CN111751824A

CN111751824A - Method, device and equipment for detecting obstacles around vehicle

Info

Publication number: CN111751824A
Application number: CN202010588547.3A
Authority: CN
Inventors: 杨健; 李林; 刘锋
Original assignee: Hangzhou Haikang Auto Software Co ltd
Current assignee: Hangzhou Haikang Auto Software Co ltd
Priority date: 2020-06-24
Filing date: 2020-06-24
Publication date: 2020-10-09
Anticipated expiration: 2040-06-24
Also published as: CN111751824B

Abstract

The application discloses a method, a device, equipment and a storage medium for detecting obstacles around a vehicle, and belongs to the technical field of monitoring. The method comprises the following steps: the position of the vehicle body where the detection device is not arranged can be provided with a reference detection point. In the case where the detection sensor detects an obstacle indicating the presence of the obstacle around the vehicle, it is possible to determine the position information of the obstacle in the world coordinate system and the boundary information of the detection area in the world coordinate system corresponding to the reference detection point located on the same side as the detection sensor. In this way, whether the obstacle is located in the detection area can be determined based on the position information of the obstacle and the boundary information of the detection area in the same coordinate system, so that the obstacle detection of the area without the detection device can be realized.

Description

Method, device and equipment for detecting obstacles around vehicle

Technical Field

The present disclosure relates to monitoring technologies, and in particular, to a method, an apparatus, and a device for detecting obstacles around a vehicle.

Background

At present, in order to guarantee vehicle safety of traveling, can install radar sensor on the vehicle, when radar sensor detected the barrier and the distance between barrier and the radar sensor was less than safe distance threshold value, can carry out the early warning.

However, the installation position of the radar sensor on the vehicle is often limited, for example, the radar sensor cannot be installed on the left and right sides of the vehicle, and thus, the radar sensor cannot detect obstacles on the left and right sides of the vehicle. In this case, if obstacles exist on the left and right sides of the vehicle and the distance between the obstacles and the vehicle is too short, traffic accidents may occur because the driver cannot receive the warning from the radar sensor.

Disclosure of Invention

The application provides a method, a device and equipment for detecting obstacles around a vehicle, which can solve the problem of detecting the obstacles around the vehicle in the related art. The technical scheme is as follows:

in one aspect, there is provided a method of detecting obstacles around a vehicle, the method including:

determining position information of an obstacle in a world coordinate system when the obstacle is detected by a detection sensor;

determining boundary information of a detection area corresponding to a reference detection point under the world coordinate system, wherein the reference detection point is a detection point which is positioned on the same side of the vehicle body as the detection sensor and is not provided with a detection device;

and determining the position relation between the obstacle and the detection area based on the position information of the obstacle in the world coordinate system and the boundary information of the detection area in the world coordinate system.

In one possible implementation manner of the present application, the determining the position information of the obstacle in the world coordinate system includes:

acquiring vehicle body pose parameters;

acquiring the distance between the obstacle detected by the detection sensor and the detection sensor to obtain a first distance;

and determining position information of the obstacle in a world coordinate system based on the vehicle body pose parameter, the first distance and a sensor installation parameter, wherein the sensor installation parameter is used for indicating the installation position of the detection sensor relative to a vehicle body reference point.

In a possible implementation manner of the present application, the acquiring pose parameters of the vehicle body includes:

determining a vehicle body deflection angle and position information of the vehicle body reference point under the world coordinate system based on the vehicle body positioning data, wherein the vehicle body deflection angle refers to a deflection angle of a vehicle body driving direction relative to a longitudinal axis of the world coordinate system;

and determining the vehicle body deflection angle and the position information of the vehicle body reference point under the world coordinate system as the vehicle body pose parameter.

In a possible implementation manner of the present application, the sensor installation parameters include a second distance and a first offset angle, the second distance is a distance between the detection sensor and the vehicle body reference point, the first offset angle is an angle between a direction of a straight line where the vehicle body reference point and the detection sensor are located and a horizontal axis of a vehicle body coordinate system, and the vehicle body coordinate system is a coordinate system established based on the vehicle body reference point at a current location of the vehicle body;

the determining position information of the obstacle in a world coordinate system based on the vehicle body pose parameter, the first distance and the sensor installation parameter comprises:

determining the position information of the detection sensor in the world coordinate system based on the second distance, the body deflection angle, the first offset angle and the position information of the body reference point in the world coordinate system;

and determining the position information of the obstacle in the world coordinate system based on the position information of the detection sensor in the world coordinate system, the first distance and the vehicle body deflection angle.

In a possible implementation manner of the present application, the boundary information includes information of detection points in the detection area, and the determining boundary information of the detection area corresponding to the reference detection point in the world coordinate system includes:

acquiring vehicle body pose parameters;

and determining boundary information of a detection area corresponding to the reference detection point under the world coordinate system based on the vehicle body pose parameter and the detection point position information, wherein the detection point position information is used for indicating the position of the detection point in the detection area relative to a vehicle body reference point.

In one possible implementation manner of the present application, the vehicle body pose parameter includes a vehicle body deflection angle and position information of the vehicle body reference point under the world coordinate system, and the vehicle body deflection angle refers to a deflection angle of a vehicle body driving direction relative to a longitudinal axis of the world coordinate system;

the detection point position information comprises a third distance and a second offset angle, the third distance is the distance between the vehicle body reference point and the detection point in the detection area, the second offset angle is the angle between the straight line direction of the vehicle body reference point and the detection point in the detection area and the transverse axis of a vehicle body coordinate system, and the vehicle body coordinate system is a coordinate system established based on the vehicle body reference point at the current position of the vehicle body;

the determining the boundary information of the detection area corresponding to the reference detection point under the world coordinate system based on the vehicle body pose parameter and the detection point position information comprises the following steps:

and determining the position information of the detection point in the detection area in the world coordinate system based on the third distance, the vehicle body deflection angle, the second offset angle and the position information of the vehicle body reference point in the world coordinate system, so as to obtain the boundary information of the detection area in the world coordinate system.

In one possible implementation manner of the present application, the method further includes:

if the obstacle is determined to be located in the detection area, early warning is carried out; or,

and under the condition that the obstacle is determined to be positioned in the detection area, if the distance between the obstacle and the reference detection point is smaller than a safety distance threshold value, early warning is carried out.

In another aspect, there is provided an obstacle detection device around a vehicle, the device including:

the system comprises a first determination module, a second determination module and a third determination module, wherein the first determination module is used for determining the position information of an obstacle in a world coordinate system under the condition that the detection sensor detects the obstacle;

the second determining module is used for determining boundary information of a detection area corresponding to a reference detection point in the world coordinate system, wherein the reference detection point is a detection point which is positioned on the same side of the detection sensor in the vehicle body and is not provided with a detection device;

and the third determining module is used for determining the position relation between the obstacle and the detection area based on the position information of the obstacle in the world coordinate system and the boundary information of the detection area in the world coordinate system.

In one possible implementation manner of the present application, the first determining module is configured to:

acquiring vehicle body pose parameters;

the first determination module is to:

In a possible implementation manner of the present application, the boundary information includes information of detection points in the detection area, and the second determining module is configured to:

acquiring vehicle body pose parameters;

the second determination module is to:

In one possible implementation manner of the present application, the third determining module is configured to:

In another aspect, there is provided an in-vehicle apparatus including:

a processor;

a memory storing instructions executable by the processor;

wherein the processor is configured to execute the instructions and implement the method of detecting an obstacle around a vehicle according to the above-described aspect.

In another aspect, a computer-readable storage medium is provided, in which a computer program is stored, which, when executed by a processor, implements the method for detecting obstacles around a vehicle according to the above-described aspect.

In another aspect, a computer program product containing instructions is provided, which when run on a computer, causes the computer to perform the method for detecting obstacles around a vehicle according to the above-described aspect.

The technical scheme provided by the application can at least bring the following beneficial effects:

the position of the vehicle body where the detection device is not arranged can be provided with a reference detection point. In the case where the detection sensor detects an obstacle indicating the presence of the obstacle around the vehicle, it is possible to determine the position information of the obstacle in the world coordinate system and the boundary information of the detection area in the world coordinate system corresponding to the reference detection point located on the same side as the detection sensor. In this way, whether the obstacle is located in the detection area can be determined based on the position information of the obstacle and the boundary information of the detection area in the same coordinate system, so that the obstacle detection of the area without the detection device can be realized.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic illustration of an implementation environment provided by an embodiment of the present application;

FIG. 2 is a schematic diagram of a radar sensor provided in an embodiment of the present application;

fig. 3 is a flowchart of a method for detecting an obstacle around a vehicle according to an embodiment of the present disclosure;

fig. 4 is a flowchart of another method for detecting obstacles around a vehicle according to an embodiment of the present disclosure;

FIG. 5 is a schematic diagram of a world coordinate system provided by an embodiment of the present application;

FIG. 6 is a schematic view of a coordinate system of a vehicle body provided by an embodiment of the present application;

FIG. 7 is a schematic view of another body coordinate system provided by embodiments of the present application;

FIG. 8 is a schematic view of another body coordinate system provided by embodiments of the present application;

fig. 9 is a schematic structural diagram of an obstacle detection device around a vehicle according to an embodiment of the present application;

FIG. 10 is a schematic structural diagram of an in-vehicle device according to an embodiment of the present application.

Detailed Description

To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

Before explaining the method for detecting an obstacle around a vehicle according to the embodiment of the present application in detail, an implementation environment according to the embodiment of the present application will be described.

Referring to fig. 1, fig. 1 is a schematic diagram of an obstacle detection system in a vehicle according to an embodiment of the present disclosure, where the obstacle detection system in the vehicle may include a detection module 110, a data processing module 120, and a vehicle body positioning module 130.

For example, the detection module 110 may include a detection sensor for detecting an obstacle, and the detection sensor may include, but is not limited to, a radar sensor, which may include one or more of an Ultrasonic Parking Assist (UPA) radar sensor, an Automatic Parking Assist (APA) radar sensor, and the like.

Illustratively, as shown in fig. 2, the vehicle is equipped with various types of radar sensors, wherein the circle is identified as a UPA radar sensor, which is generally installed on a bumper of the vehicle, and the UPA radar sensor can be used for detecting obstacles in front of and behind the vehicle and detecting a distance between the obstacles and the UPA radar sensor. In addition, the triangles in fig. 2 are identified as APA radar sensors, which are typically mounted on the sides of the vehicle, which can be used to detect obstacles on both sides of the vehicle, as well as to detect the distance between an obstacle and the APA radar sensor. The detection module 110 may upload the distance between the detected obstacle and the detection sensor to the data processing module 120.

As an example, the body positioning module 130 may be used to obtain body positioning data, for example, the body positioning data may include data of a steering wheel angle, a lateral acceleration, a longitudinal acceleration, a vehicle speed, and the like, which is not limited in this embodiment. The body positioning module 130 may upload the acquired body positioning data to the data processing module 120.

As an example, the data processing module 120 may be configured in an in-vehicle device having data processing capabilities, which may process data uploaded by the detection module 110 and the body positioning module 130.

After the description of the implementation environment related to the embodiments of the present application, a method for detecting an obstacle around a vehicle according to the embodiments of the present application will be described in detail with reference to the accompanying drawings.

Referring to fig. 3, fig. 3 is a flowchart illustrating a method for detecting obstacles around a vehicle according to an exemplary embodiment, which may be applied to the above-described implementation environment, and which may include the following implementation steps:

step 301: in the case where the detection sensor detects an obstacle, position information of the obstacle in a world coordinate system is determined.

The position information may be coordinates, that is, coordinates of the obstacle in a world coordinate system are determined when the detection sensor detects the obstacle.

The obstacle may be another vehicle, a pedestrian, an object, or the like, the number of the obstacles may be one or multiple, and this embodiment does not limit this.

If the detection sensor detects that an obstacle exists around the vehicle, the vehicle-mounted device can determine the position information of the obstacle in a world coordinate system. Since the world coordinate system is a fixed coordinate system, even if the relative position between the detection sensor and the obstacle changes during the running of the vehicle, the position information of the obstacle in the world coordinate system is kept unchanged, so that the obstacle can be positioned through the position information of the obstacle in the world coordinate system.

Optionally, the specific implementation of determining the position information of the obstacle in the world coordinate system may include: the method comprises the steps of obtaining a vehicle body position and attitude parameter, obtaining the distance between an obstacle detected by a detection sensor and the detection sensor to obtain a first distance, and determining the position information of the obstacle under a world coordinate system based on the vehicle body position and attitude parameter, the first distance and a sensor installation parameter, wherein the sensor installation parameter is used for indicating the installation position of the detection sensor relative to a vehicle body reference point.

Wherein, the vehicle body reference point can be any point on the vehicle body.

Wherein the body pose parameters may be used to determine the pose of the vehicle. Optionally, the specific implementation of acquiring the pose parameters of the vehicle body may include: and determining the vehicle body deflection angle and the position information of the vehicle body reference point under the world coordinate system based on the vehicle body positioning data, wherein the vehicle body deflection angle refers to the deflection angle of the vehicle body driving direction relative to the longitudinal axis of the world coordinate system. And determining the vehicle body deflection angle and the position information of the vehicle body reference point in the world coordinate system as the vehicle body pose parameter.

The position information of the vehicle body reference point in the world coordinate system may refer to coordinates of the vehicle body reference point in the world coordinate system.

Optionally, the sensor installation parameter includes a second distance and a first offset angle, the second distance is a distance between the detection sensor and the vehicle body reference point, the first offset angle is an angle between a direction of a straight line where the vehicle body reference point and the detection sensor are located and a horizontal axis of a vehicle body coordinate system, and the vehicle body coordinate system is a coordinate system established based on the vehicle body reference point at a current location of the vehicle body.

The second distance may be stored in the vehicle-mounted device in advance, that is, the distance between the detection sensor and the vehicle body reference point may be stored in the vehicle-mounted device after being determined in advance.

The first offset angle can be used to determine the position of the detection sensor in the vehicle body. The first offset angle may be predetermined and stored in the in-vehicle device.

Optionally, determining, based on the body pose parameter, the first distance, and the sensor installation parameter, a specific implementation of the position information of the obstacle in the world coordinate system may include: and determining the position information of the detection sensor in the world coordinate system based on the second distance, the vehicle body deflection angle, the first offset angle and the position information of the vehicle body reference point in the world coordinate system, and determining the position information of the obstacle in the world coordinate system based on the position information of the detection sensor in the world coordinate system, the first distance and the vehicle body deflection angle.

Step 302: and determining boundary information of a detection area corresponding to a reference detection point in a world coordinate system, wherein the reference detection point is a detection point which is positioned on the same side of the vehicle body as the detection sensor and is not provided with a detection device.

In this case, a detection point may be provided at a position where the detection sensor cannot be mounted, and a detection area corresponding to the detection point may be detected.

Optionally, the boundary information includes information of detection points in the detection area, and at this time, determining the specific implementation of the boundary information of the detection area corresponding to the reference detection point in the world coordinate system may include: and acquiring a vehicle body pose parameter, and determining boundary information of a detection area corresponding to the reference detection point in a world coordinate system based on the vehicle body pose parameter and detection point position information, wherein the detection point position information is used for indicating the position of the detection point in the detection area relative to a vehicle body reference point.

Optionally, the vehicle body pose parameter includes a vehicle body deflection angle and position information of the vehicle body reference point in a world coordinate system, wherein the vehicle body deflection angle refers to a deflection angle of a vehicle body driving direction relative to a longitudinal axis of the world coordinate system. The detection point position information comprises a third distance and a second offset angle, the third distance is the distance between the vehicle body reference point and the detection point in the detection area, the second offset angle is the angle between the straight line direction of the vehicle body reference point and the detection point in the detection area and the horizontal axis of a vehicle body coordinate system, and the vehicle body coordinate system is a coordinate system established based on the vehicle body reference point at the current position of the vehicle body.

Optionally, the specific implementation of determining, based on the vehicle body pose parameter and the detection point position information, boundary information of a detection area corresponding to the reference detection point in a world coordinate system may include: and determining the position information of the detection point in the detection area in the world coordinate system based on the third distance, the vehicle body deflection angle, the second offset angle and the position information of the vehicle body reference point in the world coordinate system, so as to obtain the boundary information of the detection area in the world coordinate system.

Step 303: and determining the position relation between the obstacle and the detection area based on the position information of the obstacle in the world coordinate system and the boundary information of the detection area in the world coordinate system.

The in-vehicle apparatus may determine whether the obstacle is located within the detection area based on position information of the obstacle in the world coordinate system and boundary information of the detection area in the world coordinate system.

Optionally, if it is determined that the obstacle is located in the detection area, performing early warning.

Optionally, in a case where it is determined that the obstacle is located in the detection area, if a distance between the obstacle and the reference detection point is smaller than a safety distance threshold, an early warning is performed.

The safe distance threshold may be set according to actual conditions, which is not limited in this embodiment, for example, the safe distance threshold may be set to be 50 cm.

In the embodiment of the application, a reference detection point can be arranged at a position, where the detection device is not arranged, in the vehicle body. In the case where the detection sensor detects an obstacle indicating the presence of the obstacle around the vehicle, it is possible to determine the position information of the obstacle in the world coordinate system and the boundary information of the detection area in the world coordinate system corresponding to the reference detection point located on the same side as the detection sensor. In this way, whether the obstacle is located in the detection area can be determined based on the position information of the obstacle and the boundary information of the detection area in the same coordinate system, so that the obstacle detection of the area without the detection device can be realized.

Fig. 4 is a flowchart of a method for detecting an obstacle around a vehicle according to an embodiment of the present application, which may be applied to the above implementation environment. Referring to fig. 4, the method includes the following steps:

1. obstacle detection is performed by a detection sensor.

As an example, the obstacle may be another vehicle, a pedestrian, an object, and the like, and the number of the obstacles may be one or more, which is not limited in this embodiment.

The obstacle detection system may detect a detection area of a detection sensor through the detection sensor to determine whether an obstacle exists around the vehicle.

2. And under the condition that the obstacle is detected, acquiring the body pose parameters of the vehicle in a world coordinate system.

As one example, the body pose parameters may be used to determine the pose of the vehicle. As an example, the implementation of acquiring the vehicle body pose parameters may include: and determining the vehicle body deflection angle and the position information of the vehicle body reference point in the world coordinate system based on the vehicle body positioning data, wherein the vehicle body deflection angle refers to the deflection angle of the vehicle body driving direction relative to the longitudinal axis of the world coordinate system, and the vehicle body deflection angle and the position information of the vehicle body reference point in the world coordinate system are determined as vehicle body pose parameters.

Wherein, the vehicle body reference point can be any point on the vehicle body.

The position information may be coordinates, and the position information of the vehicle body reference point in the world coordinate system may refer to the coordinates of the vehicle body reference point in the world coordinate system.

The world coordinate system can be established according to actual conditions. For example, the world coordinate system may be a coordinate system established by selecting any point as a coordinate origin after the vehicle-mounted device is initially started, selecting any direction as an X-axis direction, and selecting a direction perpendicular to the X-axis as a Y-axis direction. For example, a coordinate origin may be selected from a midpoint of a line segment with two rear wheels as end points at an initial position of the vehicle, and a straight line with the two rear wheels may be selected as an X-axis direction to establish a world coordinate system.

For example, as shown in fig. 5, (X0, Y0) may be selected as the coordinate origin of the world coordinate system, the straight line of the two rear wheels is taken as the horizontal axis direction, and the direction perpendicular to the straight line of the two rear wheels is taken as the vertical axis direction to establish the world coordinate system, which may be denoted as X1-Y1 in this embodiment.

It should be noted that after the world coordinate system is established, the world coordinate system does not change with time, or the world coordinate system does not change with the movement of the vehicle, that is, the world coordinate system may be used as a fixed coordinate system.

During the running of the vehicle, the running direction of the vehicle body may be deflected relative to the longitudinal axis of the world coordinate system, and thus, the deflection angle of the running direction of the vehicle body relative to the longitudinal axis of the world coordinate system may be determined as the vehicle body deflection angle. As shown in b in fig. 6, the yaw angle of the vehicle body traveling direction with respect to the Y1 axis is θ, so that the vehicle body yaw angle can be determined to be θ.

As an example, the body positioning data may include a steering angle, a vehicle wheel base and a lateral longitudinal acceleration, in which case the body attitude parameter may be obtained by determining the body deflection angle and the position information of the body reference point in the world coordinate system based on the steering wheel angle, the vehicle wheel base and the lateral longitudinal acceleration by the following formula (1):

where θ is the body deflection angle, x_Q1Is the abscissa, y, of the body reference point in the world coordinate system_Q1The method is characterized in that the ordinate of a vehicle body reference point in a world coordinate system is psi, the steering wheel angle is phi, L is the vehicle wheelbase, v is the transverse and longitudinal acceleration, and t is the time length between the time point when the vehicle-mounted equipment is initially started and the current time point.

The above description is given only by way of example of determining the vehicle body yaw angle based on the vehicle body positioning data. As another example, the vehicle body deflection angle may also be determined based on GPS (Global Positioning System) Positioning information, and the method for determining the vehicle body deflection angle is not limited in this embodiment.

The above description is given only by way of example of determining the position information of the vehicle body reference point in the world coordinate system based on the vehicle body positioning data. In another embodiment, the vehicle-mounted device may further determine the position information of the vehicle body reference point in the world coordinate system based on the GPS positioning information, and this embodiment does not limit the determination method of the position information of the vehicle body reference point in the world coordinate system.

3. And acquiring the distance between the obstacle and the detection sensor to obtain a first distance.

The first distance is obtained by the detection sensor through detection, and for convenience of subsequent description and understanding, the first distance is referred to herein as a first distance, for example, as shown in fig. 5, if the distance between the detection sensor and the detection sensor when the detection sensor detects the obstacle is d, the first distance is d.

4. And determining the position information of the obstacle in a world coordinate system based on the vehicle body pose parameter, the first distance and the sensor installation parameter.

Wherein the sensor mounting parameter is indicative of a mounting position of the probe sensor relative to a vehicle body reference point.

As an example, the sensor installation parameter includes a second distance and a first offset angle, the second distance is a distance between the detection sensor and a vehicle body reference point, the first offset angle is an angle between a direction of a straight line where the vehicle body reference point and the detection sensor are located and a horizontal axis of a vehicle body coordinate system, and the vehicle body coordinate system is a coordinate system established based on the vehicle body reference point at a position where a vehicle body is located currently.

The vehicle body reference point may be set according to actual conditions, and for example, a midpoint of a line segment where two rear wheels are end points may be used as the vehicle body reference point, for example, please refer to fig. 6, in which fig. 6 may use a point Q as the vehicle body reference point.

For example, if the body reference point is translated relative to the world coordinate system during the current vehicle driving process, the body coordinate system may be established based on the translated body reference point, for example, please refer to fig. 7, where the body coordinate system is represented as X2-Y2 in fig. 7.

For example, if the vehicle body reference point is translated relative to the world coordinate system and the vehicle body driving direction is deflected relative to the longitudinal axis of the world coordinate system during the current vehicle driving process, the vehicle body coordinate system may be established based on the deflected vehicle body reference point, that is, the vehicle body coordinate system may be established by taking the deflected vehicle body reference point as the coordinate origin of the vehicle body coordinate system, taking the vehicle body driving direction as the positive direction of the longitudinal axis, and taking the direction of the radial line from the left rear wheel of the vehicle to the right rear wheel of the vehicle as the positive direction of the horizontal axis. For example, referring to FIG. 7, the body coordinate system is represented in FIG. 7 as X3-Y3.

As an example, in the case where the body pose parameters include the body yaw angle and the position information of the body reference point in the world coordinate system, and the sensor installation parameters include the above parameters, the step 4 may include the following substeps:

and 4.1, determining the position information of the detection sensor in the world coordinate system based on the second distance, the body deflection angle, the first offset angle and the position information of the body reference point in the world coordinate system.

As an example, a first offset angle and a second distance may be obtained from pre-stored data, and the position of the detection sensor in the translational coordinate system may be determined according to the second distance, the body deflection angle, and the first offset angle. And determining the position information of the detection sensor in the world coordinate system according to the position information of the detection sensor in the translation coordinate system and the position information of the vehicle body reference point in the world coordinate system.

Wherein the translation coordinate system is a coordinate system established based on a body reference point that is translated relative to the world coordinate system. For example, as shown in fig. 7, a point Q is used as a vehicle body reference point, and as shown in b in fig. 7, during the running of the vehicle, the vehicle body reference point may be translated with respect to the world coordinate system, so that a translation coordinate system may be established based on the translated vehicle body reference point, that is, a translation coordinate system may be established with the point Q as a coordinate origin of the translation coordinate system, a vehicle body running direction as a positive longitudinal direction, and a direction of a radial line from a left rear wheel of the vehicle to a right rear wheel of the vehicle as a positive transverse direction, where the translation coordinate system is X2-Y2 in fig. 7.

It will be appreciated that the body coordinate system and the translation coordinate system may be the same coordinate system, for example, the body is merely offset relative to the world coordinate system, in which case the first offset angle is the angle between the direction of the line between the body reference point and the detection sensor and the transverse axis of the translation coordinate system.

For example, the coordinates of the detection sensor in the translational coordinate system may be determined according to the second distance, the body deflection angle, and the first offset angle by the following formula (2):

wherein x is_E2For detecting the abscissa, y, of the sensor in a translational coordinate system_E2In order to detect the ordinate of the sensor under the translation coordinate system, r is a second distance, theta is the deflection angle of the vehicle body,

is a first offset angle.

For example, if the second distance is 1m, the body offset angle is 30 degrees, and the first offset angle is 45 degrees, the abscissa of the detection sensor in the translational coordinate system is determined to be 0.259 based on cos (30 ° +45 °), and the ordinate of the detection sensor in the translational coordinate system is determined to be 0.966 based on sin (30 ° +45 °), that is, the coordinates of the detection sensor in the translational coordinate system are (0.259, 0.966).

And then, converting the coordinates of the detection sensor in the translation coordinate system into the world coordinate system to obtain the position information of the detection sensor in the world coordinate system. That is, in the case where the in-vehicle apparatus determines the position information of the detection sensor in the translational coordinate system, the in-vehicle apparatus may convert the position information of the detection sensor in the translational coordinate system, thereby obtaining the position information of the detection sensor in the world coordinate system.

As an example, the position information of the vehicle body reference point in the world coordinate system includes an abscissa and an ordinate of the vehicle body reference point in the world coordinate system, and at this time, the abscissa of the vehicle body reference point in the world coordinate system may be added to the abscissa of the detection sensor in the translational coordinate system to obtain the abscissa of the detection sensor in the world coordinate system. And adding the ordinate of the vehicle body reference point in the world coordinate system and the ordinate of the detection sensor in the translation coordinate system to obtain the ordinate of the detection sensor in the world coordinate system. Thus, the position information of the detection sensor in the world coordinate system is obtained.

For example, the abscissa of the detection sensor in the world coordinate system may be determined based on the abscissa of the detection sensor in the translational coordinate system and the abscissa of the body reference point in the world coordinate system by the following equation (3):

x_E1＝x_E2+x_Q1(3)

wherein x is_E1For detecting the abscissa, x, of the sensor in the world coordinate system_E2For detecting the abscissa, x, of the sensor in a translational coordinate system_Q1The abscissa of the vehicle body reference point under the world coordinate system.

For example, the ordinate of the detection sensor in the world coordinate system may be determined based on the ordinate of the detection sensor in the translational coordinate system and the ordinate of the body reference point in the world coordinate system by the following formula (4):

y_E1＝y_E2+y_Q1(4)

wherein, y_E1For detecting the ordinate, y, of the sensor in the world coordinate system_E2For detecting the ordinate, y, of the sensor in a translational coordinate system_Q1The ordinate of the vehicle body reference point under the world coordinate system.

For example, if the coordinates of the detection sensor in the translational coordinate system are (0.259, 0.966) and the coordinates of the vehicle body reference point in the world coordinate system are (10, 20), the coordinates of the detection sensor in the world coordinate system can be determined to be (10.259, 20.966) by (0.259+10, 0.966+ 20).

And 4.2, determining the position information of the obstacle in the world coordinate system based on the position information of the detection sensor in the world coordinate system, the first distance and the vehicle body deflection angle.

As an example, the position information of the obstacle in the world coordinate system may be determined by the following formula (5) based on the position information of the detection sensor in the world coordinate system, the first distance, and the vehicle body deflection angle:

x_P1＝x_E1+dcosθ，y_P1＝y_E1+dsinθ (5)

wherein x is_P1Is the abscissa, y, of the obstacle in a world coordinate system_P1Is the ordinate, x, of the obstacle in the world coordinate system_E1For detecting the abscissa, y, of the sensor in the world coordinate system_E1The vertical coordinate of the obstacle in a world coordinate system, d is a first distance, and theta is a vehicle body deflection angle.

For example, if the vehicle body deflection angle is 30 degrees, the first distance is 1m, and the coordinates of the detection sensor in the world coordinate system are (30, 70), the abscissa of the obstacle in the world coordinate system can be determined to be 30.866 by 30+ cos30 °, the ordinate of the obstacle in the world coordinate system can be determined to be 70.5 by 70+ sin30 °, and the coordinates of the obstacle in the world coordinate system can be determined to be (30.866, 70.5).

In summary, based on the second distance, the body deflection angle, the first offset angle, the position information of the body reference point in the world coordinate system, the first distance, and the body deflection angle, the position information of the obstacle in the world coordinate system may be determined by the following formula (6):

since the world coordinate system is a fixed coordinate system, even if the relative position between the detection sensor and the obstacle changes during the running of the vehicle, the position information of the obstacle in the world coordinate system is kept unchanged, so that after the position information of the obstacle in the world coordinate system is determined, the obstacle can be positioned through the position information of the obstacle in the world coordinate system.

As an example, in the case of determining the position information of the obstacle in the world coordinate system, the position information of the obstacle in the world coordinate system may be stored. In this way, when the position information of the plurality of obstacles in the world coordinate system is stored, the position information of the obstacles in the world coordinate system can be sequentially acquired, and the obstacles can be detected according to the position information of the obstacles in the world coordinate system.

5. And determining boundary information of a detection area corresponding to the reference detection point in a world coordinate system.

The reference detection point is a detection point which is positioned on the same side of the vehicle body as the detection sensor and is not provided with a detection device.

In this case, a reference detection point may be provided at a position where the detection sensor cannot be mounted, so that a detection area corresponding to the reference detection point may be detected.

It should be noted that the number of the reference detection points may be set according to actual situations, which is not limited in this embodiment. For example, 4 reference detection points may be provided on each side of the vehicle body.

The length of the detection area corresponding to the reference detection point and the width of the detection area can be set according to actual conditions, and this embodiment does not limit this. For example, the length of the detection region may be set to 70cm and the width of the detection region may be set to 10 cm.

The boundary information of the detection area corresponding to the reference detection point may include position information of an edge of the detection area, or may include position information of an area point of the detection area.

Taking the example that the boundary information includes the position information of the area point of the detection area, the area point in the detection area corresponding to the reference detection point may be set according to the actual situation. For example, as shown in fig. 5, the region point in the detection region may be set as the vertex of the detection region. In general, there are a plurality of area points in the detection area corresponding to the reference detection point, and the position information of each area point in the world coordinate system can be determined based on the scheme.

The vehicle-mounted equipment can determine the boundary information of the detection area in the world coordinate system, so that the boundary information of the detection area and the position information of the obstacle are located in the same coordinate system, and the boundary information of the detection area and the position information of the obstacle are convenient to process.

As an example, the boundary information includes information of a detection point within the detection area, and at this time, a vehicle body pose parameter may be acquired, so that boundary information of the detection area corresponding to the reference detection point in the world coordinate system is determined based on the vehicle body pose parameter and detection point position information indicating a position of the detection point within the detection area with respect to a vehicle body reference point.

As an example, the implementation process of determining the boundary information of the detection region corresponding to the reference detection point in the world coordinate system may include the following sub-steps:

(1) and determining the coordinates of the region point in the translation coordinate system.

That is, the in-vehicle apparatus may determine the coordinates of the area point in the translational coordinate system, and thereby process the coordinates of the area point in the translational coordinate system to obtain the coordinates of the area point in the world coordinate system.

As an example, a distance between the area point and the body reference point may be determined, resulting in a third distance. And acquiring a region point positioning angle, wherein the region point positioning angle is an angle between the direction of a straight line where the vehicle body reference point and the region point are positioned and a horizontal axis of a vehicle body coordinate system. Thus, the coordinates of the region point in the translational coordinate system are determined based on the third distance, the body deflection angle, and the region point positioning angle.

Wherein the region point positioning angle can be used to determine the position of the region point relative to the vehicle body. The area point positioning angle can be stored in the vehicle-mounted device after being determined in advance.

The distance between the area point and the vehicle body reference point can be stored in the vehicle-mounted device after being determined in advance.

For example, as shown in fig. 8, if the vehicle body coordinate system and the translation coordinate system are the same coordinate system, the area point positioning angle is an angle between a direction of a straight line where the vehicle body reference point and the area point are located and a horizontal axis of the translation coordinate system. If the vehicle body coordinate system and the deflection coordinate system are the same coordinate system, the area point positioning angle is the angle between the direction of the straight line of the vehicle body reference point and the area point and the horizontal axis of the deflection coordinate system.

That is, the in-vehicle device may acquire the region point positioning angle and the distance between the region point and the vehicle body reference point in the pre-stored data, thereby determining the coordinates of the region point in the translational coordinate system based on the distance between the region point and the vehicle body reference point, the vehicle body deflection angle, and the region point positioning angle.

For example, in the present embodiment, the area point a in fig. 7 is taken as an example for explanation, and the coordinates of the area point a in the translational coordinate system may be determined by the following formula (7) based on the distance between the vehicle body reference point and the area point a, the vehicle body deflection angle, and the area point positioning angle:

x_A2＝ncos(θ+μ)，y_A2＝nsin(θ+μ) (7)

wherein x is_A2Is the abscissa, y, of the region point A in a translational coordinate system_A2Is the ordinate of the area point A in the translation coordinate system, n is the distance between the vehicle body reference point and the area point, theta is the vehicle body deflection angle, mu isThe area points are positioned by an angle.

For example, if the distance between the vehicle body reference point and the area point a is 0.8m, the vehicle body offset angle is 30 degrees, and the area point positioning angle is 30 degrees, the abscissa of the area point a in the translational coordinate system is determined to be 0.4 based on 0.8cos (30 ° +30 °), and the ordinate of the area point a in the translational coordinate system is determined to be 0.693 based on 0.8sin (30 ° +30 °), that is, the coordinates of the area point a in the translational coordinate system are (0.4, 0.693).

(2) And converting the coordinates of the area points in the translation coordinate system into the world coordinate system to obtain the position information of the area points in the world coordinate system.

As one example, the coordinates of the body reference point in the world coordinate system may be determined. And adding the abscissa of the vehicle body reference point in the world coordinate system and the abscissa of the area point in the translation coordinate system to obtain the abscissa of the area point in the world coordinate system. And adding the ordinate of the vehicle body reference point in the world coordinate system and the ordinate of the area point in the translation coordinate system to obtain the ordinate of the area point in the world coordinate system. Thus, the position information of the region point in the world coordinate system is obtained.

That is, the in-vehicle apparatus may convert the coordinates of the region point in the translational coordinate system into the world coordinate system based on the coordinates of the vehicle body reference point in the world coordinate system and the coordinates of the region point in the translational coordinate system.

For example, the abscissa of the region point in the world coordinate system may be determined based on the abscissa of the region point in the translational coordinate system and the abscissa of the body reference point in the world coordinate system by the following formula (8):

x_A1＝x_A2+x_Q1(8)

wherein x is_A1Is the abscissa, x, of the region point in the world coordinate system_A2Is the abscissa, x, of the region point in a translational coordinate system_Q1The abscissa of the vehicle body reference point under the world coordinate system.

For example, the ordinate of the area point in the world coordinate system may be determined based on the ordinate of the area point in the translational coordinate system and the ordinate of the body reference point in the world coordinate system by the following formula (8):

y_A1＝y_A2+y_Q1(9)

wherein, y_A1Is the ordinate, y, of the region point in the world coordinate system_A2Is the ordinate, y, of the region point in a translational coordinate system_Q1The ordinate of the vehicle body reference point under the world coordinate system.

For example, if the coordinates of the area point in the translational coordinate system are (0.4, 0.693) and the coordinates of the vehicle body reference point in the world coordinate system are (10, 20), the coordinates of the area point in the world coordinate system can be determined to be (10.4, 20.693) by (0.4+10, 0.693+ 20).

6. And judging whether the obstacle is positioned in the detection area.

In implementation, the position relationship between the obstacle and the detection area may be determined based on the position information of the obstacle in the world coordinate system and the boundary information of the detection area in the world coordinate system, so as to determine whether the obstacle is located in the detection area.

For example, if the area points of the detection area include an area point a, an area point B, an area point C, and an area point D, the position relationship between the obstacle and the detection area may be determined by the following formula (10) and formula (11) based on the coordinates of the area point a of the detection area in the world coordinate system, the coordinates of the area point B in the world coordinate system, the coordinates of the area point C in the world coordinate system, the coordinates of the area point D in the world coordinate system, and the coordinates of the obstacle in the world coordinate system:

wherein,

is a vector obtained by subtracting the coordinates of B and A,

is a vector obtained by subtracting the coordinates of P and B,

is a vector obtained by subtracting the coordinates of D and the coordinates of C,

is the vector obtained by subtracting the coordinates of P and D,

is a vector obtained by subtracting the coordinates of C and B,

is a vector obtained by subtracting the coordinates of P and C,

is a vector obtained by subtracting the coordinates of A and the coordinates of D,

the vector is obtained by subtracting the coordinate of P and the coordinate of A.

If equation (10) is satisfied, it can be determined that the obstacle is located inside the AB side and the CD side, if equation (11) is satisfied, it can be determined that the obstacle is located inside the BC side and the AD side, and if equation (10) and equation (11) are satisfied at the same time, it can be determined that the obstacle is located inside the detection area formed by ABCD.

7. And if the obstacle is positioned in the detection area, determining the distance between the obstacle and the reference detection point.

And if the obstacle is determined to be positioned in the detection area, the obstacle is determined to be positioned near the position where the detection device is not arranged on the current vehicle. In this case, the obstacle may be relatively far from the vehicle or relatively close to the vehicle, and the distance between the obstacle and the reference detection point may be determined in order to further determine whether warning is required.

For example, the distance between the obstacle and the reference detection point may be determined based on the position information of the obstacle in the world coordinate system and the position information of the reference detection point in the world coordinate system by the following formula (12):

wherein d is_FPIs the distance, x, between the obstacle and the reference detection point_F1For reference to the abscissa, x, of the detection point in the world coordinate system_P1Is the abscissa, y, of the obstacle in a world coordinate system_F1For reference to the ordinate, y, of the inspection point in the world coordinate system_P1Is the ordinate of the obstacle in the world coordinate system.

For example, if the coordinates of the obstacle in the world coordinate system are (50, 40) and the coordinates of the reference detection point in the world coordinate system are (49, 37), the coordinates can be determined based on

The distance between the obstacle and the reference detection point was determined to be 3.162 m.

As an example, an implementation of determining position information of a reference detection point in a world coordinate system may comprise the following sub-steps:

a. and determining the coordinates of the reference detection point in the translation coordinate system.

That is, the in-vehicle apparatus may determine coordinates of the reference detection point in the translational coordinate system, and thereby process the coordinates of the reference detection point in the translational coordinate system to obtain coordinates of the reference detection point in the world coordinate system.

As an example, the distance between the reference detection point and the vehicle body reference point may be determined, resulting in a fourth distance. And acquiring a reference detection point positioning angle, wherein the reference detection point positioning angle is an angle between the direction of a straight line where the vehicle body reference point and the reference detection point are located and a transverse axis of a vehicle body coordinate system. Therefore, the coordinates of the reference detection point in the translation coordinate system can be determined based on the fourth distance, the vehicle body deflection angle and the reference detection point positioning angle.

The reference detection point positioning angle can be used for determining the relative position of the reference detection point in the vehicle body. The reference point positioning angle may be stored in the in-vehicle device after being determined in advance.

The distance between the reference detection point and the vehicle body reference point can be stored in the vehicle-mounted device after being determined in advance.

For example, referring to fig. 8, if the vehicle body coordinate system and the translation coordinate system are the same coordinate system, the reference detection point positioning angle is an angle between a direction of a straight line where the vehicle body reference point and the reference detection point are located and a horizontal axis of the translation coordinate system. If the vehicle body coordinate system and the deflection coordinate system are the same coordinate system, the reference detection point positioning angle is the angle between the direction of the straight line where the vehicle body reference point and the reference detection point are located and the horizontal axis of the deflection coordinate system.

That is, the in-vehicle device may acquire the reference detection point positioning angle and the distance between the reference detection point and the vehicle body reference point from the pre-stored data, so as to determine the coordinates of the reference detection point in the translational coordinate system according to the distance between the reference detection point and the vehicle body reference point, the vehicle body deflection angle, and the reference detection point positioning angle.

For example, the reference detection point F in fig. 7 is taken as an example for explanation in the present embodiment, and the coordinates of the reference detection point F in the translational coordinate system may be determined by the following formula (13) based on the distance between the vehicle body reference point and the reference detection point F, the vehicle body deflection angle, and the reference detection point positioning angle:

x_F2＝mcos(θ+λ)，y_F2＝msin(θ+λ) (13)

wherein x is_F2For reference of the abscissa, y, of the detection point F in a translational coordinate system_F2The longitudinal coordinate of the reference detection point F under the translation coordinate system is shown, m is the distance between the vehicle body reference point and the reference detection point F, theta is the vehicle body deflection angle, and lambda is the reference detection point positioning angle.

For example, if the distance between the vehicle body reference point and the reference detection point F is 0.9m, the vehicle body offset angle is 30 degrees, and the reference detection point positioning angle is 35 degrees, the abscissa of the reference detection point F in the translational coordinate system is determined to be 0.38 according to 0.9cos (30 ° +35 °), and the ordinate of the reference detection point F in the translational coordinate system is determined to be 0.725 according to 0.9sin (30 ° +35 °), that is, the coordinates of the reference detection point F in the translational coordinate system are (0.38, 0.725).

b. And converting the coordinates of the reference detection point in the translation coordinate system into the world coordinate system to obtain the coordinates of the reference detection point in the world coordinate system.

That is, in the case where the in-vehicle apparatus determines the coordinates of the reference detection point in the translational coordinate system, the coordinates of the reference detection point in the translational coordinate system may be converted, thereby obtaining the coordinates of the reference detection point in the world coordinate system.

As one example, the coordinates of the body reference point in the world coordinate system may be determined. And adding the abscissa of the vehicle body reference point in the world coordinate system and the abscissa of the reference detection point in the translation coordinate system to obtain the abscissa of the reference detection point in the world coordinate system. And adding the ordinate of the vehicle body reference point in the world coordinate system and the ordinate of the reference detection point in the translation coordinate system to obtain the ordinate of the reference detection point in the world coordinate system. Thus, the coordinates of the reference detection point in the world coordinate system are obtained.

That is, the in-vehicle apparatus may convert the coordinates of the reference detection point in the translational coordinate system into the world coordinate system based on the coordinates of the vehicle body reference point in the world coordinate system and the coordinates of the reference detection point in the translational coordinate system.

For example, the abscissa of the reference detection point in the world coordinate system may be determined based on the abscissa of the reference detection point in the translational coordinate system and the abscissa of the body reference point in the world coordinate system by the following equation (14):

x_F1＝x_F2+x_Q1(14)

wherein x is_F1For reference to the abscissa, x, of the detection point in the world coordinate system_F2For reference to the abscissa, x, of the detection point in a translational coordinate system_Q1The abscissa of the vehicle body reference point under the world coordinate system.

For example, the ordinate of the reference detection point in the world coordinate system may be determined based on the ordinate of the reference detection point in the translational coordinate system and the ordinate of the body reference point in the world coordinate system by the following formula (15):

y_F1＝y_F2+y_Q1(15)

wherein, y_F1For reference to the ordinate, y, of the inspection point in the world coordinate system_F2For reference to the ordinate, y, of the detection point in a translational coordinate system_Q1The ordinate of the vehicle body reference point under the world coordinate system.

For example, if the coordinates of the reference detection point in the translational coordinate system are (0.38, 0.725) and the coordinates of the vehicle body reference point in the world coordinate system are (10, 20), the coordinates of the reference detection point in the world coordinate system can be determined to be (10.38, 20.725) by (0.38+10, 0.725+ 20).

Of course, if the obstacle is not located in the detection area, the operation proceeds to step 10 as follows.

8. And judging whether the distance between the obstacle and the reference detection point is smaller than a safe distance threshold value.

9. And if the distance between the obstacle and the reference detection point is smaller than the safety distance threshold value, early warning is carried out.

If the distance between the obstacle and the reference detection point is smaller than the safety distance threshold value, the distance between the current vehicle and the obstacle is relatively short, and therefore the current vehicle has the possibility of collision.

For example, a safety distance threshold value of 50cm may be set, and if the vehicle-mounted device determines that the distance between the obstacle and the reference detection point is 30cm, since 30cm < 50cm, it indicates that the distance between the current vehicle and the obstacle is short, so that the current vehicle may have a possibility of a traffic accident, in which case, the driver may be warned.

For example, when the distance between the obstacle and the reference detection point is smaller than the safety distance threshold, the driver may be warned in a voice prompt manner, may be warned in a message prompt manner, may be warned in a holographic projection manner, and the like, which is not limited in this embodiment.

Of course, if the distance between the obstacle and the reference detection point is greater than the safe distance threshold, or if the distance between the obstacle and the reference detection point is equal to the safe distance threshold, the following step 10 may be entered.

It should be noted that the above description is only given by taking an example of performing the early warning when the distance between the obstacle and the reference detection point is smaller than the safety distance threshold value when it is determined that the obstacle is located in the detection area. In another embodiment, after determining the position relationship between the obstacle and the detection area, if the obstacle is determined to be located in the detection area, an early warning is given.

That is, if it is determined that the obstacle is located in the detection area, it is determined that there is an obstacle near the position where the detection device is not provided in the current vehicle, and thus there is a possibility of collision of the current vehicle, in this case, the distance between the obstacle and the reference detection point may not be determined, but the driver may be directly warned to prompt the driver that there is an obstacle around the current vehicle.

In a possible implementation manner, the obstacle detection system in the vehicle may further include a vision sensor, the vision sensor may detect an obstacle around the vehicle, and if the vision sensor detects the obstacle, the position information of the obstacle in the vision coordinate system may be converted into the world coordinate system, that is, the position information of the obstacle in the world coordinate system is determined. In the case of determining the position information of the obstacle in the world coordinate system, the in-vehicle apparatus may determine the positional relationship of the obstacle with the detection area corresponding to the detection point based on the above-described method. And if the obstacle is positioned in the detection area, determining the distance between the obstacle and the detection point, and if the distance between the obstacle and the detection point is smaller than a safety distance threshold value, early warning can be performed. Alternatively, if an obstacle is located within the detection area, a warning may be given.

10. And judging whether the detection is finished or not.

As an example, the specific implementation of determining whether to detect the end may include: it is determined whether the presence detection sensor detects an obstacle, and if not, it is determined that the detection is ended, and if so, it is determined that the detection is not ended.

And if the detection is not finished, returning to execute the step 1. That is, if the detection is not finished, the method provided by the embodiment of the present application continues to detect other obstacles around the vehicle.

If the detection is ended, the obstacle detecting operation around the vehicle is terminated.

The embodiment of the application can directly prompt or alarm the detected obstacle information relative to the reference detection point, and can also provide the detected obstacle information relative to the reference detection point to other vehicle-mounted systems (such as an automatic parking assistance system and a panoramic all-round system), and the other vehicle-mounted systems complete corresponding obstacle prompt or alarm, for example: if a panoramic all-around view system is further installed on the vehicle, the panoramic all-around view system acquires images around the vehicle in real time through four fisheye cameras installed on the front, the back, the left and the right of the vehicle body, and finally forms a panoramic bird's-eye view around the vehicle body with good splicing effect through image distortion correction, coordinate conversion, graph splicing, GPU (graphic processing Unit) rendering output and other processing. In the panoramic all-round system, according to the barrier information that detects for the reference detection point on the car, can superpose the corresponding barrier information of radar on each picture to let the driver can observe the barrier position that the automobile body is peripheral to influence driving safety very directly perceivedly, in time be the position of not installing radar sensor on the automobile body, after the scheme that this application embodiment provided is adopted, also can indicate the position of barrier relatively accurately, thereby reduce radar sensor's detection blind area, reduce the emergence risk that takes place scraping risk and traffic accident.

Fig. 9 is a schematic structural diagram showing a vehicle-surrounding obstacle detecting apparatus, which may be implemented by software, hardware, or a combination of both, according to an exemplary embodiment. The obstacle detection device around the vehicle may include:

the first determining module 910 is configured to determine, if the detection sensor detects an obstacle, position information of the obstacle in a world coordinate system.

And a second determining module 920, configured to determine boundary information of an area point in the detection area corresponding to a reference detection point in the world coordinate system, where the reference detection point is a detection point that is located on the same side of the vehicle body as the detection sensor and is not provided with a detection device.

A third determining module 930, configured to determine a position relationship between the obstacle and the detection area based on the position information of the obstacle in the world coordinate system and the boundary information of the detection area in the world coordinate system.

In one possible implementation manner of the present application, the first determining module 910 is configured to:

acquiring vehicle body pose parameters;

the first determining module 910 is configured to:

In a possible implementation manner of the present application, the boundary information includes information of detection points in the detection area, and the second determining module 920 is configured to:

acquiring vehicle body pose parameters;

the second determining module 920 is configured to:

In a possible implementation manner of the present application, the third determining module 930 is configured to:

It should be noted that: in the obstacle detection device around the vehicle provided in the above embodiment, when detecting an obstacle around the vehicle, only the division of the above functional modules is used for illustration, and in practical applications, the above functions may be distributed by different functional modules as needed, that is, the internal structure of the device may be divided into different functional modules to complete all or part of the above described functions. In addition, the obstacle detection device around the vehicle provided by the above embodiment and the obstacle detection method around the vehicle provided by the embodiment belong to the same concept, and the specific implementation process is described in the method embodiment, and is not described again.

Fig. 10 is a block diagram of a vehicle-mounted device 1000 according to an embodiment of the present application. Generally, the in-vehicle apparatus 1000 includes: a processor 1001 and a memory 1002.

Processor 1001 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and so forth. The processor 1001 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 1001 may also include a main processor and a coprocessor, where the main processor is a processor for processing data in an awake state, and is also referred to as a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 1001 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the display screen. In some embodiments, the processor 1001 may further include an AI (Artificial Intelligence) processor for processing a computing operation related to machine learning.

Memory 1002 may include one or more computer-readable storage media, which may be non-transitory. The memory 1002 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 1002 is used to store at least one instruction for execution by processor 1001 to implement the method of obstacle detection around a vehicle provided by the method embodiments herein.

Those skilled in the art will appreciate that the configuration shown in FIG. 10 does not constitute a limitation of the in-vehicle device 1000, and may include more or fewer components than those shown, or combine certain components, or employ a different arrangement of components.

In some embodiments, a computer-readable storage medium is also provided, in which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of obstacle detection around a vehicle according to the above-mentioned embodiments. For example, the computer-readable storage medium may be a magnetic disk or an optical disk, an EEPROM (Electrically erasable Programmable Read Only Memory), an EPROM (erasable Programmable Read-Only Memory), an SRAM (Static random access Memory), a ROM (Read Only Memory), a magnetic Memory, a flash Memory, a PROM (Programmable Read-Only Memory), and the like.

It is noted that the computer-readable storage medium referred to herein may be a non-volatile storage medium, in other words, a non-transitory storage medium.

It should be understood that all or part of the steps for implementing the above embodiments may be implemented by software, hardware, firmware or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The computer instructions may be stored in the computer-readable storage medium described above.

That is, in some embodiments, there is also provided a computer program product containing instructions which, when run on a computer, cause the computer to perform the steps of the method of detecting obstacles around a vehicle as described above.

The above-mentioned embodiments are provided not to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A method of detecting an obstacle around a vehicle, characterized by comprising:

2. The method of claim 1, wherein said determining location information of the obstacle in a world coordinate system comprises:

acquiring vehicle body pose parameters;

3. The method of claim 2, wherein the acquiring body pose parameters comprises:

4. The method of claim 2, wherein the sensor mounting parameters include a second distance and a first offset angle, the second distance is a distance between the detection sensor and the vehicle body reference point, the first offset angle is an angle between a direction of a straight line where the vehicle body reference point and the detection sensor are located and a horizontal axis of a vehicle body coordinate system, and the vehicle body coordinate system is a coordinate system established based on the vehicle body reference point at a position where the vehicle body is currently located;

5. The method of claim 1, wherein the boundary information includes information of detection points in the detection area, and the determining the boundary information of the detection area corresponding to the reference detection point in the world coordinate system includes:

acquiring vehicle body pose parameters;

6. The method of claim 5, wherein the vehicle body pose parameters include a vehicle body yaw angle, which is a yaw angle of a vehicle body traveling direction with respect to a longitudinal axis of the world coordinate system, and position information of the vehicle body reference point under the world coordinate system;

7. The method of claim 1, wherein the method further comprises:

8. An obstacle detection device around a vehicle, characterized by comprising:

9. The apparatus of claim 8, wherein the first determination module is to:

acquiring vehicle body pose parameters;

10. An in-vehicle apparatus, characterized by comprising:

a processor;

a memory storing instructions executable by the processor;

wherein the processor is configured to execute the instructions and to implement the steps of any of the methods of claims 1-7.