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 obstacle ranging methods, devices, vehicles and media. [Background technology]

[0003] With the development of road traffic, especially the highway system, the traffic accident rate is also on the rise, and traffic safety is attracting more and more attention from people. Therefore, we are researching vehicle safety assist driving technology and providing vehicles with safety assist driving functions to provide intelligent technology services to reduce traffic accidents caused by driver subjective factors.

[0004] The related art employs purely visual sensing technology to measure distance, identifying obstacles in an image according to a preset obstacle type, and determining the distance to the obstacle according to the image. However, the purely visual sensing technology has the problem of being unable to realize intelligent tracking and precise distance measurement. Therefore, the related art requires the deployment of externally connected devices such as ultrasonic radar. However, externally connected devices such as ultrasonic radar cannot be associated with specific obstacles to perform intelligent tracking and precise 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 realizing 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 traveling direction according to the captured first traveling image, determining obstacle area information of the obstacle; determining a beam emission method according to the 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 method; By using a light spot focusing method suitable for the light beam emission method, adjusting a light spot focusing parameter of the light beam spot, which is a light irradiation point in the emission direction of the light beam, 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 the vehicle traveling direction according to the captured first traveling image; a method determination module configured to determine a 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, by a light spot focusing method compatible with the light beam emission method, 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 beam emission modes of the left and right radio frequency mechanisms; a light spot focusing chip configured to adjust a light spot focusing parameter of the light beam spot; a memory communicatively coupled to the at least one controller and storing a computer program executable by the at least one controller; 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 to, when executed by a processor, implement an obstacle ranging method as described in any of the embodiments of the present application. [Brief explanation 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. [Figure 2] FIG. 10 is a flowchart of an obstacle distance measuring method according to a second embodiment of the present invention. [Figure 3] FIG. 10 is an example view of a first traveling image in the obstacle ranging method according to the second embodiment of the present invention. [Figure 4a] FIG. 10 is an illustrative diagram showing how an interval distance is determined depending on a light beam spot area in an obstacle distance measuring method according to a second embodiment of the present invention. [Figure 4b] FIG. 10 is an illustration showing an example of determining an interval distance depending on an angle in an obstacle distance measuring method according to a second embodiment of the present invention. [Figure 5] FIG. 10 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 that implements an obstacle distance measuring method according to an embodiment of the present application; DETAILED DESCRIPTION OF THE INVENTION

[0011] It should be noted that the terms "first," "second," etc. in the specification and claims of this application and the drawings are not necessarily used to describe a particular order or chronology, but are merely used to distinguish between similar objects. It should be understood that the terms used in this application are interchangeable where appropriate, so that the embodiments of this application described herein may be practiced in orders other than those illustrated or described herein. Furthermore, the terms "comprise" and "have," and any variations thereof, are intended to cover non-exclusive inclusions, including, 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 explicitly recited, but may include other steps or units not explicitly 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 invention, which is applicable to a purely visual obstacle distance measurement, and which can be performed by an obstacle ranging device, which can be implemented in the form of hardware and / or software, and which 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 while the vehicle is traveling. The vehicle traveling direction can be understood as a direction corresponding to the traveling of the vehicle. The obstacle can be understood as an object that may obstruct the traveling of the vehicle in the traveling direction of the vehicle. 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 video format via a bus or other means. When the executing entity receives the first traveling image, it can break down the video into frame-by-frame images, and each frame can be regarded as the first traveling image captured by the camera head. By analyzing the first traveling image, if 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 determined that an obstacle exists in the traveling direction, and it can be implicitly recognized that there is a need to measure the distance to the obstacle. 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, the 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 speed of the vehicle. The light beam emission manner can be understood as different angles at which the light beam is emitted, and the light beam can be a light beam emitted by an infrared lamp, etc. In this embodiment, the light beam emitted by an infrared lamp is used as an example of the light beam, and the light beam is not limited to this.

[0018] For example, if an obstacle is present in the vehicle's traveling direction, a vehicle speed acquisition command can be sent to a corresponding sensor, and the 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 determined that the vehicle speed is slow and the obstacle may be a pedestrian, etc. If the light beam is emitted at a too high angle, it may irradiate people's eyes and cause injury to pedestrians, etc. Therefore, the light beam can be emitted toward the outline of the obstacle on the ground and controlled to track the outline of the obstacle. If the current vehicle speed is greater than the preset speed threshold, it is determined that the vehicle speed is fast and the obstacle may be a vehicle, so the light beam can be emitted at 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 onto 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 left and right radio frequency mechanisms can be understood as mechanisms that emit luminous flux, and may be provided, for example, at vehicle lamp locations on both the left and right sides.

[0021] It should be noted that the left and right radio frequency mechanisms only emit light beams and the angle at which the light beams are emitted cannot be adjusted, so it is necessary to add a radio frequency rotating member to control the rotation of the left and right radio frequency mechanisms.

[0022] For example, after determining the light beam emission method according to the 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 the corresponding angle, thereby controlling the radio frequency mechanisms on the left and right sides to rotate at the corresponding angle and emit the light beam.

[0023] For example, the light beam emission method may be such that the light beam is emitted at an angle of 90 degrees with the vehicle, in which case the radio frequency rotating member is controlled to rotate the left and right radio frequency mechanisms at a 90-degree angle with the ground, so that the light beams emitted by the left and right radio frequency mechanisms are irradiated onto the surface of the obstacle; the light beam emission method may be such that the left light beam is emitted at an angle of 60 degrees with the vehicle, and the right light beam is emitted at an angle of 30 degrees with the vehicle, so that the obstacle tilts to the right, in which case the radio frequency rotating member is controlled to rotate the left radio frequency mechanism at a 60-degree angle with the ground, and the radio frequency rotating member is controlled to rotate the right radio frequency mechanism at a 30-degree angle with the ground, so that the light beams emitted by the left and right radio frequency mechanisms are irradiated onto the outline of the obstacle on the ground.

[0024] In S140, the light spot focusing parameters of the light spot are adjusted by a light spot focusing method suitable for the light beam emission method, 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 for adjusting the focusing parameters of the light spot. The light spot is the light irradiation point in the direction of light beam emission, that is, the spot that appears when 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 an 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, if the light beam emission method is to emit a light beam at an angle of 90 degrees with the vehicle, the light spot focusing parameters 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 different light spot focusing parameters, and finding a suitable level according to the current sharpness of the light beam spot or the roughly calculated distance to the obstacle, and adjusting it to the corresponding level using the light spot focusing chip, that is, adjusting the light spot focusing parameters of the light beam spot to the target focusing parameters. If the light beam emission method is to emit the 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, 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, therefore, if the light beam spot is not present in the traveling image, it may be that the obstacle is too far away, in this case, the light spot focusing chip can adjust the parameter again, after the adjustment is completed, a 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 a predetermined threshold, a size detection command can be sent to a predetermined light spot size detection unit. In this case, the light spot size detection unit periodically detects the light spot areas in the second driving image, obtains the light spot areas of the two left and right light spots, and substitutes the light spot areas and corresponding parameters into a predetermined first distance formula to calculate the distance between the vehicle and the obstacle. When the vehicle speed is less than or equal to the predetermined threshold, a size detection command can be sent to a predetermined angle detection unit. In this case, the angle detection unit periodically detects the angle between the left and right radio frequency devices and the vehicle, and substitutes the angle value and the predetermined setting heights of the left and right radio frequency devices into a predetermined second distance formula to calculate the distance between the vehicle and the obstacle. The distance can be sent to a corresponding display screen on the vehicle to display the distance. For example, to enable the driver to intuitively determine the distance between the vehicle and the obstacle, the distance between the vehicle and the obstacle can be displayed on the corresponding screen in the form of left and right auxiliary lines (for example, left and right auxiliary lines in the image from the rear camera) on the corresponding screen of 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 the distance between the left and right sides will be different, and the side with the closest distance may be used as the distance between the obstacle and the vehicle, or the two distances between the left and right sides of the vehicle and the obstacle may be displayed simultaneously.

[0032] The obstacle ranging method of the first embodiment determines, based on a captured first traveling image, that an obstacle exists in the vehicle's traveling direction, determines obstacle area information of the obstacle, determines a beam emission method in conjunction with the current vehicle speed, controls the left and right radio frequency mechanisms of the vehicle to emit beams in the beam emission method, adjusts the beam spot focusing parameters of the beam spot using a beam spot focusing method suitable for the beam emission method, obtains a second traveling image including the adjusted beam spot, and determines the distance between the vehicle and the obstacle based on the second traveling image. This method emits beams in a beam emission method and a beam spot focusing method suitable for the obstacle area information and the vehicle speed, analyzes the image including the beam spot, and determines the distance. Intelligent tracking and accurate distance measurement of obstacles are achieved based on visual sensing, and the hardware architecture costs are reduced compared to radar ranging methods.

[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-mentioned 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. Figure 3 is an example diagram of the first traveling image in the obstacle ranging method according to Example 2 of the present application, where a represents the vehicle, b represents the obstacle, and c represents the 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 upper layer is the first traveling image captured by the camera head, which includes an irregularly shaped obstacle b whose contour has been determined, and a reference line c obtained by connecting 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, if an obstacle exists in the vehicle's traveling direction, a vehicle speed acquisition command may be sent to a corresponding sensor, and the 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.

[0040] In this embodiment, the speed threshold can be understood as a threshold for determining whether the vehicle speed is too high.

[0041] For example, a speed threshold can be set in advance, and when the current vehicle speed transmitted from the 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 beam emission method is set to a beam angle of 90 degrees between the 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 high and the obstacle is likely to be a vehicle, and therefore the light beam can be emitted so that the included angle with the vehicle is 90 degrees, i.e., parallel to the ground where 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 the 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.

[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 outline 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 closest to the vehicle is identified as a straight line (i.e., if the obstacle has a regular shape), this straight line can be used as the reference line, and if the obstacle area information indicates that the area of ​​the obstacle location closest to the vehicle is identified as relatively dispersed points (i.e., if the obstacle has an irregular shape), the tangent lines of the obstacle area can be identified and used as the reference line, and for example, two of the dispersed points closest to the vehicle can be found and connected to obtain a tangent line.The left and right radio frequency mechanisms each have an irradiation point of one light spot in a direction perpendicular to the front of the vehicle, and the angles of the left and right radio frequency mechanisms 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 rotating member controls the radio frequency mechanisms on the left and right sides of the vehicle to emit the light beam in a light beam emission manner that positions the irradiation point of the light spot corresponding to the light beam on the reference line.

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

[0049] For example, after determining the light beam emission method according to the 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 the corresponding angle, thereby controlling the radio frequency mechanisms on the left and right sides to rotate at the corresponding angle and emit the light beam.

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

[0051] For example, after determining the light beam emission method according to the 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 the corresponding angle, thereby controlling the radio frequency mechanisms on the left and right sides to rotate 90 degrees and emit light beams.

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

[0053] For example, if 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 obstacle area information of the light beam spot 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 corresponding to different light spot focusing parameters, and finding a suitable level according to the current light beam spot sharpness or the roughly calculated obstacle distance, and adjusting it to the corresponding level using the light spot focusing chip, that is, adjusting the light spot focusing parameter of the light beam spot 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] Illustratively, 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, the spot sharpness can be understood as the degree of sharpness when displayed in a moving image of the light spot.

[0057] For example, during the acquisition process of the camera head, obstacle area information for each frame can be acquired 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 predetermined first spot sharpness standard. If the spot sharpness does not meet the predetermined first spot sharpness standard, the light beam spot can be displayed sharply in the driving image, for example, by presetting levels corresponding to different light spot focusing parameters. By calculating the difference 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 the light spot focusing chip can be adjusted to the corresponding level, i.e., the light spot focusing parameters of the light beam spot can be adjusted.

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

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

[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 allows the display of the light beam 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 the reference line, the light spot focusing method is to adjust the light spot focusing parameter by the light spot focusing chip in the form of a preset threshold value, in this case, 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 tip based on the focusing parameter threshold.

[0068] For example, 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 tip.

[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 achieved, where the second spot sharpness standard is different from the first spot sharpness standard.

[0071] For example, if the light beam emission method positions the irradiation point of the light spot corresponding to the light beam on the reference line, then sharpness in the driving image is not required, as long as the light beam spot is present in the driving image. Therefore, 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 driving image, that is, the obstacle may be too far away, the light spot focusing chip can be used to adjust the parameters again. For example, to enable the light beam spot to be displayed in the driving image, levels corresponding to different light spot focusing parameters can be preset. By calculating the difference between the current spot sharpness and the second 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 the light spot focusing chip can be used to adjust the light spot focusing parameter of the light beam spot to the corresponding level.

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

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

[0074] In S210, the area value of the light beam 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, it is possible to identify the two left and right light beam spots in the second traveling image, detect the areas of the two light beam spots, and obtain the area values ​​of the two left and right light beam spots.

[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 parameter, and a correspondence table between the light spot focusing parameter and the relationship coefficient can be created.The relationship coefficient can be determined according to the current light spot focusing parameter, 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: JPEG0007728372000001.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 installation 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 installing the left and right radio frequency mechanisms, the installation height information of the left and right radio frequency mechanisms can be determined by a measurement method, and 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 based on 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 based on the included angle information and the mounting height information.

[0086] Illustratively, the included angle information and mounting height information can be substituted 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: JPEG0007728372000002.jpg721, where L represents the distance between the vehicle and the obstacle, and H represents the installation height value. JPEG0007728372000003.jpg44 is the angle between the radio frequency mechanism and the vehicle.

[0088] The obstacle ranging method according to the second embodiment identifies an area where an obstacle is located, obtains obstacle area information, and determines a beam emission mode in combination with the obstacle area information according to a comparison result between the current vehicle speed and a speed threshold. The radio frequency rotating member controls the rotation of the left and right radio frequency mechanisms according to the rotation angle of the beam emission mode so that the beam irradiation point can always be irradiated on the reference line corresponding to the obstacle area. The beam spot focusing chip adjusts the focusing parameters so that the beam spot can be displayed clearly in the driving image, thereby realizing real-time tracking of the obstacle. The area value or included angle information of the beam spot can be determined according to the driving image including the beam spot collected by the camera head, and the area value and included angle information can be substituted into a 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 fusion hardware architecture can be eliminated, saving resources and costs. Accurate ranging of obstacles can be achieved only by separately constructing the hardware architecture of the light spot focusing chip and radio frequency rotating member. This provides a series of implementation solutions for purely visual accurate ranging, while also reducing costs.

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

[0090] FIG. 4a is a diagram illustrating an example of determining the interval distance 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, taking the radio frequency mechanism on one side as an example, the distance between the same obstacle and the vehicle at different times is determined, where E3 is the radio frequency mechanism on one side, B3 is the obstacle, X1 is the beam spot area of ​​obstacle B3 at the previous time, X2 is the 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. If 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 make the light beam parallel to the ground. When the light beam is irradiated onto the obstacle B3, a light beam spot is formed, and the light beam focusing chip adjusts the light beam focusing parameters to 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 beam focusing parameters, and k, X1 and X2 can be expressed as follows: By substituting JPEG0007728372000004.jpg513, the gap distances L1 and L2 can be determined.

[0092] FIG. 4b is an example diagram illustrating how the interval distance is determined depending on the angle in the obstacle ranging method according to the second embodiment of the present invention.

[0093] As shown in Figure 4b, for ease of explanation, the distance between the same obstacle and the host vehicle at different times is determined, where A2 represents the host 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 reference line at the previous time, C2 represents the current reference line, 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 line connecting E1 and E2 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). JPEG0007728372000005.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 JPEG0007728372000006.jpg56 as the formula JPEG0007728372000007.jpg518, the distance between the left radio frequency mechanism and the obstacle at the previous time can be calculated. 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 repeated.

[0094] Example 3 5 is a structural schematic diagram of an obstacle distance measuring device according to a third embodiment of the present invention. As shown in FIG. 5, the device includes an information determining module 41, a method determining module 42, a beam emitting module 43, an image capturing module 44, and a distance determining module 45. The information determination 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 determination module 42 is configured to determine the 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, using a light spot focusing method compatible with the light beam emission method, 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 according to the second driving image.

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

[0096] Preferably, the scheme determination module 42: Get the current vehicle speed death , If the current vehicle speed is greater than a preset speed threshold, the angle between the beam and the vehicle is set to 90 degrees. death , 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. It is configured as follows: .

[0097] Preferably, the light beam emitting module 43 comprises: The radio frequency rotating members connected to the left and right radio frequency mechanisms are 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, the image acquisition Regarding the module 44, if the light spot focusing method is to perform the light spot focusing according to the obstacle area information, 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 scanning image is acquired that includes the captured adjusted beam spot.

[0099] Preferably, the image acquisition Regarding the module 44, if the light spot focusing method is to perform the light spot focusing with the preset focusing parameter threshold, 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, make a second adjustment to the light spot focusing parameters by the light spot focusing chip; A second scanning image is acquired that includes the captured adjusted 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 traveling image; The system may be configured to determine the gap distance between the vehicle and the obstacle in accordance with the 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 a fourth embodiment 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 the controller 51 in the vehicle can be at least one. 6 In this 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 bus or other methods. 6 In this example, we take bus connections as an example.

[0104] The memory 5 is a computer-readable storage medium and can be configured 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., the information determining module 41, the method determining module 42, the beam emitting module 43, the image capturing module 44 and the 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, of which the program storage area can store an operating system and at least one application program required for a function, and the data storage area can store data generated in accordance with the use of the terminal. The memory 52 may also include high-speed random access memory or non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state memory device. In some examples, the memory 52 may include memory located remotely from the controller 51, and these remote memories may be connected to the vehicle via a network. Examples of such networks 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 related to user settings and function control of the cloud platform. The output device 54 can 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 beam emission modes of the left and right radio frequency mechanisms.

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

[0109] Example 5 A fifth embodiment of the present application further provides a storage medium including computer-executable instructions configured to, when executed by a processor of a computer, perform an obstacle ranging method, the method including: When it is determined that an obstacle exists in the vehicle traveling direction according to the captured first traveling image, determining obstacle area information of the obstacle; determining a beam emission method according to the current vehicle speed and obstacle area information; Controlling the left and right radio frequency mechanisms of the vehicle to emit beams in a beam emission manner; By using a light spot focusing method suitable for the light beam emission method, adjusting the light spot focusing parameters of the light beam spot, which is the light irradiation point in the emission direction of the light beam, and obtaining 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-described 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 also 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, which can be stored in a computer-readable storage medium, such as a computer flexible disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk, optical disk, etc., and includes several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to execute the methods 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. 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 traveling direction according to the captured first traveling image, determining obstacle area information of the obstacle; determining a beam emission method according to the 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 method; By using a light spot focusing method suitable for the light beam emission method, adjusting a light spot focusing parameter of the light beam spot, which is a light irradiation point in the emission direction of the light beam, and obtaining a second traveling image including the adjusted light beam spot; determining a gap distance between the vehicle and the obstacle according to the second traveling image; Determining the light beam emission method according to the current vehicle speed and the obstacle area information as described above, Obtaining a current speed of the 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. Obstacle ranging method.

2. The above-mentioned controlling the radio frequency mechanisms on the left and right sides of the vehicle to emit light beams in the light beam emission method includes: and controlling the left and right radio frequency mechanisms in the vehicle so as to emit light beams in the light beam emission manner by radio frequency rotating members connected to the left and right radio frequency mechanisms. The method of claim 1.

3. When the light beam emission method is to make the angle between the light beam and the vehicle 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 1.

4. When the light spot focusing method is to perform the light spot focusing according to the obstacle area information, the above-mentioned light spot focusing parameter of the light beam spot is adjusted, and the second traveling image including the adjusted light beam 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 of claim 3.

5. When the light spot focusing method is to perform the light spot focusing according to a preset focusing parameter threshold, the above-mentioned light spot focusing parameter of the light beam spot is adjusted, and the second traveling image including the adjusted light beam spot is obtained. extracting spot sharpness of the light beam spot in the obstacle region information; adjusting a light spot focus parameter with a light spot focus tip based on the focus parameter threshold; If the spot sharpness does not meet a second preset spot sharpness standard, a second adjustment is made to the light spot focusing parameters by the light spot focusing chip; and acquiring a second scanning image including the captured adjusted light beam spot. The method of claim 3.

6. 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 gap distance between the vehicle and the obstacle in accordance with the area value; The method of claim 4.

7. Determining the interval distance between the vehicle and the obstacle in accordance with the second traveling image, acquiring 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 gap distance between the vehicle and the obstacle according to the included angle information and the mounting height information. The method of claim 5.

8. an information determining module configured to determine obstacle region information of an obstacle when it is determined that an obstacle exists in the vehicle traveling direction according to the captured first traveling image; a method determination module configured to determine a 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, by a light spot focusing method compatible with the light beam emission method, 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; The method determination module is configured to acquire a current vehicle speed of the vehicle, and if the current vehicle speed is greater than a preset speed threshold, determine a light beam emission method by making the angle between the light beam and the vehicle 90 degrees; if the current vehicle speed is not greater than the preset speed threshold, determine a reference line corresponding to the obstacle according to the obstacle area information, and position the irradiation point of the light spot corresponding to the light beam on the reference line; Obstacle ranging device.

9. at least one controller; a radio frequency rotating member connected to the left and right radio frequency mechanisms and configured to control the beam emission modes of the left and right radio frequency mechanisms; a light spot focusing chip configured to adjust a light spot focusing parameter of the light beam spot; a memory communicatively coupled to the at least one controller and having stored thereon a computer program executable by the at least one controller; When the computer program is executed by the at least one controller, the at least one controller can execute the obstacle ranging method according to any one of claims 1 to 7. vehicle.

10. A method for measuring obstacle distances according to any one of claims 1 to 7, wherein computer instructions are stored on the storage device. A computer-readable storage medium.

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