined based on the first image and the second image; If the minimum ground clearance of the vehicle's chassis is greater than the height of the obstacle, control the vehicle to drive over the obstacle; If the minimum ground clearance of the vehicle's chassis is not greater than the height of the obstacle, the vehicle's warning device will issue a warning message.

[0006] Further, determining the height of the obstacle in front of the vehicle based on the first image and the second image includes: Determine the first shadow outline of the obstacle in the first image and the second shadow outline of the obstacle in the second image; Extract the rightmost first edge point of the first shadow contour and the leftmost second edge point of the second shadow contour; The actual lateral distance between the first edge point and the second edge point is determined based on the pixel coordinates of the first edge point and the second edge point. The height of the obstacle is determined based on the actual lateral distance between the first edge point and the second edge point.

[0007] Further, determining the actual lateral distance between the first edge point and the second edge point based on their pixel coordinates includes: Based on the camera parameters of the vehicle and the longitudinal pixel coordinates of the first edge point and the second edge point, the actual longitudinal distance between the vehicle's camera and the grounding center point of the obstacle is determined; The actual lateral distance between the first edge point and the second edge point is determined based on the actual longitudinal distance, the horizontal focal length of the camera, and the difference in the lateral pixel coordinates of the first edge point and the second edge point.

[0008] Further, determining the actual longitudinal distance between the vehicle's camera and the grounding center point of the obstacle based on the vehicle's camera parameters and the longitudinal pixel coordinates of the first edge point and the second edge point includes: Based on the camera parameters of the vehicle and the longitudinal pixel coordinates of the first edge point and the second edge point, the estimated longitudinal distance between the camera and the grounding center point of the obstacle is determined; Based on the estimated longitudinal distance and correction coefficient, the actual longitudinal distance between the camera and the grounding center point of the obstacle is determined.

[0009] Further, determining the estimated longitudinal distance between the camera and the grounding center point of the obstacle based on the camera parameters of the vehicle and the longitudinal pixel coordinates of the first edge point and the second edge point includes: The estimated longitudinal distance between the camera and the grounding center point of the obstacle is determined by the following formula. : , in, The height of the camera above the ground. The pitch angle of the camera. The average of the vertical pixel coordinates of the first edge point and the second edge point. Let be the horizontal pixel coordinates of the principal point of the camera. The vertical focal length of the camera is denoted as .

[0010] Furthermore, before the left and right low beam headlights of the controlled vehicle are illuminated separately at different times, the method for determining the obstacle height also includes: Control the left low beam headlight or the right low beam headlight to illuminate individually; Acquire a third and a fourth image at a set time interval when the left low beam headlight or the right low beam headlight is turned on individually; Based on the camera parameters and the longitudinal pixel coordinates of the target edge points of the shadow contour of the obstacle in the third image, a first reference longitudinal distance between the camera and the grounding center point of the obstacle is determined. Based on the camera parameters and the longitudinal pixel coordinates of the same target edge point of the shadow contour of the obstacle in the fourth image, a second reference longitudinal distance between the camera and the grounding center point of the obstacle is determined. The correction coefficient is determined based on the first reference longitudinal distance, the second reference longitudinal distance, and the forward movement distance of the vehicle within the set time period.

[0011] Further, determining the actual lateral distance between the first edge point and the second edge point based on the actual longitudinal distance, the horizontal focal length of the camera, and the difference in lateral pixel coordinates between the first edge point and the second edge point includes: The actual lateral distance between the first edge point and the second edge point is determined by the following formula. : , in, The difference between the horizontal pixel coordinates of the first edge point and the second edge point. The horizontal focal length of the camera. This refers to the actual longitudinal distance.

[0012] Further, determining the height of the obstacle based on the actual lateral distance between the first edge point and the second edge point includes: The height of the obstacle is determined based on the actual lateral distance between the first edge point and the second edge point, the height of the vehicle's low beam headlights from the ground, and the actual lateral distance between the left low beam headlight and the right low beam headlight.

[0013] This application provides a vehicle, including: a processor and a memory communicatively connected to the processor; the memory is used to store computer execution instructions; the processor executes the computer execution instructions stored in the memory to implement the obstacle height determination method as described in any of the above embodiments.

[0014] This application provides a readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the obstacle height determination method as described in any of the above embodiments.

[0015] The obstacle height determination method provided in this application includes acquiring a first image when the left low beam headlight is illuminated alone and a second image when the right low beam headlight is illuminated alone. When an obstacle exists in front of the vehicle, the height of the obstacle is determined based on the first and second images. Thus, in low-light environments, the difference in light and shadow caused by the timed illumination of the left and right low beam headlights enhances information such as the edges and projections of the obstacle, thereby improving obstacle recognition and detection accuracy.

[0016] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0017] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0018] Figure 1 The diagram shown is a flowchart of an obstacle height determination method according to an embodiment of this application; Figure 2 As shown Figure 1 The flowchart shown is a sub-flowchart of the obstacle height determination method. Figure 3 As shown Figure 2 The flowchart shown is a sub-flowchart of the obstacle height determination method. Figure 4 As shown Figure 3 The flowchart shown is a sub-flowchart of the obstacle height determination method. Figure 5 The following is another flowchart of an obstacle height determination method according to an embodiment of this application; Figure 6 The diagram shown is a schematic frame diagram of a vehicle according to an embodiment of this application. Detailed Implementation

[0019] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0020] To better understand the technical solution of this application, the obstacle height determination method, vehicle, and readable storage medium of this application will be described in detail below with reference to the accompanying drawings. Unless otherwise specified, the features in the following embodiments and implementations can be combined with each other.

[0021] Figure 1 The diagram shown is a flowchart of an obstacle height determination method according to an embodiment of this application. Figure 1 As shown, this application provides a method for determining the height of an obstacle, which includes steps S1 to S5.

[0022] In step S1, the vehicle's left low beam headlight and right low beam headlight are controlled to illuminate independently at different times. Alternatively, the left low beam headlight can be controlled to illuminate independently first, followed by the left low beam headlight being turned off and the right low beam headlight being illuminated independently.

[0023] In one embodiment, the brightness of the vehicle's surrounding environment is acquired by a light sensor, and when the brightness of the vehicle's surrounding environment is lower than a set brightness threshold, the vehicle's left low beam headlight and right low beam headlight are controlled to be turned on separately at different times.

[0024] In one embodiment, the vehicle's speed is obtained, and when the vehicle's speed is lower than a set speed threshold, the left and right low beam headlights of the vehicle are controlled to be turned on separately in a time-sharing manner.

[0025] In one embodiment, when a user's trigger signal is detected, the vehicle's left and right low beam headlights are controlled to illuminate separately at different times.

[0026] In step S2, a first image is acquired when the left low beam is turned on alone, and a second image is acquired when the right low beam is turned on alone. The first image may include at least one frame of image data, and the second image may include at least one frame of image data.

[0027] In one embodiment, a first image captured by the camera when the left low beam is turned on alone and a second image captured by the camera when the right low beam is turned on alone are acquired. The camera can be a monocular camera.

[0028] In step S3, when there is an obstacle in front of the vehicle, the height of the obstacle in front of the vehicle is determined based on the first image and the second image.

[0029] Figure 2 As shown Figure 1 The flowchart shown illustrates the method for determining obstacle height. See also... Figure 2 As shown, in one embodiment, the height of the obstacle in front of the vehicle is determined based on the first image and the second image, including steps S31 to S34.

[0030] In step S31, a first shadow contour of an obstacle in the first image and a second shadow contour of an obstacle in the second image are determined. This determination can be achieved using an edge detection algorithm.

[0031] In step S32, the rightmost first edge point of the first shadow contour and the leftmost second edge point of the second shadow contour are extracted.

[0032] In step S33, the actual lateral distance between the first edge point and the second edge point is determined based on their pixel coordinates. In this embodiment, the pixel coordinates of the first edge point are ( , The pixel coordinates of the second edge point are ( , ).

[0033] The vehicle coordinate system is defined as follows: the origin is the projection of the rear axle center onto the ground; the positive X-axis is the front of the vehicle; the positive Y-axis is the left side of the vehicle; and the positive Z-axis is the direction perpendicular to the ground and pointing upwards. The actual lateral distance between the first and second edge points is the spatial distance along the Y-axis of the vehicle coordinate system.

[0034] Figure 3 As shown Figure 2 The flowchart shown illustrates the method for determining obstacle height. See also... Figure 3 As shown, in one embodiment, step S33 includes steps S331 to S332.

[0035] In step S331, the actual longitudinal distance between the vehicle's camera and the grounding center point of the obstacle is determined based on the vehicle's camera parameters and the longitudinal pixel coordinates of the first and second edge points. The grounding center point refers to the center point where the obstacle contacts the ground. The actual longitudinal distance between the vehicle's camera and the grounding center point of the obstacle is the spatial distance along the X-axis of the vehicle's coordinate system.

[0036] Figure 4 As shown Figure 3 The flowchart shown illustrates the method for determining obstacle height. See also... Figure 4 As shown, in one embodiment, step S331 includes steps S3311 to S3312.

[0037] In step S3311, the estimated longitudinal distance between the camera and the grounding center point of the obstacle is determined based on the camera parameters of the vehicle and the longitudinal pixel coordinates of the first edge point and the second edge point.

[0038] The camera parameters include extrinsic and intrinsic parameters. The intrinsic parameters include the pixel coordinates of the camera's principal point and the camera's focal length. The extrinsic parameters include the camera's height above the ground and the camera's pitch angle.

[0039] In one embodiment, the estimated longitudinal distance between the camera and the grounding center point of the obstacle is determined based on the pixel coordinates of the camera's principal point, the camera's focal length, the camera's height above the ground, the camera's pitch angle, and the longitudinal pixel coordinates of the first edge point and the second edge point.

[0040] In one embodiment, step S3311 includes: determining the estimated longitudinal distance between the camera and the grounding center point of the obstacle using the following formula. : , in, The height of the camera above the ground. The camera's tilt angle. The average of the vertical pixel coordinates of the first and second edge points. , The vertical pixel coordinates of the first edge point are: The vertical pixel coordinates of the second edge point. The horizontal pixel coordinates of the principal point of the camera. This is the vertical focal length of the camera.

[0041] In step S3312, the actual longitudinal distance between the camera and the grounding center point of the obstacle is determined based on the estimated longitudinal distance and the correction coefficient.

[0042] In one embodiment, the actual longitudinal distance between the camera and the grounding center point of the obstacle is determined by multiplying the estimated longitudinal distance and the correction coefficient.

[0043] In one embodiment, the actual longitudinal distance between the camera and the grounding center point of the obstacle is determined by the following formula. : , in, For correction factors, To estimate the longitudinal distance.

[0044] In step S332, the actual lateral distance between the first edge point and the second edge point is determined based on the actual longitudinal distance, the horizontal focal length of the camera, and the difference between the lateral pixel coordinates of the first edge point and the second edge point.

[0045] In one embodiment, step S332 includes: determining the actual lateral distance between the first edge point and the second edge point using the following formula. : , in, This is the difference in the horizontal pixel coordinates of the first edge point and the second edge point. , Here are the horizontal pixel coordinates of the first edge point. The horizontal pixel coordinates of the second edge point. The horizontal focal length of the camera. This represents the actual longitudinal distance.

[0046] In step S34, the height of the obstacle is determined based on the actual lateral distance between the first edge point and the second edge point. This method of determining the height of the obstacle is simple and highly accurate.

[0047] In one embodiment, step S34 includes: determining the height of the obstacle based on the actual lateral distance between the first edge point and the second edge point, the height of the vehicle's low beam headlights from the ground, and the actual lateral distance between the left and right low beam headlights.

[0048] In one embodiment, the height of the obstacle is determined by the following formula. : , in, The height of the vehicle's low beam headlights from the ground. This refers to the actual lateral distance between the left and right low beam headlights. This represents the actual lateral distance between the first edge point and the second edge point.

[0049] Figure 5 The diagram shown is another flowchart of an obstacle height determination method according to an embodiment of this application. See also... Figure 5 As shown, in one embodiment, before step S1, the obstacle height determination method further includes steps S6 to S10.

[0050] In step S6, control either the left low beam headlight or the right low beam headlight to illuminate individually. It is possible to control only the left low beam headlight or only the right low beam headlight to illuminate individually.

[0051] In step S7, a third and fourth image are acquired at a set time interval when the left or right low beam headlight is turned on alone. Alternatively, the third and fourth images can be acquired continuously at a set time interval when the left or right low beam headlight is turned on alone.

[0052] In step S8, based on the camera parameters and the longitudinal pixel coordinates of the target edge points of the shadow contour of the obstacle in the third image, a first reference longitudinal distance between the camera and the grounding center point of the obstacle is determined. The method for determining the first reference longitudinal distance between the camera and the grounding center point of the obstacle is the same as the method for determining the estimated longitudinal distance between the camera and the grounding center point of the obstacle.

[0053] In this embodiment, the first reference longitudinal distance between the camera and the grounding center point of the obstacle is determined by the following formula. : , in, The vertical pixel coordinates of the target edge points of the shadow contour of the obstacle in the third image.

[0054] In step S9, based on the camera parameters and the longitudinal pixel coordinates of the same target edge point of the shadow contour of the obstacle in the fourth image, a second reference longitudinal distance between the camera and the grounding center point of the obstacle is determined.

[0055] In this embodiment, the second reference longitudinal distance between the camera and the grounding center point of the obstacle is determined by the following formula. : , in, The vertical pixel coordinates are the same target edge points of the shadow contour of the obstacle in the fourth image.

[0056] In step S10, a correction coefficient is determined based on the first reference longitudinal distance, the second reference longitudinal distance, and the forward distance of the vehicle within a set time period.

[0057] In one embodiment, the correction coefficient is determined by the following formula. : , in, The first reference longitudinal distance between the camera and the grounding center point of the obstacle. The second reference longitudinal distance is the grounding center point between the camera and the obstacle. This represents the distance the vehicle will move forward within a set timeframe. This allows for the determination of a correction coefficient based on the actual situation, resulting in a more accurate determination of the correction coefficient.

[0058] In step S4, if the minimum ground clearance of the vehicle's chassis is greater than the height of the obstacle, the vehicle is controlled to pass over the obstacle. When the minimum ground clearance of the vehicle's chassis is greater than the height of the obstacle, it indicates that there is a gap between the obstacle and the vehicle's chassis in the height direction of the vehicle, so the obstacle will not collide with the vehicle's chassis, and the vehicle can pass over the obstacle.

[0059] In step S5, if the minimum ground clearance of the vehicle's chassis is not greater than the height of the obstacle, the vehicle's warning device is controlled to issue a warning message. The warning message may include, but is not limited to, at least one of visual, auditory, and tactile cues. Specifically, when the warning message is visual, the warning device may include, but is not limited to, the instrument panel and the central control screen. When the warning message is auditory, the warning device may include, but is not limited to, an alarm. When the warning message is tactile, the warning device may include, but is not limited to, a seat vibration device and a steering wheel vibration device.

[0060] The obstacle height determination method provided in this application includes acquiring a first image when the left low beam headlight is illuminated alone and a second image when the right low beam headlight is illuminated alone. When an obstacle exists in front of the vehicle, the height of the obstacle is determined based on the first and second images. Thus, in low-light conditions, the difference in light and shadow created by the timed illumination of the left and right low beam headlights enhances information such as the edges and projections of the obstacle, thereby improving obstacle recognition and detection accuracy. Furthermore, it eliminates the need for additional sensors or other detection devices, resulting in lower costs.

[0061] In one embodiment, before determining the height of an obstacle in front of the vehicle based on the first image and the second image, the obstacle height determination method further includes: Determine the first object shadow contour of the object to be identified in the first image and the second object shadow contour of the object to be identified in the second image. The object shadow contour of the object to be identified in front of the vehicle can be determined using an edge detection algorithm.

[0062] Based on the positional relationship between the object to be identified and the shadow outline of the first object in the first image, and the positional relationship between the object to be identified and the shadow outline of the second object in the second image, it is determined whether the object to be identified is an obstacle.

[0063] In one embodiment, if the first object shadow outline of the object to be identified in the first image is on one side of the object to be identified, and the second object shadow outline of the object to be identified in the second image is on the other side of the object to be identified, then the object to be identified is determined to be an obstacle, indicating that there is an obstacle in front of the vehicle. Since the object to be identified in front of the vehicle by the camera may be a planar object such as stains, lane lines, static black spots, or road textures, the object to be identified can be determined to be an obstacle by observing the positional changes of the first object shadow outline under the left low beam headlight and the second object shadow outline under the right low beam headlight, thus making the method of determining the presence of an obstacle in front of the vehicle more accurate.

[0064] In one embodiment, before determining a first object shadow outline of the object to be identified in a first image and a second object shadow outline of the object to be identified in a second image, the obstacle height determination method further includes: In either the first image or the second image, determine the brightness difference between the current pixel set in that image and the previous pixel set of its preceding neighboring window. The pixel set may include at least one pixel.

[0065] When the brightness difference exceeds the preset window brightness threshold, the current pixel set is determined to be a brightness mutation point.

[0066] By using multiple abrupt changes in brightness, the range of the object to be identified in the image is determined. This allows for a faster determination of the object's range.

[0067] Figure 6 The diagram shown is a frame schematic of a vehicle according to one embodiment of this application. See also... Figure 6 As shown, this application embodiment also provides a vehicle 100, which includes a processor 101 and a memory 102 communicatively connected to the processor 101. The memory 102 is used to store computer execution instructions. The processor 101 executes the computer execution instructions stored in the memory 102 to implement the obstacle height determination method of any of the above embodiments.

[0068] This application also provides a readable storage medium storing computer-executable instructions, which, when executed by processor 101, are used to implement the obstacle height determination method as described in any of the above embodiments.

[0069] This application also provides a computer program product, including a computer program / instruction that, when executed by processor 101, implements the obstacle height determination method as described in any of the above embodiments.

[0070] This application also provides a computer program stored in a readable storage medium, and when the processor 101 executes the computer program, it causes the processor 101 to perform the obstacle height determination method as described in any of the above embodiments.

[0071] This application may take the form of a computer program product implemented on one or more readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing program code. Readable storage media include permanent and non-permanent, removable and non-removable media, and information storage can be implemented using any method or technology. Information may be computer-readable instructions, data structures, program modules, or other data. Examples of readable storage media include, but are not limited to: phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device.

[0072] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A method for determining the height of an obstacle, characterized in that, include: Control the vehicle's left and right low beam headlights to illuminate independently at different times; Acquire a first image when the left low beam headlight is turned on alone and a second image when the right low beam headlight is turned on alone; When there is an obstacle in front of the vehicle, the height of the obstacle in front of the vehicle is determined based on the first image and the second image; Determining the height of the obstacle in front of the vehicle based on the first image and the second image includes: Determine the first shadow outline of the obstacle in the first image and the second shadow outline of the obstacle in the second image; Extract the rightmost first edge point of the first shadow contour and the leftmost second edge point of the second shadow contour; The actual lateral distance between the first edge point and the second edge point is determined based on the pixel coordinates of the first edge point and the second edge point. The height of the obstacle is determined based on the actual lateral distance between the first edge point and the second edge point; If the minimum ground clearance of the vehicle's chassis is greater than the height of the obstacle, control the vehicle to drive over the obstacle; If the minimum ground clearance of the vehicle's chassis is not greater than the height of the obstacle, the vehicle's warning device will issue a warning message.

2. The method for determining obstacle height according to claim 1, characterized in that, Determining the actual lateral distance between the first edge point and the second edge point based on their pixel coordinates includes: Based on the camera parameters of the vehicle and the longitudinal pixel coordinates of the first edge point and the second edge point, the actual longitudinal distance between the vehicle's camera and the grounding center point of the obstacle is determined; The actual lateral distance between the first edge point and the second edge point is determined based on the actual longitudinal distance, the horizontal focal length of the camera, and the difference in the lateral pixel coordinates of the first edge point and the second edge point.

3. The method for determining obstacle height according to claim 2, characterized in that, Determining the actual longitudinal distance between the vehicle's camera and the grounding center point of the obstacle based on the vehicle's camera parameters and the longitudinal pixel coordinates of the first edge point and the second edge point includes: Based on the camera parameters of the vehicle and the longitudinal pixel coordinates of the first edge point and the second edge point, the estimated longitudinal distance between the camera and the grounding center point of the obstacle is determined; Based on the estimated longitudinal distance and correction coefficient, the actual longitudinal distance between the camera and the grounding center point of the obstacle is determined.

4. The method for determining obstacle height according to claim 3, characterized in that, The step of determining the estimated longitudinal distance between the camera and the grounding center point of the obstacle based on the camera parameters of the vehicle and the longitudinal pixel coordinates of the first edge point and the second edge point includes: The estimated longitudinal distance between the camera and the grounding center point of the obstacle is determined by the following formula. : ， in, The height of the camera above the ground. The pitch angle of the camera. The average of the vertical pixel coordinates of the first edge point and the second edge point. Let be the horizontal pixel coordinates of the principal point of the camera. The vertical focal length of the camera is denoted as .

5. The method for determining obstacle height according to claim 3, characterized in that, Before the left and right low beam headlights of the controlled vehicle are illuminated separately at different times, the method for determining the obstacle height further includes: Control the left low beam headlight or the right low beam headlight to illuminate individually; Acquire a third and a fourth image at a set time interval when the left low beam or the right low beam is turned on individually; Based on the camera parameters and the longitudinal pixel coordinates of the target edge points of the shadow contour of the obstacle in the third image, a first reference longitudinal distance between the camera and the grounding center point of the obstacle is determined. Based on the camera parameters and the longitudinal pixel coordinates of the same target edge point of the shadow contour of the obstacle in the fourth image, a second reference longitudinal distance between the camera and the grounding center point of the obstacle is determined. The correction coefficient is determined based on the first reference longitudinal distance, the second reference longitudinal distance, and the forward movement distance of the vehicle within the set time period.

6. The method for determining obstacle height according to claim 2, characterized in that, Determining the actual lateral distance between the first edge point and the second edge point based on the actual longitudinal distance, the horizontal focal length of the camera, and the difference in lateral pixel coordinates between the first edge point and the second edge point includes: The actual lateral distance between the first edge point and the second edge point is determined by the following formula. : ， in, The difference between the horizontal pixel coordinates of the first edge point and the second edge point. The horizontal focal length of the camera. This refers to the actual longitudinal distance.

7. The method for determining obstacle height according to claim 1, characterized in that, Determining the height of the obstacle based on the actual lateral distance between the first edge point and the second edge point includes: The height of the obstacle is determined based on the actual lateral distance between the first edge point and the second edge point, the height of the vehicle's low beam headlights from the ground, and the actual lateral distance between the left low beam headlight and the right low beam headlight.

8. A vehicle, characterized in that, include: A processor and a memory communicatively connected to the processor; The memory is used to store computer execution instructions; the processor executes the computer execution instructions stored in the memory to implement the obstacle height determination method as described in any one of claims 1 to 7.

9. A readable storage medium, characterized in that, The readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the obstacle height determination method as described in any one of claims 1 to 7.

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