CN115598644B - Collision detection method, device, medium and equipment - Google Patents
Collision detection method, device, medium and equipment Download PDFInfo
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- CN115598644B CN115598644B CN202211495889.6A CN202211495889A CN115598644B CN 115598644 B CN115598644 B CN 115598644B CN 202211495889 A CN202211495889 A CN 202211495889A CN 115598644 B CN115598644 B CN 115598644B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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Abstract
The application discloses a collision detection method, a collision detection device, a medium and equipment, and belongs to the technical field of collision detection. The method mainly comprises the following steps: determining a relative distance between a target vehicle and a self vehicle by using a vehicle-mounted radar, and judging a magnitude relation between the relative distance and a preset distance threshold value; acquiring an electromagnetic wave intensity change curve of the target vehicle and a speed change condition of the target vehicle by using a radar according to the magnitude relation between the relative distance and the distance threshold; and determining the collision condition between the target vehicle and the own vehicle according to the magnitude relation, the electromagnetic wave intensity change curve and the speed change condition. The vehicle collision detection method and the vehicle collision detection device can perform vehicle collision detection when the vehicle is flamed out under the condition that the vehicle-mounted equipment is not added, so that the detection result is more accurate, and the cost is lower.
Description
Technical Field
The present disclosure relates to the field of collision detection technologies, and in particular, to a collision detection method, apparatus, medium, and device.
Background
In daily life, it is difficult to find a hit-and-miss target when a vehicle is crashed after being turned off. In the prior art, when collision detection is performed, whether a certain degree of vibration exists in the vehicle body is detected through a vibration sensor, and the vibration degree of the vehicle body is estimated according to a calibration result and the amplitude of an output waveform, so that whether collision occurs is judged. The basic principle of a vibration sensor is: the vibration frequencies of objects with different distances, different types and different speeds have larger difference.
However, when the prior art is adopted for collision detection, a vibration sensor needs to be specially installed for collision detection, the refitting cost of the bicycle is high, and errors are easily caused due to single judgment condition of the prior art.
Disclosure of Invention
Aiming at the problems of high modification cost and single judgment mode in the prior art, the application mainly provides a collision detection method, a collision detection device and a storage medium.
In order to achieve the above object, the present application adopts a technical solution that: provided is a collision detection method including: determining a relative distance between a target vehicle and a self vehicle by using a vehicle-mounted radar, and judging a magnitude relation between the relative distance and a preset distance threshold value; acquiring an electromagnetic wave intensity change curve of the target vehicle and a speed change condition of the target vehicle by using the vehicle-mounted radar according to the magnitude relation between the relative distance and the distance threshold; and determining the collision condition between the target vehicle and the own vehicle according to the magnitude relation, the electromagnetic wave intensity change curve and the speed change condition.
Optionally, according to the collision situation, the vehicle-mounted camera of the own vehicle is awakened, and the information of the target vehicle colliding with the own vehicle is acquired by using the vehicle-mounted camera.
Optionally, when the relative distance is greater than the distance threshold, the vehicle-mounted radar does not acquire the electromagnetic wave intensity change curve of the target vehicle and the speed change condition of the target vehicle; and when the relative distance is not greater than the distance threshold value, acquiring the electromagnetic wave intensity change curve of the target vehicle and the speed change condition of the target vehicle by using the vehicle-mounted radar.
Optionally, the target vehicle and the host vehicle collide with each other under the condition that the electromagnetic wave intensity variation curve is a non-waveform curve.
Alternatively, the collision between the target vehicle and the own vehicle occurs under the condition that the speed of the target vehicle abruptly changes.
Optionally, under the condition that the electromagnetic wave intensity variation curve is a non-waveform curve and the speed of the target vehicle changes abruptly, the target vehicle collides with the own vehicle.
Another technical scheme adopted by the application is as follows: provided is a collision detection device, including: the distance relation determining module is used for determining the relative distance between the target vehicle and the own vehicle by using the vehicle-mounted radar and judging the size relation between the relative distance and a preset distance threshold value; the parameter acquisition module is used for acquiring an electromagnetic wave intensity change curve of the target vehicle and a speed change condition of the target vehicle by using the vehicle-mounted radar according to the magnitude relation between the relative distance and the distance threshold; and the judging module is used for determining the collision condition between the target vehicle and the own vehicle according to the size relationship, the electromagnetic wave intensity change curve and the speed change condition.
The application adopts another technical scheme that: there is provided a computer readable storage medium storing computer instructions operable to perform the collision detection method of aspect one.
The application adopts another technical scheme that: there is provided a computer apparatus, comprising: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores computer instructions executable by the at least one processor, the at least one processor operating the computer instructions to perform the collision detection method of scheme one.
The technical scheme of the application can reach the beneficial effects that: the vehicle collision detection method has the advantages that the vehicle collision detection can be carried out when the vehicle is flamed out under the condition that the vehicle-mounted equipment is not added, more use scenes can be suitable, the detection result can be more accurate, and the cost is lower.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
FIG. 1 is a schematic diagram of one embodiment of a collision detection method of the present application;
FIG. 2 is a schematic diagram of one embodiment of a collision detection apparatus of the present application.
Specific embodiments of the present application have been shown by way of example in the drawings and will be described in more detail below. These drawings and written description are not intended to limit the scope of the inventive concepts in any manner, but rather to illustrate the inventive concepts to those skilled in the art by reference to specific embodiments.
Detailed Description
The following detailed description of the preferred embodiments of the present application, taken in conjunction with the accompanying drawings, will provide those skilled in the art with a better understanding of the advantages and features of the present application, and will make the scope of the present application more clear and definite.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
The invention is positioned for collision detection after vehicle shut-down. Whether collision is possible or not is comprehensively judged according to parameters such as the distance between a radar detection target and a vehicle, the target speed change, the energy change and the like based on a millimeter wave radar (hereinafter referred to as a radar), and a camera is awakened to acquire relevant information of the target when the collision occurs, so that the target can be located more quickly and accurately in the following process, wherein the radar type is not limited.
The following describes the technical solutions of the present application and how to solve the above technical problems with specific examples. The specific embodiments described below can be combined with each other to form new embodiments. The same or similar ideas or processes described in one embodiment may not be repeated in other embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Fig. 1 illustrates one embodiment of a collision detection method of the present application.
The collision detection method shown in fig. 1 includes: step S101, determining a relative distance between a target vehicle and a self vehicle by using a vehicle-mounted radar, and judging a size relation between the relative distance and a preset distance threshold;
step S102, acquiring an electromagnetic wave intensity change curve of a target vehicle and a speed change condition of the target vehicle by using a vehicle-mounted radar according to the magnitude relation between the relative distance and the distance threshold;
and step S103, determining the collision condition between the target vehicle and the own vehicle according to the size relation, the electromagnetic wave intensity change curve and the speed change condition.
This embodiment, through utilizing the original radar equipment of vehicle to carry out collision detection, can carry out the collision detection of vehicle when the vehicle is flame-out under the condition that does not increase mobile unit, can be suitable for more use scenes, can make the testing result more accurate, the cost is lower.
In the embodiment shown in fig. 1, the collision detection method includes a step S101 of determining a relative distance between a target vehicle and a host vehicle using a vehicle-mounted radar, and determining a magnitude relationship between the relative distance and a preset distance threshold.
Specifically, when a collision or scratch occurs between the target vehicle and the host vehicle, the distance between the host vehicle and the target vehicle is certainly not greater than a specific value, and the value can be obtained through experimental verification by using an algorithm and can also be obtained through other modes. For example, it is experimentally verified that when the relative distance between the subject vehicle and the own vehicle is 5cm, there is a risk of collision or scratch between the own vehicle and the subject vehicle.
In one embodiment of the present application, the distance between the host vehicle and the target vehicle is obtained using radar in a dormant state. At the moment, the radar is powered by the energy storage battery, and the radar is in a low power consumption mode during dormancy so as to save more energy and ensure the working time of the radar at the same time.
In a specific embodiment of the application, since collision and scratch may come from any direction and occur at any position, in order to ensure omnidirectional detection, it is preferable that six radars are provided on the vehicle and located in six directions, namely, left front, right front, left rear, right rear, left center and right center of the vehicle. It should be noted that, this application does not limit the number of radars equipped for the self-vehicle, and the specific number of equipped radars may be determined according to test inspection.
In the embodiment shown in fig. 1, the collision detection method further includes step S102, obtaining an electromagnetic wave intensity variation curve of the target vehicle and a speed variation of the target vehicle by using the vehicle-mounted radar according to a magnitude relationship between the relative distance and the distance threshold.
Specifically, when the distance between the own vehicle and the target vehicle is greater than the distance threshold, the radar is in a dormant state. And when the distance between the self vehicle and the target vehicle is not larger than the distance threshold, awakening the radar to acquire the electromagnetic wave intensity change curve of the target vehicle and the speed change condition of the target vehicle.
That is, when the relative distance is greater than the distance threshold, the radar does not acquire the electromagnetic wave intensity variation curve of the target vehicle and the speed variation condition of the target vehicle; and when the relative distance is not greater than the distance threshold, acquiring the electromagnetic wave intensity change curve of the target vehicle and the speed change condition of the target vehicle by using the radar.
In one embodiment of the present application, in real life, due to the complicated environmental factors, when there is a target object not more than a distance threshold from the vehicle, the target is not a vehicle, and may be a pedestrian or an object leaning on the vehicle. In this case, the radar does not need to acquire the electromagnetic wave intensity change curve and the speed change condition of the target, and in order to reduce the false judgment probability of the radar in similar scenes, the target type needs to be screened by an algorithm and then judged.
In the embodiment shown in fig. 1, the collision detection method further includes step S103, determining a collision condition between the target vehicle and the host vehicle according to the magnitude relationship, the electromagnetic wave intensity variation curve and the speed variation condition.
Specifically, in order to ensure the accuracy of the detection result, the collision condition between the host vehicle and the target vehicle is further judged according to the obtained electromagnetic wave intensity change curve and the speed change condition of the target vehicle.
In one embodiment of the present application, a collision occurs between the subject vehicle and the host vehicle under the condition that the electromagnetic wave intensity variation curve is a non-wavy curve.
Specifically, since the electromagnetic wave intensity variation curve of the target vehicle is a smooth waveform curve when the host vehicle and the target vehicle do not collide with each other, and the electromagnetic wave intensity variation curve of the target vehicle is an abnormal non-smooth waveform curve when the host vehicle and the target vehicle collide with each other, whether or not the host vehicle and the target vehicle collide with each other can be determined by determining the electromagnetic wave intensity variation curve of the target vehicle.
In one specific embodiment of the present application, a collision occurs between the subject vehicle and the own vehicle under the condition that a sudden change occurs in the speed of the subject vehicle.
Specifically, when the own vehicle does not collide with the target vehicle, the speed of the target vehicle is smoothly changed. When the own vehicle collides with the target vehicle, the speed of the target vehicle changes abruptly.
In one specific embodiment of the present application, a collision occurs between the target vehicle and the own vehicle under the condition that the electromagnetic wave intensity variation curve is a non-wave-shaped curve and the speed of the target vehicle abruptly changes. The accuracy of the detection result can be further ensured by simultaneously judging the condition of the electromagnetic wave intensity change curve and the speed change condition.
In a specific embodiment of the application, the collision detection method further includes waking up a vehicle-mounted camera of the host vehicle according to the collision condition, and acquiring information of a target vehicle colliding with the host vehicle by using the vehicle-mounted camera.
Specifically, in order to save energy and ensure the simplicity and accuracy of monitoring information, when the collision between the self vehicle and the target vehicle is not detected, the vehicle-mounted camera of the self vehicle is in a closed state, and the self vehicle does not work.
When collision between the self vehicle and the target vehicle is detected, the collision mark is transmitted to the vehicle-mounted camera of the self vehicle through the bus, and after the vehicle-mounted camera receives collision information, the related image of the target vehicle is shot and stored, so that the target vehicle can be found more conveniently and more quickly in the following process.
Fig. 2 shows an embodiment of a collision detection device according to the present application.
In the embodiment shown in fig. 2, the collision detecting apparatus mainly includes: a distance relation determining module 201, configured to determine a relative distance between the target vehicle and the own vehicle by using a vehicle-mounted radar, and determine a magnitude relation between the relative distance and a preset distance threshold;
the parameter obtaining module 202 is configured to obtain an electromagnetic wave intensity variation curve of the target vehicle and a speed variation condition of the target vehicle by using the vehicle-mounted radar according to a magnitude relation between the relative distance and the distance threshold;
and the judging module 203 is used for determining the collision condition between the target vehicle and the own vehicle according to the magnitude relation, the electromagnetic wave intensity change curve and the speed change condition.
In a specific embodiment of the present application, the collision detecting apparatus further includes: and the target vehicle quantity information acquisition module is used for awakening a vehicle-mounted camera of the vehicle according to the collision condition and acquiring the information of the target vehicle colliding with the vehicle by using the vehicle-mounted camera.
In a specific embodiment of the present application, each functional module in a collision detection apparatus of the present application may be directly in hardware, in a software module executed by a processor, or in a combination of both.
A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium.
The Processor may be a Central Processing Unit (CPU), other general-purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), other Programmable logic devices, discrete Gate or transistor logic, discrete hardware components, or any combination thereof. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. In the alternative, the processor and the storage medium may reside as discrete components in a user terminal.
The collision detection device provided by the application can be used for executing the collision detection method described in any of the above embodiments, and the implementation principle and the technical effect are similar, and are not described again here.
In another particular embodiment of the present application, a computer-readable storage medium stores computer instructions that are operative to perform the collision detection method described in the above embodiments.
In one particular embodiment of the present application, a computer apparatus includes: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores computer instructions executable by the at least one processor, the at least one processor operating the computer instructions to perform the collision detection method described in the above embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one type of logical functional division, and other divisions may be realized in practice, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and all equivalent structural changes made by using the contents of the specification and the drawings, which are directly or indirectly applied to other related technical fields, are included in the scope of the present application.
Claims (8)
1. A collision detection method, characterized by comprising:
determining a relative distance between a target vehicle and a self vehicle by using a vehicle-mounted radar, and judging a size relation between the relative distance and a preset distance threshold;
acquiring an electromagnetic wave intensity change curve of the target vehicle and a speed change condition of the target vehicle by using the vehicle-mounted radar according to the magnitude relation between the relative distance and the distance threshold;
determining the collision condition between the target vehicle and the own vehicle according to the magnitude relation, the electromagnetic wave intensity change curve and the speed change condition;
wherein the determining of the collision condition between the target vehicle and the own vehicle according to the magnitude relation, the electromagnetic wave intensity variation curve and the speed variation condition includes that, when the relative distance is greater than the distance threshold, the vehicle-mounted radar does not acquire the electromagnetic wave intensity variation curve of the target vehicle and the speed variation condition of the target vehicle; when the relative distance is not greater than the distance threshold value, acquiring an electromagnetic wave intensity change curve of the target vehicle and a speed change condition of the target vehicle by using the vehicle-mounted radar; and the number of the first and second groups,
and under the condition that the electromagnetic wave intensity variation curve is a non-waveform curve, the target vehicle collides with the own vehicle.
2. The collision detection method according to claim 1, characterized by further comprising:
and according to the collision condition, waking up a vehicle-mounted camera of the self vehicle, and acquiring information of the target vehicle colliding with the self vehicle by using the vehicle-mounted camera.
3. The collision detection method according to claim 1, wherein the determining of the collision situation between the target vehicle and the own vehicle from the magnitude relation, the electromagnetic wave intensity variation curve, and the speed variation situation includes:
under the condition that the speed of the target vehicle suddenly changes, a collision occurs between the target vehicle and the own vehicle.
4. The collision detection method according to claim 1, wherein the determining of the collision situation between the target vehicle and the own vehicle from the magnitude relation, the electromagnetic wave intensity variation curve, and the speed variation situation includes:
under the condition that the electromagnetic wave intensity variation curve is a non-waveform curve and the speed of the target vehicle is suddenly changed, the target vehicle collides with the own vehicle.
5. A collision detecting apparatus, characterized by comprising:
the distance relation determining module is used for determining the relative distance between the target vehicle and the own vehicle by using the vehicle-mounted radar and judging the size relation between the relative distance and a preset distance threshold value;
the parameter acquisition module is used for acquiring an electromagnetic wave intensity change curve of the target vehicle and a speed change condition of the target vehicle by using the vehicle-mounted radar according to the magnitude relation between the relative distance and the distance threshold;
the judging module is used for determining the collision condition between the target vehicle and the own vehicle according to the magnitude relation, the electromagnetic wave intensity change curve and the speed change condition;
the collision module is used for acquiring the electromagnetic wave intensity change curve of the target vehicle and the speed change condition of the target vehicle when the relative distance is greater than the distance threshold value; a module for acquiring the electromagnetic wave intensity variation curve of the target vehicle and the speed variation condition of the target vehicle by using the vehicle-mounted radar when the relative distance is not greater than the distance threshold; and the number of the first and second groups,
and the module is used for colliding the target vehicle with the self vehicle under the condition that the electromagnetic wave intensity change curve is a non-wave-shaped curve.
6. The collision detecting device according to claim 5, characterized by further comprising:
and the target vehicle quantity information acquisition module is used for awakening a vehicle-mounted camera of the self vehicle according to the collision condition and acquiring the information of the target vehicle colliding with the self vehicle by using the vehicle-mounted camera.
7. A computer readable storage medium storing computer instructions, wherein the computer instructions are operable to perform the collision detection method of any one of claims 1-4.
8. A computer device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor;
wherein the memory stores computer instructions executable by the at least one processor, the at least one processor operating the computer instructions to perform the collision detection method of any one of claims 1-4.
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| KR20160075134A (en) * | 2014-12-19 | 2016-06-29 | 현대모비스 주식회사 | Radar system for the Vehicles |
| CN106409003B (en) * | 2016-10-24 | 2019-01-15 | 深圳普智联科机器人技术有限公司 | A kind of roadside stall testing apparatus and its detection method based on compound detection mechanism |
| CN110220586A (en) * | 2019-06-19 | 2019-09-10 | 清华大学 | Vibration monitoring method and system based on millimeter wave |
| CN111797741A (en) * | 2020-06-24 | 2020-10-20 | 中国第一汽车股份有限公司 | Vehicle detection method, device, vehicle and storage medium |
| CN113335311B (en) * | 2021-07-22 | 2022-09-23 | 中国第一汽车股份有限公司 | Vehicle collision detection method and device, vehicle and storage medium |
| CN113920756B (en) * | 2021-10-14 | 2023-01-24 | 极氪汽车(宁波杭州湾新区)有限公司 | Vehicle collision early warning method, system, equipment and storage medium |
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| JP2011113286A (en) * | 2009-11-26 | 2011-06-09 | Toyota Motor Corp | Collision predicting apparatus |
| CN109733394A (en) * | 2019-02-19 | 2019-05-10 | 广州小鹏汽车科技有限公司 | A kind of control method and vehicle control system of vehicle anti-rear collision |
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