Obstacle distance measuring method, device, vehicle and medium

Abstract

This application discloses an obstacle distance measuring method, device, vehicle and medium, which includes: when it is determined according to a captured first traveling image that an obstacle exists in the vehicle traveling direction, determining obstacle area information of the obstacle, and determining a light beam emission mode in association with a current vehicle speed, controlling the left and right radio frequency mechanisms of the vehicle to emit light beams in the light beam emission mode, adjusting the light spot focusing parameters of the light beam spot in a light spot focusing mode suitable for the light beam emission mode, obtaining a second traveling image including the adjusted light beam spot, and determining a distance between the vehicle and the obstacle according to the second traveling image.

Description

[Technical field]

[0001] This application claims priority to a Chinese patent application bearing application number 202211496847.4, filed with the China Patent Office on November 25, 2022, the entire contents of which are incorporated herein by reference.

[0002] The present application relates to the technical field of visual sensing, for example, to an obstacle ranging method, device, vehicle and medium. [Background technology]

[0003] With the development of road traffic, especially the highway system, the traffic accident rate also tends to rise, and traffic safety has attracted more and more attention from people. Therefore, we research the safe driving assistance technology of vehicles and provide safe driving assistance function for vehicles to provide intelligent technology services to reduce traffic accidents caused by the subjective factors of drivers.

[0004] In the related technology, a purely visual sensing technology is adopted to measure distance, an obstacle in an image is identified according to a preset obstacle type, and the distance of the obstacle is determined according to the image. However, the purely visual sensing technology has a problem in that it cannot realize intelligent tracking and accurate distance measurement. Therefore, the related technology needs to deploy an external connection device such as an ultrasonic radar. However, the external connection device such as an ultrasonic radar cannot be associated with a specific obstacle to perform intelligent tracking and accurate distance measurement, and the detection distance is limited. Summary of the Invention

[0005] The present application provides an obstacle ranging method, device, vehicle, and medium for implementing obstacle ranging based purely on vision.

[0006] According to a first aspect of the present application, When it is determined that an obstacle exists in the vehicle travel direction according to the captured first travel image, determining obstacle area information of the obstacle; determining a light beam emission mode according to a current vehicle speed and the obstacle area information; Controlling the radio frequency mechanisms on the left and right sides of the vehicle to emit light beams in the light beam emission manner; Adjusting a light spot focusing parameter of the light spot, which is a light irradiation point in the direction of the light beam emission, in a light spot focusing manner suitable for the light beam emission manner, and obtaining a second traveling image including the adjusted light beam spot; and determining a distance between the vehicle and the obstacle according to the second traveling image. A method for measuring obstacle distance is provided.

[0007] According to a second aspect of the present application, an information determining module configured to determine obstacle area information of an obstacle when it is determined that an obstacle exists in a vehicle travel direction according to the captured first travel image; A method determining module configured to determine a light beam emission method according to a current vehicle speed and the obstacle area information; A light beam emission module configured to control radio frequency mechanisms on the left and right sides of a vehicle to emit light beams in the light beam emission manner; an image acquisition module configured to adjust a light spot focusing parameter of the light spot, which is a light irradiation point in the direction of the light beam emission, in a light spot focusing manner compatible with the light beam emission manner, and acquire a second traveling image including the adjusted light beam spot; A distance determination module configured to determine a gap distance between the vehicle and the obstacle according to the second traveling image. An obstacle distance measuring device is provided.

[0008] According to a third aspect of the present application, At least one controller; A radio frequency rotating member connected to the left and right radio frequency mechanisms and configured to control the light beam emission manner of the left and right radio frequency mechanisms; a light spot focusing chip configured to adjust a light spot focusing parameter of the light flux spot; a memory communicatively coupled to the at least one controller and having a computer program executable by the at least one controller stored therein; The present invention provides a vehicle in which, when the computer program is executed by the at least one controller, the at least one controller is capable of executing the obstacle ranging method described in any of the embodiments of the present application.

[0009] According to another aspect of the present application, there is provided a computer-readable storage medium having stored thereon computer instructions configured, when executed by a processor, to implement an obstacle ranging method as described in any of the embodiments of the present application. [Brief description of the drawings]

[0010] [Figure 1] 1 is a flowchart of an obstacle distance measuring method according to a first embodiment of the present invention. [Diagram 2] FIG. 11 is a flowchart of an obstacle distance measuring method according to a second embodiment of the present invention. [Diagram 3] FIG. 11 is an illustrative view of a first traveling image in the obstacle distance measuring method according to the second embodiment of the present invention. [Figure 4a] FIG. 11 is an illustrative diagram showing how an interval distance is determined according to a light flux spot area in an obstacle distance measuring method according to a second embodiment of the present invention. [Figure 4b] FIG. 11 is an illustrative diagram showing how an interval distance is determined depending on an angle in an obstacle distance measuring method according to a second embodiment of the present invention. [Diagram 5] FIG. 11 is a structural schematic diagram of an obstacle distance measuring device according to a third embodiment of the present invention. [Figure 6] 1 is a structural schematic diagram of a vehicle for implementing an obstacle distance measuring method according to an embodiment of the present application; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the drawings are not necessarily used to describe a particular order or sequence, but are merely used to distinguish between similar objects. The data used in this manner may be substituted for one another where appropriate, and it should be understood that the embodiments of the present application described herein may be performed in other orders than those shown or described herein. In addition, the terms "comprise" and "have" and any variations thereof are intended to cover a non-exclusive inclusion, for example, a process, method, system, product, or apparatus of a series of steps or units, and are not necessarily limited to those steps or units expressly recited, and may include other steps or units not expressly recited or inherent to the process, method, product, or apparatus.

[0012] Example 1 1 is a flow chart of an obstacle ranging method according to a first embodiment of the present application, which is applicable to the case of obstacle distance measurement based on pure vision, and the method can be performed by an obstacle ranging device, which can be realized by adopting at least one of the forms of hardware and software, and the obstacle ranging device can be disposed in a vehicle. As shown in FIG. 1, the method includes:

[0013] In S110, if it is determined that an obstacle exists in the vehicle traveling direction based on the captured first traveling image, obstacle area information of the obstacle is determined.

[0014] In this embodiment, the first traveling image can be understood as an image captured by the front camera head when the vehicle is traveling. The vehicle traveling direction can be understood as a direction corresponding to the vehicle traveling. The obstacle can be understood as an object that may obstruct the traveling of the vehicle in the vehicle traveling direction. The obstacle area information can be understood as image information obtained by marking the area where the obstacle is located and the outline information of the obstacle.

[0015] For example, the image of the vehicle's traveling direction can be captured by a camera head installed on the vehicle and transmitted in the form of video by a bus or other means, and when the executing entity receives the first traveling image, the executing entity can break down the video into images for each frame, and the images for each frame can be regarded as the first traveling image captured by the camera head. When the first traveling image is analyzed and an object different from the environmental characteristics appears in the first traveling image and the object, for example a tall object, blocks the traveling direction, it can be understood that an obstacle exists in the traveling direction, and it is tacitly recognized that there is a need to measure the distance to the obstacle, and furthermore, the range and outline of the obstacle can be marked in the first traveling image, and the marked image can be regarded as obstacle area information of the obstacle.

[0016] In S120, a light beam emission method is determined according to the current vehicle speed and the obstacle area information.

[0017] In this embodiment, the current vehicle speed can be understood as the current running speed of the vehicle. The light beam emission manner can be understood as different angles at which the light beam is emitted, where the light beam can be the light beam emitted by an infrared light lamp, etc. In this embodiment, the light beam emitted by an infrared light lamp is only taken as an example of the light beam, and the light beam is not limited.

[0018] For example, when an obstacle exists in the vehicle travel direction, a vehicle speed acquisition command can be sent to a corresponding sensor, and a current vehicle speed sent from the corresponding sensor can be received. The current vehicle speed can be compared with a preset speed threshold. If the current vehicle speed is less than or equal to the preset speed threshold, it is considered that the vehicle speed is slow and the obstacle may be a pedestrian, etc., and if the light beam is emitted at a too high emission angle, it may irradiate people's eyes and cause injury to pedestrians, etc., so the light beam can be emitted to the contour of the obstacle on the ground and the light beam can be controlled to track the contour of the obstacle. If the current vehicle speed is greater than the preset speed threshold, it is considered that the vehicle speed is fast and the obstacle may be a vehicle, so the light beam can be emitted to make an angle of 90 degrees with the host vehicle, i.e., parallel to the ground where the vehicle is located, allowing the light beam to be irradiated to the surface of the obstacle, for example, the tail of the vehicle.

[0019] In S130, the radio frequency mechanisms on the left and right sides of the vehicle are controlled to emit light beams in a light beam emission manner.

[0020] In this embodiment, the radio frequency mechanisms on the left and right sides can be understood as mechanisms that emit light beams, and may be provided, for example, at vehicle lamp locations on both the left and right sides.

[0021] It is important to know that the radio frequency mechanisms on the left and right sides only emit light beams and cannot adjust the angle at which the light beams are emitted, so it is necessary to add radio frequency rotating members to control the rotation of the radio frequency mechanisms on the left and right sides.

[0022] For example, after determining a light beam emission method according to a current vehicle speed, the rotation of the radio frequency rotating member can be controlled according to the light beam emission method, a corresponding rotation angle command can be generated according to the light beam emission method, the rotation angle command can be transmitted to the radio frequency rotating member, and the radio frequency rotating member can be rotated according to a corresponding angle, thereby controlling the radio frequency mechanisms on the left and right sides to rotate at the corresponding angle to emit the light beam.

[0023] For example, the light beam emission method may be such that the light beam is emitted so that the included angle with the host vehicle is 90 degrees. In this case, the radio frequency rotating member is controlled to rotate the left and right radio frequency mechanisms to an angle of 90 degrees with the ground, so that the light beams emitted by the left and right radio frequency mechanisms can be irradiated onto the surface of the obstacle. The light beam emission method may be such that the left light beam is emitted so that the included angle with the host vehicle is 60 degrees, and the right light beam is emitted so that the included angle with the host vehicle is 30 degrees. In this case, the obstacle correspondingly tilts to the right. In this case, the radio frequency rotating member is controlled to rotate the left radio frequency mechanism to an angle of 60 degrees with the ground, and the radio frequency rotating member is controlled to rotate the right radio frequency mechanism to an angle of 30 degrees with the ground, so that the light beams emitted by the left and right radio frequency mechanisms can be irradiated onto the contour of the obstacle on the ground.

[0024] In S140, the light spot focusing parameters of the light spot are adjusted according to a light spot focusing manner suitable for the light beam emission manner, and a second traveling image including the adjusted light beam spot is obtained.

[0025] In this embodiment, the light spot focusing method can be understood as a method of adjusting the focusing parameters of the light spot. Wherein, the light spot is the light irradiation point in the direction of light beam emission, that is, the spot that the light beam encounters an obstacle in the direction of emission. The light spot focusing parameters can be understood as parameters for adjusting the light beam intensity and size. The second traveling image can be understood as the image captured after adjusting the light spot focusing parameters of the light beam spot.

[0026] It should be known that the radio frequency mechanisms on the left and right sides only emit light beams and cannot adjust the light spot focusing parameters of the light beams, so a light spot focusing chip needs to be added to adjust the light spot focusing parameters of the light beam spots.

[0027] For example, when the light beam emission method is to emit a light beam at an angle of 90 degrees with the vehicle, the light spot focusing parameter can be adjusted according to the sharpness of the light beam spot in the driving image so that the light beam spot can maintain a sharp appearance in the driving image. For example, this can take the form of pre-setting levels each corresponding to a different light spot focusing parameter, and according to the current sharpness of the light beam spot or the roughly calculated distance to the obstacle, a suitable level can be found and adjusted to the corresponding level by the light spot focusing chip, that is, the light spot focusing parameter of the light beam spot can be adjusted to the target focusing parameter. When the light beam emission method is to emit light beam to the contour of the obstacle on the ground, and control the light beam to track the contour of the obstacle, the light spot focusing chip can adjust the light spot focusing parameter in the form of a preset threshold value, at this time, the sharpness of the traveling image is not required, only to ensure that the light beam spot exists in the traveling image, so that if the light beam spot does not exist in the traveling image, the obstacle may be too far away, in this case, the light spot focusing chip can adjust the parameter again. After the adjustment is completed, the second traveling image including the adjusted light beam spot captured by the camera head can be obtained.

[0028] In S150, the distance between the vehicle and the obstacle is determined based on the second traveling image.

[0029] In this embodiment, the separation distance can be understood as the distance between the vehicle and the location of the obstacle closest to the vehicle.

[0030] For example, when the vehicle speed is greater than the set threshold, a size detection command can be sent to the preset light spot size detection unit, in which the light spot size detection unit detects the light spot area in the second driving image according to a periodic detection format, obtains the light spot areas of the two left and right light spots, and substitutes the light spot area and corresponding parameters into a preset first interval distance formula to calculate the interval distance between the vehicle and the obstacle. When the vehicle speed is less than or equal to the set threshold, a size detection command can be sent to the preset angle detection unit, in which the angle detection unit detects the included angle between the left and right radio frequency mechanisms and the vehicle according to a periodic detection format, and substitutes the included angle value and the preset setting heights of the left and right radio frequency mechanisms into a preset second interval distance formula to calculate the interval distance between the vehicle and the obstacle. The interval distance can be sent to a corresponding display screen in the vehicle to display the interval distance. For example, in order to enable the driver to intuitively find the distance between the vehicle and the obstacle, the distance between the vehicle and the obstacle can be indicated by left and right auxiliary lines (e.g., left and right auxiliary lines in the image from the rearview camera) on a corresponding screen in the center console.

[0031] For example, if an obstacle is inclined relative to the vehicle, the light spot areas on the corresponding left and right sides will be different, or the angles of the radio frequency mechanisms on the corresponding left and right sides will be different, so that the spacing distances on the left and right sides will be different, and the side with the closest spacing distance may be used as the spacing distance between the obstacle and the vehicle, or two spacing distances between the left and right sides of the vehicle and the obstacle may be displayed simultaneously.

[0032] The obstacle distance measuring method according to the first embodiment is as follows: when it is determined that an obstacle exists in the vehicle traveling direction according to the captured first traveling image, the obstacle area information of the obstacle is determined, and the light beam emission method is determined in conjunction with the current vehicle speed, and the left and right radio frequency mechanisms of the vehicle are controlled to emit the light beam in the light beam emission method, and the light spot focusing parameters of the light beam spot are adjusted in the light spot focusing method suitable for the light beam emission method, and a second traveling image including the adjusted light beam spot is obtained, and the interval distance between the vehicle and the obstacle is determined according to the second traveling image. The method emits the light beam in the light beam emission method and the light spot focusing method suitable for the obstacle area information and the vehicle speed, and analyzes the image including the light beam spot to determine the interval distance. Based on visual sensing, intelligent tracking and accurate distance measurement of the obstacle are realized, and compared with the radar distance measuring method, the hardware architecture cost is reduced.

[0033] Example 2 2 is a flow chart of an obstacle distance measuring method according to a second embodiment of the present invention, which is optimized based on the above embodiment. As shown in FIG. 2, the method includes:

[0034] In S201, when it is determined that an obstacle exists in the vehicle traveling direction based on the captured first traveling image, obstacle area information of the obstacle is determined.

[0035] To facilitate understanding, the obstacle area information of the first traveling image will be explained using an example. FIG. 3 is an example diagram of the first traveling image in the obstacle distance measuring method according to the second embodiment of the present application, where a represents a vehicle, b represents an obstacle, and c represents a reference line, and the obstacle area information of the obstacle can be determined according to the first traveling image.

[0036] As shown in Figure 3, the top layer is the first driving image captured by the camera head, which includes an obstacle b with an irregular shape whose contour has been determined, and a reference line c obtained by drawing a connecting line between the two points of the irregular obstacle closest to the vehicle a, thereby obtaining obstacle area information.

[0037] In S202, the current vehicle speed is acquired.

[0038] For example, when an obstacle exists in the vehicle traveling direction, a vehicle speed acquisition command may be sent to a corresponding sensor, and a current vehicle speed transmitted from the corresponding sensor may be received.

[0039] In S203, it is determined whether the current vehicle speed is greater than a preset speed threshold value.

[0040] In this embodiment, the speed threshold can be understood as a threshold for determining whether the vehicle speed is too high or not.

[0041] For example, a speed threshold can be preset, and when a current vehicle speed transmitted from a sensor is received, the current vehicle speed can be compared with the preset speed threshold to determine whether the current vehicle speed is greater than the preset speed threshold.

[0042] In S204, if the current vehicle speed is greater than a preset speed threshold, the light beam emission method is set to a 90 degree angle between the light beam and the vehicle.

[0043] For example, if the current vehicle speed is greater than a preset speed threshold, it may be considered that the vehicle speed is fast and that the obstacle may possibly be a vehicle, and therefore the light beam may be emitted so that the angle between the vehicle and the light beam is 90 degrees, i.e., parallel to the ground on which the vehicle is located, allowing the light beam to be irradiated onto the surface of the obstacle, for example, the tail of the vehicle.

[0044] In S205, if the current vehicle speed is not greater than a preset speed threshold, a reference line corresponding to the obstacle is determined according to the obstacle area information, and the irradiation point of the light spot corresponding to the light beam is positioned on the reference line, which is regarded as a light beam emission method.

[0045] In this embodiment, the irradiation point of the light spot can be understood as the irradiation point when the light spot is irradiated on the ground perpendicular to the vehicle head direction, and the reference line can be understood as a straight line for marking the contour of the projection of the obstacle on the ground.

[0046] For example, if the obstacle area information indicates that the area of ​​the obstacle location area closest to the vehicle is identified as a straight line (i.e., the shape of the obstacle is regular), this straight line is used as a reference line, and if the obstacle area information indicates that the area of ​​the obstacle location area closest to the vehicle is identified as relatively scattered points (i.e., the shape of the obstacle is irregular), the tangent line of the obstacle area is identified and used as a reference line, and for example, two of the scattered points closest to the vehicle are found and connected to obtain a tangent line. The radio frequency mechanisms on the left and right sides each have an irradiation point of one light spot in a direction perpendicular to the head of the vehicle, and the angles of the radio frequency mechanisms on the left and right sides can be adjusted so that the irradiation points of these two light spots can be positioned on this straight line.

[0047] In S206, the radio frequency mechanisms on the left and right sides of the vehicle are controlled to emit light beams in a light beam emission manner in which the irradiation point of the light spot corresponding to the light beam is positioned on the reference line by the radio frequency rotating member.

[0048] The radio frequency rotating members are connected to the left and right radio frequency mechanisms.

[0049] For example, after determining a light beam emission method according to a current vehicle speed, the rotation of the radio frequency rotating member can be controlled according to the light beam emission method, a corresponding rotation angle command can be generated according to the light beam emission method, the rotation angle command can be transmitted to the radio frequency rotating member, and the radio frequency rotating member can be rotated according to a corresponding angle, thereby controlling the radio frequency mechanisms on the left and right sides to rotate at the corresponding angle to emit the light beam.

[0050] In S207, the radio frequency mechanisms on the left and right sides of the vehicle are controlled so as to emit light beams in a light beam emission manner that makes the angle between the light beams and the vehicle 90 degrees by using a radio frequency rotating member.

[0051] For example, after determining a light beam emission method according to a current vehicle speed, the rotation of the radio frequency rotating member can be controlled according to the light beam emission method, an angle command corresponding to a 90-degree rotation can be generated according to the light beam emission method, the rotation angle command can be transmitted to the radio frequency rotating member, and the radio frequency rotating member can be rotated according to a corresponding angle, thereby controlling the radio frequency mechanisms on the left and right sides to rotate 90 degrees to emit light beams.

[0052] In S208, if the light beam emission method is to set the angle between the light beam and the vehicle to 90 degrees, the light spot focusing method is to perform light spot focusing according to obstacle area information, adjust the light spot focusing parameter of the light beam spot, and obtain a second running image including the adjusted light beam spot.

[0053] For example, when the light beam emission method is to emit the light beam at an angle of 90 degrees with the vehicle, the light spot focusing parameter can be adjusted according to the sharpness of the obstacle area information of the light beam spot, so that the light beam spot can maintain a sharp display in the driving image, for example, the form can be a preset level corresponding to different light spot focusing parameters, and according to the sharpness of the current light beam spot or the roughly calculated obstacle distance, a suitable level can be found, and the light spot focusing chip can adjust to the corresponding level, that is, the light spot focusing parameter of the light beam spot can be adjusted to the target focusing parameter. After the adjustment is completed, a second driving image including the adjusted light beam spot captured by the camera head can be obtained.

[0054] Exemplarily, the step of adjusting the light spot focusing parameters of the light beam spot and acquiring the second traveling image including the adjusted light beam spot may include:

[0055] In a1, the spot sharpness of the light beam spot in the obstacle region information is extracted.

[0056] In this embodiment, spot sharpness can be understood as the degree of sharpness of the light spot when displayed in a traveling image.

[0057] For example, during the camera head collection process, obstacle area information in each frame can be obtained in real time, and the obstacle area information may include a light beam spot, and the spot sharpness of the light beam spot can be identified according to a preset method.

[0058] In b1, if the spot sharpness does not meet the preset first spot sharpness standard, adjust the light spot focusing parameters by the light spot focusing chip.

[0059] In this embodiment, the first spot sharpness standard can be understood as a standard for indicating what spot sharpness needs to be achieved.

[0060] For example, the spot sharpness can be compared with a preset first spot sharpness standard, and if the spot sharpness does not meet the preset first spot sharpness standard, it can take the form of, for example, presetting levels each corresponding to different light spot focusing parameters so that the light beam spot can be displayed sharply in the driving image, and by calculating the difference value between the current spot sharpness and the first spot sharpness standard, or according to the roughly calculated distance to the obstacle, the level at which the difference value or distance exists can be determined, and adjusted to the corresponding level by the light spot focusing chip, i.e., the light spot focusing parameters of the light beam spot can be adjusted.

[0061] At c1, a second scan image is acquired that includes the captured adjusted light beam spot.

[0062] Exemplarily, after the adjustment is completed, a second scanning image including the adjusted light beam spot captured by the camera head can be obtained.

[0063] In S209, if the light beam emission method is to position the irradiation point of the light spot corresponding to the light beam on the reference line, the light spot focusing method is to focus the light spot according to a preset focusing parameter threshold, adjust the light spot focusing parameter of the light beam spot, and obtain a second traveling image including the adjusted light beam spot.

[0064] In this embodiment, the focus parameter threshold can be understood as the parameter value that enables the display of the light flux spot.

[0065] For example, when the light beam emission method is to position the irradiation point of the light spot corresponding to the light beam on a reference line, the light spot focusing method is to adjust the light spot focusing parameters by the light spot focusing chip in the form of a preset threshold value, at this time, the sharpness of the traveling image is not required, it is only necessary to ensure that the light beam spot is present in the traveling image, and after the adjustment is completed, a second traveling image including the adjusted light beam spot captured by the camera head can be obtained.

[0066] In a2, the spot sharpness of the light beam spot in the obstacle region information is extracted.

[0067] In b2, the light spot focusing parameter is adjusted by the light spot focusing chip based on the focusing parameter threshold value.

[0068] Exemplarily, a preset focus parameter threshold can be obtained, and the light spot focus parameter can be adjusted to the focus parameter threshold by the light spot focus chip.

[0069] In c2, if the spot sharpness does not meet the preset second spot sharpness standard, a second adjustment is made to the light spot focusing parameters by the light spot focusing chip.

[0070] In this embodiment, the second spot sharpness standard can be understood as a standard for indicating what spot sharpness needs to be reached, where the second spot sharpness standard is different from the first spot sharpness standard.

[0071] For example, when the light beam emission method is to position the irradiation point of the light spot corresponding to the light beam on the reference line, the sharpness in the traveling image is not required, and it is only necessary to ensure that the light beam spot exists in the traveling image, so the second spot sharpness standard may be lower than the first spot sharpness standard. If the spot sharpness does not meet the preset first spot sharpness standard, for example, there is no light beam spot in the traveling image, that is, the obstacle may be too far away, the light spot focusing chip can adjust the parameters again. For example, the light beam spot can be displayed in the traveling image by presetting levels each corresponding to different light spot focusing parameters, and by calculating the difference value between the current spot sharpness and the second spot sharpness standard, or according to the roughly calculated distance to the obstacle, the level where the difference value or distance exists can be determined, and the light spot focusing chip can adjust to the corresponding level, that is, the light spot focusing parameter of the light beam spot can be adjusted.

[0072] At d2, a second scan image is acquired that includes the captured adjusted beam spot.

[0073] Exemplarily, after the adjustment is completed, a second scanning image including the adjusted light beam spot captured by the camera head can be obtained.

[0074] In S210, the area value of the light spot is determined according to the second traveling image.

[0075] In this embodiment, the area value can be understood as the area value displayed in the image of the light beam spot.

[0076] For example, by presetting the light spot area detection unit, two light beam spots on the left and right in the second traveling image can be identified, the areas of the two light beam spots can be detected, and the area values ​​of the two light beam spots on the left and right can be obtained.

[0077] In S211, the distance between the vehicle and the obstacle is determined according to the area value.

[0078] For example, a relationship coefficient of the area value corresponding to the interval distance can be set in advance according to the light spot focusing parameters, and a correspondence relationship table between the light spot focusing parameters and the relationship coefficients can be created. The relationship coefficient can be determined according to the current light spot focusing parameters, and the interval distance between the vehicle and the obstacle can be determined according to the product of the relationship coefficient and the area value.

[0079] For example, the spacing distance can be calculated using the following formula: JPEG2025502895000002.jpg718, where L is the distance between the vehicle and the obstacle, k is a relation coefficient, and X is the area value of the light spot.

[0080] S212, the mounting height information of the left and right radio frequency mechanisms is obtained.

[0081] In this embodiment, the mounting height information can be understood as the distance from the left and right radio frequency mechanisms to the ground.

[0082] For example, when the left and right radio frequency mechanisms are installed, the installation height information of the left and right radio frequency mechanisms can be determined through a measurement method, the installation height information can be input and stored in a memory, and the installation height information of the left and right radio frequency mechanisms can be obtained by searching in the memory.

[0083] In S213, information on the angle between the left and right radio frequency mechanisms and the vehicle is determined according to the second traveling image.

[0084] For example, the rotation angle detection unit can be preset to detect the rotation angles of the left and right radio frequency mechanisms respectively, and determine the angle information between the left and right radio frequency mechanisms and the vehicle.

[0085] In S214, the distance between the vehicle and the obstacle is determined according to the included angle information and the mounting height information.

[0086] Illustratively, the included angle information and mounting height information can be plugged into a trigonometric formula to determine the separation distance between the vehicle and the obstacle.

[0087] For example, the spacing distance can be calculated using the following formula: JPEG2025502895000003.jpg721, where L represents the distance between the vehicle and the obstacle, and H represents the installation height value. JPEG2025502895000004.jpg44 is the angle between the radio frequency mechanism and the vehicle.

[0088] The obstacle distance measuring method according to the second embodiment identifies the area where the obstacle is located, obtains the obstacle area information, and determines the light beam emission mode in combination with the obstacle area information according to the comparison result between the current vehicle speed and the speed threshold, controls the rotation of the left and right radio frequency mechanisms according to the rotation angle of the light beam emission mode by the radio frequency rotating member, so that the light beam irradiation point can always be irradiated on the reference line corresponding to the obstacle area, and adjusts the focusing parameters by the light spot focusing chip so that the light beam spot can be displayed sharply in the running image, thereby realizing real-time tracking of the obstacle. According to the running image including the light beam spot collected by the camera head, the area value or the angle information of the light beam spot can be determined, and the area value and the angle information can be substituted into the corresponding distance calculation formula to determine the distance between the vehicle and the obstacle. Based on the hardware architecture of related technologies for visual sensing, the radar ranging and fused hardware architecture can be eliminated, saving resources and costs. By only separately constructing the hardware architecture of the light spot focusing chip and the radio frequency rotating component, precise ranging for obstacles can be realized. A series of implementation methods for purely visual precise ranging is provided, and costs can be reduced.

[0089] For ease of understanding, schematic diagrams are provided for a method of calculating the distance according to the light beam spot area when the current vehicle speed is greater than a preset speed threshold, and a method of calculating the distance according to the angle when the current vehicle speed is less than or equal to the preset speed threshold.

[0090] FIG. 4a is an example diagram showing how the interval distance is determined according to the light beam spot area in the obstacle distance measuring method according to the second embodiment of the present invention.

[0091] As shown in Figure 4a, for ease of explanation, take the radio frequency mechanism on one side as an example to determine the distance between the same obstacle and the vehicle at different times, where E3 is the radio frequency mechanism on one side, B3 is an obstacle, X1 is the light beam spot area of ​​obstacle B3 at the previous time, X2 is the light beam spot area of ​​obstacle B3 at the current time, L1 is the distance between obstacle B3 and the radio frequency mechanism at the previous time, and L2 is the distance between obstacle B3 and the current radio frequency mechanism. When the current vehicle speed is greater than the preset speed threshold, the radio frequency mechanism E3 can be adjusted to an angle of 90 degrees, that is, the radio frequency rotating member can be controlled to emit the light beam parallel to the ground. When the light beam is irradiated to the obstacle B3, a light beam spot is formed, and the light spot focusing chip is used to adjust the light spot focusing parameter and detect the area of ​​the light beam spot, thereby obtaining X1 and X2. The corresponding relationship coefficient k can be determined according to the light spot focusing parameter, and k, X1 and X2 can be expressed by the formula: By substituting JPEG2025502895000005.jpg513, the gap distances L1 and L2 can be determined.

[0092] FIG. 4b is an exemplary diagram showing how an interval distance is determined according to an angle in the obstacle distance measuring method according to the second embodiment of the present invention.

[0093] As shown in FIG. 4b, for ease of explanation, the distance between the same obstacle and the vehicle at different times is determined, where A2 represents the vehicle, E1 represents the left radio frequency mechanism, E2 represents the right radio frequency mechanism, F1 represents the right light beam irradiation point at the previous time, F2 represents the left light beam irradiation point at the previous time, B2 represents the obstacle, C1 represents the baseline at the previous time, C2 represents the current baseline, F3 represents the current right light beam irradiation point, and F4 represents the current left light beam irradiation point. The reference line can be determined according to the obstacle area information, and the rotation of E1 and E2 is controlled by the radio frequency rotating member so that the light beam irradiation point is always irradiated on the reference line. In this case, the connecting line between E1 and F2 can be considered as the light beam emitted by the left radio frequency mechanism at the previous time. The rotation angle of the left radio frequency mechanism is detected, that is, the angle between the light beam and the plane where E1 is located (the dashed line below E1 in the figure can be used as the reference). JPEG2025502895000006.jpg56 can be determined, and the installation height value H1 of E1 (i.e., the distance from E1 to the ground) and the included angle value JPEG2025502895000007.jpg56 with the formula By substituting JPEG2025502895000008.jpg518, the distance between the left radio frequency mechanism and the obstacle at the previous time can be obtained. Similarly, the calculation methods for the distance between the right radio frequency mechanism and the obstacle at the previous time and the distance between the left and right radio frequency mechanisms and the obstacle at the current time are the same, and will not be described repeatedly.

[0094] Example 3 5 is a structural schematic diagram of an obstacle distance measuring device according to a third embodiment of the present application. As shown in FIG. 5, the device includes an information determining module 41, a method determining module 42, a light beam emitting module 43, an image acquiring module 44 and a distance determining module 45. The information determining module 41 is configured to determine obstacle region information of the obstacle when it is determined that an obstacle exists in the vehicle traveling direction according to the captured first traveling image. The method determining module 42 is configured to determine a light beam emission method according to the current vehicle speed and the obstacle area information. The light beam emission module 43 is configured to control the radio frequency mechanisms on the left and right sides of the vehicle to emit light beams in a light beam emission manner. The image acquisition module 44 is configured to adjust the light spot focusing parameters of the light beam spot, which is the light irradiation point in the direction of the light beam emission, in a light spot focusing manner compatible with the light beam emission manner, and acquire a second traveling image including the adjusted light beam spot. The distance determination module 45 is configured to determine a gap distance between the vehicle and an obstacle depending on the second driving image.

[0095] The obstacle distance measuring device according to the third embodiment emits a light beam in a light beam emission manner and a light spot focusing manner according to the obstacle area information and the vehicle speed, analyzes the image containing the light beam spot, and determines the distance. Based on visual sensing, intelligent tracking and accurate distance measurement of the obstacle are realized, and the hardware architecture cost is reduced compared with the radar distance measurement method.

[0096] Preferably, the method determination module 42 is Obtaining a current speed of a vehicle; If the current vehicle speed is greater than a preset speed threshold, the angle between the light beam and the vehicle is set to 90 degrees. If the current vehicle speed is not greater than a preset speed threshold, a reference line corresponding to the obstacle is determined according to the obstacle area information, and the irradiation point of the light spot corresponding to the light beam is positioned on the reference line, which is the light beam emission method.

[0097] Preferably, the light beam emitting module 43 comprises: The radio frequency rotating member connected to the left and right radio frequency mechanisms is configured to control the left and right radio frequency mechanisms in the vehicle to emit the light beam in a light beam emission manner.

[0098] Preferably, for the image acquisition module 44, when the light spot focusing manner is to perform light spot focusing according to the obstacle region information, the image acquisition module 44 is Extracting spot sharpness of the light beam spot in the obstacle region information; If the spot sharpness does not meet the preset first spot sharpness standard, adjust the light spot focusing parameters by the light spot focusing chip; A second scanned image is then acquired that includes the captured adjusted light beam spot.

[0099] Preferably, for the image acquisition module 44, when the light spot focusing manner is to perform light spot focusing with a preset focusing parameter threshold, the image acquisition module 44 is Extracting spot sharpness of the light beam spot in the obstacle region information; Adjusting the light spot focusing parameter by the light spot focusing chip based on the focusing parameter threshold; If the spot sharpness does not meet the preset second spot sharpness standard, a second adjustment is made to the light spot focusing parameters by the light spot focusing chip; A second scanned image is then acquired that includes the captured adjusted light beam spot.

[0100] Preferably, the distance determination module 45 comprises: Determine an area value of the light beam spot according to the second traveling image; The system is configured to determine the gap distance between the vehicle and the obstacle according to the area value.

[0101] Preferably, the distance determination module 45 further comprises: Acquire information on the installation height of the left and right radio frequency mechanisms; Determining information about an angle between the left and right radio frequency mechanisms and the vehicle according to the second driving image; The system may be configured to determine a gap distance between the vehicle and an obstacle in response to included angle information and the mounting height information.

[0102] The obstacle ranging device according to the embodiments of the present application can execute the obstacle ranging method according to any embodiment of the present application, and has functional modules and effects corresponding to the execution of the method.

[0103] Example 4 FIG. 6 is a structural schematic diagram of a vehicle according to Example 4 of the present application. As shown in FIG. 6, the vehicle includes a controller 51, a memory 52, an input device 53, an output device 54, a radio frequency rotating member 55 and a light spot focusing chip 56. The number of controllers 51 in the vehicle may be at least one. In FIG. 5, taking one controller 51 as an example, the controller 51, memory 52, input device 53, output device 54, radio frequency rotating member 55 and light spot focusing chip 56 in the vehicle can be connected by a bus or other manner. In FIG. 5, the connection by bus is taken as an example.

[0104] The memory 5 can be configured as a computer-readable storage medium to store software programs, computer-executable programs and modules, such as program instructions / modules corresponding to the obstacle ranging method in the embodiment of the present application (e.g., information determining module 41, method determining module 42, light beam emitting module 43, image acquiring module 44 and distance determining module 45 in the obstacle ranging device). The controller 51 runs the software programs, instructions and modules stored in the memory 52 to perform various functional applications and data processing of the vehicle, i.e., to realize the obstacle ranging method described above.

[0105] The memory 52 may mainly include a program storage area and a data storage area, in which the program storage area can store an operating system and an application program required for at least one function, and the data storage area can store data created according to the use of the terminal, etc. The memory 52 may also include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state memory device. In some examples, the memory 52 may include memories that are provided remotely with respect to the controller 51, and these remote memories can be connected to the vehicle by a network. Examples of the network include, but are not limited to, the Internet, an internal corporate network, a local network, a mobile communication network, and combinations thereof.

[0106] The input device 53 can be configured to receive input digital or textual information and generate input key signals associated with user settings and function control of the cloud platform. The output device 54 may include a display device such as a display.

[0107] The radio frequency rotating member 54 is connected to the left and right radio frequency mechanisms and can be configured to control the light beam emission modes of the left and right radio frequency mechanisms.

[0108] The light spot focusing chip 55 is configurable to adjust light spot focusing parameters of the light flux spot.

[0109] Example 5 A fifth embodiment of the present application further provides a storage medium including computer-executable instructions configured to execute an obstacle ranging method when executed by a processor of a computer, the method including: When it is determined that an obstacle exists in the vehicle travel direction according to the captured first travel image, determining obstacle area information of the obstacle; determining a light beam emission method according to a current vehicle speed and obstacle area information; Controlling the left and right radio frequency mechanisms in the vehicle to emit light beams in a light beam emission manner; In a light spot focusing manner suitable for a light beam emission manner, adjust a light spot focusing parameter of the light beam spot, which is a light irradiation point in the direction of emission of the light beam, and obtain a second traveling image including the adjusted light beam spot; and determining a gap distance between the vehicle and the obstacle according to the second traveling image.

[0110] Of course, for a storage medium containing computer-executable instructions according to the embodiments of the present application, the computer-executable instructions are not limited to the above-mentioned method operations, and can further perform related operations in the obstacle ranging method according to any embodiment of the present application.

[0111] From the above description of the embodiments, those skilled in the art can clearly understand that the present application can be realized through software and necessary general-purpose hardware, and of course, it may be realized by hardware, but in many cases, the former is a more preferred embodiment. Based on this understanding, the essential part of the technical solution of the present application or the part contributing to the related technology can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer flexible disk, a read-only memory (ROM), a random access memory (RAM), a flash memory (FLASH), a hard disk or an optical disk, etc., and includes some instructions for making a computer device (which may be a personal computer, a server, or a network device, etc.) execute the method described in each embodiment of the present application.

[0112] In addition, in the above embodiment of the obstacle distance measuring device, each unit and module provided is merely divided according to functional logic, but it is not limited to the above division, as long as it can realize the corresponding function, and it should be noted that the specific names of each functional unit are merely intended to make it easier to distinguish from each other, and are not intended to limit the scope of protection of the present application.

Claims

1. When it is determined that an obstacle exists in the vehicle travel direction according to the captured first travel image, determining obstacle area information of the obstacle; determining a light beam emission mode according to a current vehicle speed and the obstacle area information; Controlling the radio frequency mechanisms on the left and right sides of the vehicle to emit light beams in the light beam emission manner; Adjusting a light spot focusing parameter of the light spot, which is a light irradiation point in the direction of the light beam emission, in a light spot focusing manner suitable for the light beam emission manner, and obtaining a second traveling image including the adjusted light beam spot; determining a distance between the vehicle and the obstacle according to the second traveling image; Obstacle ranging method.

2. Determining the light beam emission mode according to the current vehicle speed and the obstacle area information as described above; Obtaining a current speed of a vehicle; If the current vehicle speed is greater than a preset speed threshold, the angle between the light beam and the vehicle is set to 90 degrees as a light beam emission method; If the current vehicle speed is not greater than a preset speed threshold, a reference line corresponding to the obstacle is determined according to the obstacle area information, and an irradiation point of a light spot corresponding to the light beam is positioned on the reference line, as a light beam emission method. The method of claim 1.

3. The above-mentioned, controlling the radio frequency mechanisms on the left and right sides of the vehicle to emit the light beam in the light beam emission method, and controlling the left and right radio frequency mechanisms in the vehicle to emit light beams in the light beam emission manner by using a radio frequency rotating member connected to the left and right radio frequency mechanisms. The method of claim 1.

4. When the light beam emission method is to set the angle between the light beam and the vehicle at 90 degrees, the light spot focusing method is to focus the light spot according to the obstacle area information; When the light beam emission method is to position the irradiation point of the light spot corresponding to the light beam on the reference line, the light spot focusing method is to focus the light spot according to a preset focusing parameter threshold value. The method of claim 2.

5. When the light spot focusing manner is to perform the light spot focusing according to the obstacle area information, the above-mentioned light spot focusing parameter of the light spot is adjusted, and the second traveling image including the adjusted light spot is obtained. Extracting spot sharpness of the light beam spot in the obstacle region information; If the spot sharpness does not meet the preset first spot sharpness standard, adjusting the light spot focusing parameters by a light spot focusing chip; and acquiring a second scanning image including the captured adjusted light beam spot. The method according to claim 4.

6. When the light spot focusing method is to perform light spot focusing according to a preset focusing parameter threshold, the above-mentioned light spot focusing parameter of the light spot is adjusted, and the second traveling image including the adjusted light spot is obtained. Extracting spot sharpness of the light beam spot in the obstacle region information; adjusting a light spot focus parameter by a light spot focus chip based on the focus parameter threshold; making a second adjustment to the light spot focusing parameters by the light spot focusing chip when the spot sharpness does not meet a second preset spot sharpness standard; and acquiring a second scanning image including the captured adjusted light beam spot. The method according to claim 4.

7. Determining the interval distance between the vehicle and the obstacle in accordance with the second traveling image, determining an area value of the light beam spot according to the second traveling image; determining a distance between the vehicle and the obstacle according to the area value; The method according to claim 5.

8. Determining the interval distance between the vehicle and the obstacle in accordance with the second traveling image, Obtaining installation height information of the left and right radio frequency mechanisms; Determining information about an angle between the left and right radio frequency mechanisms and a vehicle according to the second traveling image; determining a distance between the vehicle and the obstacle according to the included angle information and the mounting height information; The method according to claim 6.

9. an information determining module configured to determine obstacle region information of an obstacle when it is determined that an obstacle exists in a vehicle travel direction according to the captured first travel image; A method determining module configured to determine a light beam emission method according to a current vehicle speed and the obstacle area information; A light beam emission module configured to control radio frequency mechanisms on the left and right sides of a vehicle to emit light beams in the light beam emission manner; an image acquisition module configured to adjust a light spot focusing parameter of a light spot, which is a light irradiation point in the direction of the light beam emission, in a light spot focusing manner compatible with the light beam emission manner, and acquire a second traveling image including the adjusted light spot; a distance determination module configured to determine a gap distance between the vehicle and the obstacle in response to the second driving image. Obstacle ranging device.

10. At least one controller; A radio frequency rotating member connected to the left and right radio frequency mechanisms and configured to control the light beam emission manner of the left and right radio frequency mechanisms; a light spot focusing chip configured to adjust a light spot focusing parameter of the light flux spot; a memory communicatively coupled to the at least one controller and having a computer program executable by the at least one controller stored therein; When the computer program is executed by the at least one controller, the at least one controller is capable of executing the obstacle distance measuring method according to any one of claims 1 to 8. vehicle.

11. A method for measuring an obstacle distance comprising: storing computer instructions configured, when executed by a processor, to implement the obstacle distance measuring method according to any one of claims 1 to 8; A computer-readable storage medium.

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