CN111751824B

CN111751824B - Method, device and equipment for detecting obstacles around vehicle

Info

Publication number: CN111751824B
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: 2023-08-04
Anticipated expiration: 2040-06-24
Also published as: CN111751824A

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 provided may be provided with a reference detection point. If the detection sensor detects an obstacle, it is indicated that an obstacle exists around the vehicle, in which case the position information of the obstacle in the world coordinate system can be determined, and the boundary information of the detection area in the world coordinate system corresponding to the reference detection point on the same side as the detection sensor can be determined. In this way, it is possible to determine whether or not an obstacle is located within the detection area based on the position information of the obstacle and the boundary information of the detection area in the same coordinate system, thereby realizing obstacle detection for an area where the detection device is not provided.

Description

Method, device and equipment for detecting obstacles around vehicle

Technical Field

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

Background

Currently, in order to ensure the running safety of a vehicle, a radar sensor may be installed on the vehicle, and when the radar sensor detects an obstacle and the distance between the obstacle and the radar sensor is less than a safety distance threshold, an early warning may be performed.

However, the mounting position of the radar sensor on the vehicle is often limited, for example, the radar sensor cannot be mounted on the left and right sides of the vehicle, and thus the radar sensor cannot detect the obstacle on the left and right sides of the vehicle. In this case, if there are obstacles on the left and right sides of the vehicle and the distance between the obstacle and the vehicle is too short, traffic accidents may occur because the driver cannot receive the early warning of 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 technology. The technical scheme is as follows:

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

determining position information of an obstacle in a world coordinate system under the condition that the detection sensor detects the obstacle;

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 a 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 location information of the obstacle in the world coordinate system includes:

acquiring a vehicle body pose parameter;

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 under a world coordinate system based on the vehicle body pose parameter, the first distance and the 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 one possible implementation manner of the present application, the acquiring the vehicle body pose parameter includes:

determining a vehicle body deflection angle and position information of the vehicle body reference point under the world coordinate system based on vehicle body positioning data, wherein the vehicle body deflection angle refers to a deflection angle of a vehicle body running 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 parameters.

In one possible implementation manner of the present application, the sensor installation parameter includes a second distance and a first offset angle, where 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 detection sensor is located and the vehicle body reference point and a 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 a current location of the vehicle body;

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

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

In one possible implementation manner of the present application, the boundary information includes information of a detection point 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 a vehicle body pose parameter;

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 parameters 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 the vehicle body reference point.

In one possible implementation manner of the 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, wherein the vehicle body deflection angle refers to a deflection angle of a vehicle body running 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, wherein 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 linear 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, based on the vehicle body pose parameter and the detection point position information, boundary information of the detection area corresponding to the reference detection point in the world coordinate system includes:

and determining the position information of the detection point in the detection area under the world coordinate system based on the third distance, the vehicle body deflection angle, the second deflection angle and the position information of the vehicle body reference point under the world coordinate system, and obtaining the boundary information of the detection area under the world coordinate system.

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

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

and under the condition that the obstacle is located 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 detecting apparatus around a vehicle, the apparatus including:

the first determining module is used for determining position information of the obstacle under 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 vehicle body as the detection sensor and is not provided with a detection device;

and a third determining module, configured to determine a positional relationship between the obstacle and the detection area based on the positional 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 a vehicle body pose parameter;

The first determining module is used for:

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

acquiring a vehicle body pose parameter;

the second determining module is configured 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 described in the above aspect.

In another aspect, there is provided a computer-readable storage medium having stored therein a computer program which, when executed by a processor, implements the obstacle detection method around a vehicle of the above aspect.

In another aspect, there is provided a computer program product containing instructions which, when run on a computer, cause the computer to perform the method of detecting an obstacle around a vehicle as set out in the above aspect.

The technical scheme that this application provided can bring following beneficial effect at least:

the position of the vehicle body where the detection device is not provided may be provided with a reference detection point. If the detection sensor detects an obstacle, it is indicated that an obstacle exists around the vehicle, in which case the position information of the obstacle in the world coordinate system can be determined, and the boundary information of the detection area in the world coordinate system corresponding to the reference detection point on the same side as the detection sensor can be determined. In this way, it is possible to determine whether or not an obstacle is located within the detection area based on the position information of the obstacle and the boundary information of the detection area in the same coordinate system, thereby realizing obstacle detection for an area where the detection device is not provided.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic illustration of an implementation environment provided by embodiments 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 application;

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

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

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

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

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

fig. 9 is a schematic structural view of an obstacle detecting apparatus around a vehicle provided in an embodiment of the present application;

Fig. 10 is a schematic structural diagram of an in-vehicle apparatus provided in an embodiment of the present application.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the 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 provided in the embodiment of the present application in detail, an implementation environment related 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 application, where the obstacle detection system may include a detection module 110, a data processing module 120, and a vehicle body positioning module 130.

Illustratively, the detection module 110 may include a detection sensor therein for detecting an obstacle, and illustratively, the detection sensor may include, but is not limited to, a radar sensor, which may include one or more of an ultrasonic park assist (Ultrasonic Parking Assistant, UPA) radar sensor, an auto park assist (Automatic Parking Assistant, APA) radar sensor.

By way of example, as shown in fig. 2, the vehicle has mounted therein various types of radar sensors, wherein the circle is identified as a UPA radar sensor, which is typically mounted on a bumper of the vehicle, which can be used to detect obstacles in front of and behind the vehicle, and to detect the distance between the obstacle and the UPA radar sensor. In addition, the triangle in fig. 2 is identified as an APA radar sensor, which is typically mounted to the side of the vehicle, which may 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 configured to obtain body positioning data, for example, the body positioning data may include steering wheel angle, lateral acceleration, longitudinal acceleration, 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 that may process data uploaded by the detection module 110 and the body positioning module 130.

After describing the implementation environment related to the embodiments of the present application, a detailed description will be given next of the method for detecting an obstacle around a vehicle provided in the embodiments of the present application with reference to the accompanying drawings.

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

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

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

The number of the obstacle may be one or more, and the present embodiment is not limited thereto.

If the detection sensor detects that an obstacle exists around the vehicle, the in-vehicle apparatus can determine positional information of the obstacle in the 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 always kept unchanged, so that the obstacle can be positioned by the position information of the obstacle in the world coordinate system.

Optionally, a specific implementation of determining the location information of the obstacle in the world coordinate system may include: the method comprises the steps of obtaining a vehicle body pose parameter, obtaining a distance between an obstacle detected by a detection sensor and the detection sensor, obtaining a first distance, and determining position information of the obstacle under 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.

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

Wherein the vehicle body pose parameters may be used to determine the pose of the vehicle. Optionally, the specific implementation of acquiring the vehicle body pose parameters may include: and determining a vehicle body deflection angle and position information of the vehicle body reference point under a 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 running 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 a world coordinate system as the vehicle body pose parameters.

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 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 a current position 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 predetermined.

Wherein the first offset angle may be used to determine a position of the detection sensor in the vehicle body. The first offset angle may be stored in the in-vehicle apparatus after being predetermined.

Optionally, determining the location information of the obstacle in the world coordinate system based on the vehicle body pose parameter, the first distance, and the sensor installation parameter may include: determining position information of the detection sensor in a world coordinate system based on the second distance, the vehicle body deflection angle, the first deflection angle and position information of the vehicle body reference point in the world coordinate system, and determining 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 a vehicle body as a detection sensor and is not provided with a detection device.

Since the detection sensor has a limitation in the mounting position, the detection sensor cannot be mounted at a part of the position on the vehicle body, and in this case, a detection point may be provided at a position where the detection sensor cannot be mounted, and the detection area corresponding to the detection point may be detected.

Optionally, the boundary information includes information of a detection point in the detection area, and at this time, determining a specific implementation of the boundary information of the detection area corresponding to the reference detection point in the world coordinate system may include: acquiring a vehicle body pose parameter, and determining boundary information of a detection area corresponding to the reference detection point under 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 the vehicle body reference point.

Optionally, the vehicle body pose parameter includes a vehicle body yaw angle and position information of the vehicle body reference point under a world coordinate system, wherein the vehicle body yaw angle refers to a yaw angle of a vehicle body running 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, wherein 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.

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

Step 303: the position relation between the obstacle and the detection area is 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.

The in-vehicle apparatus may determine whether the obstacle is located within 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.

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

Optionally, if the obstacle is determined to be located in the detection area, if the distance between the obstacle and the reference detection point is smaller than a safe distance threshold, early warning is performed.

The safe distance threshold may be set according to practical situations, and this embodiment is not limited thereto, and for example, the safe distance threshold may be set to 50cm.

In this embodiment of the present application, a reference detection point may be provided at a position in the vehicle body where the detection device is not provided. If the detection sensor detects an obstacle, it is indicated that an obstacle exists around the vehicle, in which case the position information of the obstacle in the world coordinate system can be determined, and the boundary information of the detection area in the world coordinate system corresponding to the reference detection point on the same side as the detection sensor can be determined. In this way, it is possible to determine whether or not an obstacle is located within the detection area based on the position information of the obstacle and the boundary information of the detection area in the same coordinate system, thereby realizing obstacle detection for an area where the detection device is not provided.

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-described implementation environment. Referring to fig. 4, the method includes the following:

1. obstacle detection is performed by a detection sensor.

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

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

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

As one example, the body pose parameter may be used to determine the pose of the vehicle. As an example, an implementation of acquiring a vehicle body pose parameter may include: and determining a vehicle body deflection angle and position information of a vehicle body reference point under a world coordinate system based on vehicle body positioning data, wherein the vehicle body deflection angle refers to a deflection angle of a vehicle body running direction relative to a longitudinal axis of the world coordinate system, and the vehicle body deflection angle and the position information of the vehicle body reference point under 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 system may be established by selecting a midpoint of a line segment with two rear wheels as end points at an initial position of the vehicle as an origin of coordinates, and selecting a line in which the two rear wheels are located as an X-axis direction.

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

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 movement of the vehicle, i.e., the world coordinate system may be a fixed coordinate system.

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

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

Wherein θ is the deflection angle of the vehicle body, x _Q1 Is the abscissa of the reference point of the vehicle body in the world coordinate system, y _Q1 The vehicle body reference point is an ordinate of the vehicle body reference point in a world coordinate system, psi is a steering wheel corner, L is a vehicle wheelbase, v is transverse and longitudinal acceleration, and t is a time length between a time point when the vehicle-mounted device is initially started and a current time point.

The above description is given by taking the determination of the vehicle body yaw angle based on the vehicle body positioning data as an example. As another example, the vehicle body yaw angle may also be determined based on GPS (Global Positioning System ) positioning information, and the method of determining the vehicle body yaw angle of the present embodiment is not limited.

The above description is given by taking, as an example, determining positional 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 position information of the vehicle body reference point in the world coordinate system based on the GPS positioning information, and the method for determining the position information of the vehicle body reference point in the world coordinate system is not limited in this embodiment.

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

The first distance is detected by the detecting sensor, and for convenience of description and understanding, the distance is referred to herein as a first distance, for example, as shown in fig. 5, if the detecting sensor detects that the distance between the obstacle and the detecting sensor is d, the first distance is d.

4. Based on the vehicle body pose parameters, the first distance and the sensor installation parameters, position information of the obstacle in a world coordinate system is determined.

Wherein the sensor mounting parameter is used to indicate the mounting position of the detection sensor relative to a vehicle body reference point.

As an example, the sensor mounting parameters include 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 detection sensor is located and a 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 a current location of the vehicle body.

The vehicle body reference point may be set according to actual situations, for example, a midpoint of a line segment with two rear wheels as end points may be taken as the vehicle body reference point, for example, please refer to fig. 6, and in fig. 6, the point Q may be taken as the vehicle body reference point.

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

For example, if the vehicle body reference point translates relative to the world coordinate system and the vehicle body traveling direction deflects relative to the longitudinal axis of the world coordinate system during the current vehicle traveling, 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 with the deflected vehicle body reference point as the origin of coordinates of the vehicle body coordinate system, with the vehicle body traveling direction as the positive direction of the longitudinal axis, and with the direction of the ray from the left rear wheel to the right rear wheel of the vehicle as the positive direction of the transverse axis. For example, referring to FIG. 7, the body coordinate system is shown as X3-Y3 in FIG. 7.

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

4.1, 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 deflection angle and the position information of the vehicle body reference point in the world coordinate system.

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

Wherein the translation coordinate system is a coordinate system established based on a vehicle body reference point translated relative to the world coordinate system. As illustrated in fig. 7, the point Q is taken as a vehicle body reference point, and as illustrated in b in fig. 7, the vehicle body reference point may translate with respect to the world coordinate system during the running of the vehicle, so that a translation coordinate system may be established based on the translated vehicle body reference point, that is, the point Q may be taken as the origin of coordinates of the translation coordinate system, the running direction of the vehicle body may be taken as the positive direction of the vertical axis, and the direction of the ray from the left rear wheel to the right rear wheel of the vehicle may be taken as the positive direction of the horizontal axis, and the translation coordinate system may be 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 of 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 vehicle body deflection angle, and the first deflection angle by the following formula (2):

wherein x is _E2 To detect the abscissa of the sensor in a translational coordinate system, y _E2 In order to detect the ordinate of the sensor in the translational coordinate system, r is the second distance, θ is the body deflection angle,is a first offset angle.

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

And then converting the coordinates of the detection sensor under the translation coordinate system into the world coordinate system to obtain the position information of the detection sensor under the world coordinate system. That is, in the case of determining the positional information of the detection sensor in the translation coordinate system, the in-vehicle apparatus may convert the positional information of the detection sensor in the translation coordinate system, thereby obtaining the positional 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 translation 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 with 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, positional information of the detection sensor in the world coordinate system is obtained.

Illustratively, the abscissa of the detection sensor in the world coordinate system may be determined based on the abscissa of the detection sensor in the translation coordinate system and the abscissa of the vehicle body reference point in the world coordinate system by the following formula (3):

x _E1 ＝x _E2 +x _Q1 (3)

wherein x is _E1 To detect the abscissa of the sensor in world coordinate system, x _E2 To detect the abscissa of the sensor in a translational coordinate system, x _Q1 Is the abscissa of the vehicle body reference point in the world coordinate system.

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

y _E1 ＝y _E2 +y _Q1 (4)

Wherein y is _E1 To detect the ordinate of the sensor in the world coordinate system, y _E2 To detect the ordinate of the sensor in the translational coordinate system, y _Q1 Is the ordinate of the vehicle body reference point in the world coordinate system.

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

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 _P1 Is the abscissa of the obstacle in the world coordinate system, y _P1 Is the ordinate, x, of the obstacle in the world coordinate system _E1 To detect the abscissa of the sensor in world coordinate system, y _E1 The vertical coordinate of the obstacle in the world coordinate system is d which is a first distance, and θ is a vehicle body deflection angle.

For example, if the vehicle body yaw 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 vehicle body yaw angle, the first offset angle, the position information of the vehicle body reference point in the world coordinate system, the first distance, and the vehicle body yaw 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 always kept unchanged, so that after the position information of the obstacle in the world coordinate system is determined, the obstacle can be positioned by 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, in the case where the position information of the plurality of obstacles in the world coordinate system is stored, the position information of the obstacle in the world coordinate system can be sequentially acquired, so that the obstacle can be detected based on the position information of the obstacle in the world coordinate system.

5. And determining boundary information of the detection area corresponding to the reference detection point under the 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.

Since the detection sensor has a limitation of the mounting position, the detection sensor cannot be mounted at a partial position on the vehicle body, in which case a reference detection point may be set at a position where the detection sensor cannot be mounted, and thus 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 practical 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 and the width of the detection area corresponding to the reference detection point may be set according to practical situations, which is not limited in this embodiment. For example, the length of the detection area may be set to 70cm and the width of the detection area may be set to 10cm.

The boundary information of the detection area corresponding to the reference detection point may include position information of a side of the detection area, or may include position information of a region point of the detection area.

Taking the position information of the area point of the detection area included in the boundary information as an example, 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 area point within the detection area may be set as the vertex of the detection area. In general, the number of the area points in the detection area corresponding to the reference detection point is plural, and the position information of each area point in the world coordinate system can be determined based on the present scheme.

The vehicle-mounted equipment can determine the boundary information of the detection area under the world coordinate system, so that the boundary information of the detection area and the position information of the obstacle are positioned under 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 in the detection area, 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 the detection point position information, where the detection point position information is used to indicate a position of the detection point in the detection area relative to a vehicle body reference point.

As an example, the implementation process of determining the boundary information of the detection area 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 points in the translation coordinate system.

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

As one example, a distance between the area point and the vehicle body reference point may be determined, resulting in a third distance. And acquiring a region point positioning angle, wherein the region point positioning angle refers to an angle between the direction of a straight line where a vehicle body reference point and a region point are positioned and the transverse 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 vehicle body yaw angle, and the region point positioning angle.

Wherein the regional point location angle may be used to determine the location of the regional point relative to the vehicle body. The area point positioning angle may be predetermined and stored in the in-vehicle apparatus.

The distance between the region point and the vehicle body reference point may be predetermined and stored in the vehicle-mounted device.

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

That is, the in-vehicle apparatus may acquire the region point positioning angle and the distance between the region point and the vehicle body reference point in the data stored in advance, so as to determine the coordinates of the region point in the translation coordinate system according to 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, the present embodiment is illustrated by taking the area point a in fig. 7 as an example, and the coordinates of the area point a in the translation 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 _A2 Is the abscissa, y of the region point A in the translation coordinate system _A2 The vertical coordinate of the area point A in the translation coordinate system is n, the distance between the vehicle body reference point and the area point is n, theta is the vehicle body deflection angle, and mu is the area point positioning angle.

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

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

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

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

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

x _A1 ＝x _A2 +x _Q1 (8)

wherein x is _A1 Is the abscissa, x, of the regional point in the world coordinate system _A2 Is the abscissa, x, of the region point in the translation coordinate system _Q1 Is the abscissa of the vehicle body reference point in the world coordinate system.

Illustratively, the ordinate of the region point in the world coordinate system may be determined based on the ordinate of the region point in the translation coordinate system and the ordinate of the vehicle body reference point in the world coordinate system by the following formula (8):

y _A1 ＝y _A2 +y _Q1 (9)

wherein y is _A1 Is the ordinate, y, of the regional point in the world coordinate system _A2 Is the ordinate, y of the regional point in the translation coordinate system _Q1 Is the ordinate of the vehicle body reference point in the world coordinate system.

For example, if the coordinates of the region 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 region point in the world coordinate system can be determined by (0.4+10, 0.693+20) to be (10.4, 20.693).

6. It is determined whether an obstacle is located in the detection area.

In practice, the positional relationship between the obstacle and the detection area may be determined based on the positional 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 within the detection area.

For example, if the area point of the detection area includes an area point a, an area point B, an area point C, and an area point D, the positional relationship of 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,,a vector obtained by subtracting the coordinates of B and the coordinates of A, < >>Vector obtained by subtracting the coordinates of P and B>Is obtained by subtracting the coordinates of D and CVector (S)>Vector obtained by subtracting the coordinates of P and D>A vector obtained by subtracting the coordinates of C and B, < >>Vector obtained by subtracting the coordinates of P and C>A vector obtained by subtracting the coordinates of A and D is +.>The vector is obtained by subtracting the coordinates of P and the coordinates of A.

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

7. If the obstacle is located in the detection area, determining the distance between the obstacle and the reference detection point.

If the obstacle is determined to be positioned in the detection area, the obstacle is indicated to exist near the position where the detection device is not arranged on the current vehicle. In this case, the obstacle may be farther from the vehicle or closer to the vehicle, and in order to further determine whether an early warning is required, the distance between the obstacle and the reference detection point may be determined.

By way of example, the distance between the obstacle and the reference detection point may be determined by the following formula (12) 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:

wherein d _FP X is the distance between the obstacle and the reference detection point _F1 X is the abscissa of the reference detection point in the world coordinate system _P1 Is the abscissa of the obstacle in the world coordinate system, y _F1 Y is the ordinate of the reference detection point in the world coordinate system _P1 Is 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), the coordinates of the reference detection point in the world coordinate system are (49, 37), the reference detection point can be determined according to The distance between the obstacle and the reference detection point is determined to be 3.162m.

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

a. coordinates of the reference detection point in the translation coordinate system are determined.

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

As an example, a 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 refers to an angle between the direction of a straight line where a vehicle body reference point and a reference detection point are positioned and a transverse axis of a vehicle body coordinate system. Therefore, the coordinates of the reference detection point under the translation coordinate system can be determined based on the fourth distance, the vehicle body deflection angle and the reference detection point positioning angle.

Wherein the reference detection point positioning angle can be used to determine the relative position of the reference detection point in the vehicle body. The reference point positioning angle may be predetermined and stored in the in-vehicle apparatus.

The distance between the reference detection point and the vehicle body reference point may be predetermined and stored in the vehicle-mounted device.

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 the angle between the direction of the straight line where the vehicle body reference point and the reference detection point are located and the transverse axis of the translation coordinate system. If the vehicle body coordinate system and the deflection coordinate system are the same coordinate system, the positioning angle of the reference detection point 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 transverse axis of the deflection coordinate system.

That is, the in-vehicle apparatus may acquire the reference detection point positioning angle and the distance between the reference detection point and the vehicle body reference point in 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.

Illustratively, the present embodiment is described taking the reference detection point F in fig. 7 as an example, and the coordinates of the reference detection point F in the translational coordinate system can 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 yaw angle, and the reference detection point positioning angle:

x _F2 ＝mcos(θ+λ)，y _F2 ＝msin(θ+λ) (13)

Wherein x is _F2 For reference to the abscissa of the detection point F in the translation coordinate system, y _F2 For the ordinate of the reference detection point F in the translation coordinate system, m is the distance between the vehicle body reference point and the reference detection point F, θ is the vehicle body deflection angle, and λ 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 may be 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 may be determined to be 0.725 according to 0.9sin (30 ° +35°), that is, the coordinate of the reference detection point F in the translational coordinate system is determined to be (0.38,0.725).

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

That is, in the case of determining the coordinates of the reference detection point in the translation coordinate system, the vehicle-mounted device may convert the coordinates of the reference detection point in the translation coordinate system, thereby obtaining the coordinates of the reference detection point in the world coordinate system.

As one example, coordinates of a vehicle body reference point in a world coordinate system may be determined. And adding the abscissa of the vehicle body reference point under the world coordinate system with the abscissa of the reference detection point under the translation coordinate system to obtain the abscissa of the reference detection point under the world coordinate system. And adding the ordinate of the vehicle body reference point in the world coordinate system with 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. In this way, 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.

Illustratively, the abscissa of the reference detection point in the world coordinate system may be determined by the following formula (14) based on the abscissa of the reference detection point in the translation coordinate system and the abscissa of the vehicle body reference point in the world coordinate system:

x _F1 ＝x _F2 +x _Q1 (14)

wherein x is _F1 X is the abscissa of the reference detection point in the world coordinate system _F2 X is the abscissa of the reference detection point in the translation coordinate system _Q1 Is the abscissa of the vehicle body reference point in the world coordinate system.

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

y _F1 ＝y _F2 +y _Q1 (15)

wherein y is _F1 Y is the ordinate of the reference detection point in the world coordinate system _F2 Y is the ordinate of the reference detection point in the translation coordinate system _Q1 Is the ordinate of the vehicle body reference point in the world coordinate system.

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

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

8. And judging whether the distance between the obstacle and the reference detection point is smaller than a safety 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, the distance between the current vehicle and the obstacle is closer, so that the current vehicle has possibility of collision, in this case, the driver can be warned to prompt that the driver has the obstacle around the current vehicle, and the obstacle is closer to the vehicle.

For example, the safety distance threshold may be set to be 50cm, and if the vehicle-mounted device determines that the distance between the obstacle and the reference detection point is 30cm, the distance between the current vehicle and the obstacle is relatively close due to the fact that 30cm < 50cm, so that the current vehicle has the possibility of occurrence of a traffic accident, and in this case, early warning may be performed on the driver.

The method is not limited in this embodiment, and the distance between the obstacle and the reference detection point is smaller than the safety distance threshold, and the driver may be pre-warned by voice prompt, by message prompt, by holographic projection, or the like.

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, in the case where it is determined that the obstacle is located in the detection area, the early warning is performed only by taking as an example if the distance between the obstacle and the reference detection point is smaller than the safety distance threshold. In another embodiment, after determining the positional relationship between the obstacle and the detection area, if it is determined that the obstacle is located in the detection area, an early warning is performed.

That is, if it is determined that the obstacle is located in the detection area, it indicates that there is an obstacle near a position where the detection device is not provided in the current vehicle, and thus there is a possibility that the current vehicle collides, 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 indicate that there is an obstacle around the current vehicle.

In one possible implementation, the obstacle detection system in the vehicle may further include a vision sensor that may detect an obstacle around the vehicle, and if the vision sensor detects the obstacle, may convert the position information of the obstacle in the visual coordinate system to the world coordinate system, that is, determine the position information of the obstacle in the world coordinate system. In the case of determining the positional 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. If the obstacle is positioned in the detection area, the distance between the obstacle and the detection point is determined, and if the distance between the obstacle and the detection point is smaller than the safety distance threshold value, early warning can be performed. Alternatively, if an obstacle is located in the detection area, an early warning may be performed.

10. And judging whether the detection is finished.

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

If the detection is not finished, the above step 1 is executed back. That is, if the detection is not finished, the method provided according to the embodiment of the present application continues to detect other obstacles around the vehicle.

If the detection ends, the obstacle detection operation around the vehicle is terminated.

According to the embodiment of the application, the detected obstacle information relative to the reference detection point can be directly prompted or alarmed, the detected obstacle information relative to the reference detection point can also be provided for other vehicle-mounted systems (such as an automatic parking auxiliary system and a panoramic looking-around system), and the other vehicle-mounted systems can complete corresponding obstacle prompt or alarm, for example: if a panoramic looking-around system is further installed on the vehicle, the panoramic looking-around system acquires images around the vehicle in real time through four fisheye cameras installed on the front, rear, left and right sides of the vehicle body, and the images are subjected to image distortion correction, coordinate conversion, graphic stitching, graphic Processing Unit (GPU) (Graphics Processing Unit) rendering output and other processing, so that a panoramic aerial view around the vehicle body with good stitching effect is finally formed. In the panoramic looking-around system, according to the obstacle information detected on the automobile relative to the reference detection point, the corresponding obstacle information of the radar can be superimposed on each picture, so that a driver can intuitively observe the position of the obstacle, which influences driving safety, around the automobile body, and the position of the obstacle is timely the position of the automobile body, which is not provided with the radar sensor.

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

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

The second determining module 920 is 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 as the detection sensor in the vehicle body and is not provided with a detection device.

A third determining module 930 is configured to determine a positional relationship between the obstacle and the detection area based on the positional 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 a vehicle body pose parameter;

The first determining module 910 is configured to:

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

acquiring a vehicle body pose parameter;

the second determining module 920 is configured to:

In one 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 a vehicle provided in the above embodiment, only the division of the above functional modules is used for illustration, and in practical application, the above functional allocation may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the functions described above. In addition, the device for detecting the obstacle around the vehicle provided in the above embodiment belongs to the same concept as the embodiment of the method for detecting the obstacle around the vehicle, and the detailed implementation process of the device is referred to as the method embodiment, which is not repeated here.

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

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

Memory 1002 may include one or more computer-readable storage media, which may be non-transitory. 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 obstacle detection method around a vehicle provided by the method embodiments in the present application.

It will be appreciated by those skilled in the art that the structure shown in fig. 10 does not constitute a limitation of the in-vehicle apparatus 1000, and may include more or less components than illustrated, or may combine some components, or may employ a different arrangement of components.

In some embodiments, there is also provided a computer-readable storage medium having stored therein a computer program which, when executed by a processor, implements the steps of the obstacle detection method around a vehicle in the above embodiments. For example, the computer readable storage medium may be a magnetic disk or optical disk, EEPROM (Electrically Erasable Programmable Read Only Memory ), EPROM (Erasable Programmable Read-Only Memory), SRAM (Static Random Access Memory ), ROM (Read Only Memory), magnetic Memory, flash Memory, PROM (Programmable Read-Only Memory), or the like.

It is noted that the computer readable storage medium mentioned in the present application may be a non-volatile storage medium, in other words, may be a non-transitory storage medium.

It should be understood that all or part of the steps to implement the above-described 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 that, when run on a computer, cause the computer to perform the steps of the above-described method of detecting an obstacle around a vehicle.

The above embodiments are provided for the purpose of not limiting the present application, but rather, any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application are intended to be included within the scope of the present application.

Claims

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

acquiring a vehicle body pose parameter, wherein the vehicle body pose parameter comprises a vehicle body deflection angle and position information of a vehicle body reference point under the world coordinate system, the vehicle body deflection angle refers to a deflection angle of a vehicle body running direction relative to a longitudinal axis of the world coordinate system, and the vehicle body reference point is any point on the vehicle body;

determining position information of a detection point in a detection area corresponding to a reference detection point under the world coordinate system based on the detection point position information, the vehicle body deflection angle and the position information of the vehicle body reference point under the world coordinate system, and obtaining boundary information of the detection area under the world coordinate system, wherein the detection point position information is used for indicating the position of the detection point in the detection area relative to the vehicle body reference point, 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 the vehicle body coordinate system, the vehicle body coordinate system is the coordinate system established based on the vehicle body reference point at the current position of the vehicle body, the reference detection point is the detection point which is positioned on the same side as the detection sensor and is not provided with a detection device, and the boundary information comprises the information of the detection point in the detection area;

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

acquiring a vehicle body pose parameter;

and determining position information of the obstacle under 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 the vehicle body reference point.

3. The method of claim 2, wherein the obtaining the vehicle 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 being a distance between the detection sensor and the vehicle body reference point, the first offset angle being an angle between a direction of the vehicle body reference point and a line in which the detection sensor is located and a transverse axis of a vehicle body coordinate system, the vehicle body coordinate system being a coordinate system established based on the vehicle body reference point at a current location of the vehicle body;

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

6. An obstacle detecting apparatus around a vehicle, the apparatus comprising:

the second determining module is used for obtaining vehicle body pose parameters, wherein the vehicle body pose parameters comprise a vehicle body deflection angle and position information of a vehicle body reference point under the world coordinate system, the vehicle body deflection angle refers to a deflection angle of a vehicle body running direction relative to a longitudinal axis of the world coordinate system, and the vehicle body reference point is any point on the vehicle body; determining position information of a detection point in a detection area corresponding to a reference detection point under the world coordinate system based on the detection point position information, the vehicle body deflection angle and the position information of the vehicle body reference point under the world coordinate system, and obtaining boundary information of the detection area under the world coordinate system, wherein the detection point position information is used for indicating the position of the detection point in the detection area relative to the vehicle body reference point, 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 the vehicle body coordinate system, the vehicle body coordinate system is the coordinate system established based on the vehicle body reference point at the current position of the vehicle body, the reference detection point is the detection point which is positioned on the same side as the detection sensor and is not provided with a detection device, and the boundary information comprises the information of the detection point in the detection area;

7. The apparatus of claim 6, wherein the first determination module is to:

acquiring a vehicle body pose parameter;

8. 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 the method of any of claims 1-5.