CN116148860A - Method and device for identifying static obstacle, vehicle and storage medium - Google Patents
Method and device for identifying static obstacle, vehicle and storage mediumDownload PDFInfo
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- 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
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- 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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- 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
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- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本申请涉及汽车智能驾驶辅助技术领域，特别涉及一种静止障碍物的识别方法、装置、车辆及存储介质。The present application relates to the technical field of automobile intelligent driving assistance, in particular to a method, device, vehicle and storage medium for identifying stationary obstacles.
背景技术Background technique
随着智能驾驶行业的发展，配置智能驾驶辅助的汽车越发普及，传感器作为驾驶辅助系统的重要感知原件，对车辆行驶环境的感知能力将会直接影响驾驶辅助系统的功能及性能表现，毫米波雷达作为重要的感知传感器，因其适应性好，抗干扰性强，被驾驶辅助系统广泛使用。With the development of the intelligent driving industry, cars equipped with intelligent driving assistance are becoming more and more popular. As an important sensing element of the driving assistance system, the sensor's ability to perceive the driving environment of the vehicle will directly affect the function and performance of the driving assistance system. Millimeter wave radar As an important perception sensor, it is widely used in driving assistance systems because of its good adaptability and strong anti-interference.
相关技术中，在毫米波雷达感知过程中，雷达向外发射毫米波，对于与路旁障碍物邻近的目标物，尤其对于与障碍物雷达反射属性类似的目标物，会反射属性类似的毫米波。In related technologies, during the perception process of millimeter-wave radar, the radar emits millimeter-waves outward. For targets adjacent to roadside obstacles, especially for targets with similar radar reflection properties to obstacles, millimeter-waves with similar properties will be reflected .
然而，相关技术中雷达处理目标障碍物时，易将障碍物与目标物聚类为同一目标，导致误识别或漏识别，驾驶辅助功能漏触发或误触发，降低车辆行驶的安全性，影响用户驾驶体验，智能化水平低，亟待改进。However, when dealing with target obstacles in the related art, radars tend to cluster obstacles and targets into the same target, resulting in misidentification or missed identification, missed triggering of driving assistance functions or false triggering, reducing vehicle driving safety, and affecting users. The driving experience is low in intelligence level and needs to be improved urgently.
发明内容Contents of the invention
本申请提供一种静止障碍物的识别方法、装置、车辆及存储介质，以解决相关技术中雷达处理目标障碍物时，易将障碍物与目标物聚类为同一目标，导致误识别或漏识别，驾驶辅助功能漏触发或误触发，降低车辆行驶的安全性，影响用户驾驶体验，智能化水平低等问题。This application provides a method, device, vehicle, and storage medium for identifying stationary obstacles, so as to solve the problem that when radars process target obstacles in the related art, it is easy to cluster obstacles and targets into the same target, resulting in misidentification or missed identification. , The driving assistance function is missed or falsely triggered, which reduces the safety of the vehicle, affects the user's driving experience, and has low intelligence level.
本申请第一方面实施例提供一种静止障碍物的识别，包括以下步骤：对雷达反射的雷达波进行聚类处理，并结合当前车辆的车速信息，筛选出至少一个运动目标和至少一个静止目标；将所述至少一个静止目标投射至预设车辆坐标系下，拟合出可行驶区间，并拟合出所述当前车辆的当前行驶状态下的预测行驶轨迹；以及基于所述可行驶区间得到的可行驶区间边界得到多个初始目标，并基于所述预测行驶轨迹从所述多个初始目标中识别至少一个静止障碍物。The embodiment of the first aspect of the present application provides an identification of stationary obstacles, including the following steps: performing clustering processing on the radar waves reflected by the radar, and combining the speed information of the current vehicle to screen out at least one moving target and at least one stationary target ; projecting the at least one stationary target into a preset vehicle coordinate system, fitting a drivable interval, and fitting a predicted driving trajectory under the current driving state of the current vehicle; and obtaining based on the drivable interval A plurality of initial targets are obtained from the drivable interval boundary of the vehicle, and at least one stationary obstacle is identified from the plurality of initial targets based on the predicted driving trajectory.
根据上述技术手段，本申请实施例可以基于聚类处理后的数据确定静止目标，并基于可行驶区间边界得到多个初始目标，从而基于预测行驶轨迹识别至少一个静止障碍物，提高识别的准确性，有效避免误识别和漏识别，提高车辆的安全性和可靠性。According to the above technical means, the embodiment of the present application can determine the stationary target based on the clustered data, and obtain multiple initial targets based on the boundary of the drivable interval, thereby identifying at least one stationary obstacle based on the predicted driving trajectory and improving the accuracy of identification , effectively avoid misidentification and missed identification, and improve the safety and reliability of the vehicle.
可选地，在本申请的一个实施例中，所述基于所述可行驶区间得到的可行驶区间边界得到多个初始目标，包括：判断所述可行驶区间边界的轨迹曲率是否满足预设突变条件；如果满足所述预设突变条件，则对突变点的目标重新处理，过滤突变点路旁障碍物的雷达波。Optionally, in an embodiment of the present application, the obtaining multiple initial targets based on the drivable interval boundary obtained from the drivable interval includes: judging whether the trajectory curvature of the drivable interval boundary satisfies a predetermined sudden change condition; if the preset mutation condition is met, the target at the mutation point is reprocessed, and the radar waves of roadside obstacles at the mutation point are filtered.
根据上述技术手段，本申请实施例可以判断可行驶区间边界的轨迹曲率是否满足一定突变条件，并在满足一定突变条件时，对突变点的目标重新处理，过滤突变点路旁障碍物的雷达波，从而有针对性的识别静止障碍物，提高车辆的安全性和可靠性，提升用户的驾乘体验。According to the above technical means, the embodiment of the present application can judge whether the trajectory curvature of the boundary of the drivable interval satisfies a certain mutation condition, and when a certain mutation condition is met, reprocess the target at the mutation point, and filter the radar waves of the roadside obstacles at the mutation point , so as to identify stationary obstacles in a targeted manner, improve the safety and reliability of vehicles, and enhance the driving experience of users.
可选地，在本申请的一个实施例中，所述基于所述预测行驶轨迹从所述多个初始目标中识别至少一个静止障碍物，包括：判断处理后的目标属性是否满足预设条件；如果满足所述预设条件且处于所述预测行驶轨迹内，则作为静止障碍物。Optionally, in an embodiment of the present application, the identifying at least one stationary obstacle from the plurality of initial targets based on the predicted driving trajectory includes: judging whether the processed target attributes satisfy a preset condition; If the preset condition is met and it is within the predicted driving trajectory, it is regarded as a stationary obstacle.
根据上述技术手段，本申请实施例可以判断处理后的目标属性是否满足一定条件，当满足一定条件且处于预测行驶轨迹内时，初始目标可以作为静止障碍物，从而提醒驾驶员注意静止障碍物，提高识别的准确性，提高车辆行驶的安全性，增加用户的驾乘体验。According to the above technical means, the embodiments of the present application can judge whether the processed target attributes meet certain conditions, and when certain conditions are met and within the predicted driving trajectory, the initial target can be used as a stationary obstacle, thereby reminding the driver to pay attention to the stationary obstacle, Improve the accuracy of recognition, improve the safety of vehicle driving, and increase the user's driving experience.
可选地，在本申请的一个实施例中，所述预设突变条件为所述突变点的横向位置与突变前的横向位置之间的差值大于第一预设阈值且与上一点的曲率半径超过第二预设阈值。Optionally, in one embodiment of the present application, the preset mutation condition is that the difference between the lateral position of the mutation point and the lateral position before the mutation is greater than the first preset threshold and the curvature of the previous point The radius exceeds a second preset threshold.
根据上述技术手段，本申请实施例中的预设突变条件为突变点的横向位置与突变前的横向位置之间的差值大于第一预设阈值且与上一点的曲率半径超过第二预设阈值，通过突变条件可以有效处理突变的目标，从而辅助驾驶系统，增加用户的驾驶体验，保证车辆的实用性。According to the above technical means, the preset mutation condition in the embodiment of the present application is that the difference between the lateral position of the mutation point and the lateral position before the mutation is greater than the first preset threshold and the radius of curvature from the previous point exceeds the second preset The threshold value can effectively handle the sudden change target through the sudden change condition, so as to assist the driving system, increase the user's driving experience, and ensure the practicability of the vehicle.
可选地，在本申请的一个实施例中，在识别所述至少一个静止障碍物之后，还包括：提示所述至少一个静止障碍物的同时，根据所述当前车辆与障碍物的相对速度、纵向距离和/或横向距离生成减速策略和/或转向策略。Optionally, in an embodiment of the present application, after identifying the at least one stationary obstacle, further comprising: while prompting the at least one stationary obstacle, according to the relative speed of the current vehicle and the obstacle, The longitudinal distance and/or the lateral distance generate a deceleration strategy and/or a steering strategy.
根据上述技术手段，本申请实施例可以在提示至少一个静止障碍物的同时，根据当前车辆与障碍物的不同速度与距离生成不同策略，从而有效的躲避静止障碍物，提高车辆的智能化水平，提升车辆行驶的安全性。According to the above technical means, the embodiment of the present application can generate different strategies according to the different speeds and distances between the current vehicle and the obstacle while prompting at least one stationary obstacle, so as to effectively avoid the stationary obstacle and improve the intelligent level of the vehicle. Improve vehicle safety.
本申请第二方面实施例提供一种静止障碍物的识别装置，包括：筛选模块，用于对雷达反射的雷达波进行聚类处理，并结合当前车辆的车速信息，筛选出至少一个运动目标和至少一个静止目标；拟合模块，用于将所述至少一个静止目标投射至预设车辆坐标系下，拟合出可行驶区间，并拟合出所述当前车辆的当前行驶状态下的预测行驶轨迹；以及识别模块，用于基于所述可行驶区间得到的可行驶区间边界得到多个初始目标，并基于所述预测行驶轨迹从所述多个初始目标中识别至少一个静止障碍物。The embodiment of the second aspect of the present application provides a device for identifying stationary obstacles, including: a screening module, which is used to cluster the radar waves reflected by the radar, and combine the current vehicle speed information to screen out at least one moving target and At least one stationary target; a fitting module, configured to project the at least one stationary target into a preset vehicle coordinate system, fit the drivable interval, and fit the predicted driving under the current driving state of the current vehicle a trajectory; and an identification module, configured to obtain a plurality of initial targets based on the drivable interval boundary obtained from the drivable interval, and identify at least one stationary obstacle from the plurality of initial targets based on the predicted driving trajectory.
可选地，在本申请的一个实施例中，所述识别模块包括：第一判断单元，用于判断所述可行驶区间边界的轨迹曲率是否满足预设突变条件；过滤单元，用于当满足所述预设突变条件时，则对突变点的目标重新处理，过滤突变点路旁障碍物的雷达波。Optionally, in an embodiment of the present application, the identification module includes: a first judging unit, configured to judge whether the trajectory curvature of the boundary of the drivable interval satisfies a preset mutation condition; a filtering unit, configured to When the sudden change condition is preset, the target at the sudden change point is reprocessed, and radar waves of roadside obstacles at the sudden change point are filtered.
可选地，在本申请的一个实施例中，所述识别模块还包括：第二判断单元，用于判断处理后的目标属性是否满足预设条件；识别单元，用于当满足所述预设条件且处于所述预测行驶轨迹内时，则作为静止障碍物。Optionally, in an embodiment of the present application, the recognition module further includes: a second judgment unit, configured to judge whether the processed target attribute satisfies a preset condition; a recognition unit, configured to Conditions and within the predicted driving trajectory, it is regarded as a stationary obstacle.
可选地，在本申请的一个实施例中，所述预设突变条件为所述突变点的横向位置与突变前的横向位置之间的差值大于第一预设阈值且与上一点的曲率半径超过第二预设阈值。Optionally, in one embodiment of the present application, the preset mutation condition is that the difference between the lateral position of the mutation point and the lateral position before the mutation is greater than the first preset threshold and the curvature of the previous point The radius exceeds a second preset threshold.
可选地，在本申请的一个实施例中，所述识别模块还包括：生成单元，用于提示所述至少一个静止障碍物的同时，根据所述当前车辆与障碍物的相对速度、纵向距离和/或横向距离生成减速策略和/或转向策略。Optionally, in an embodiment of the present application, the identification module further includes: a generating unit configured to prompt the at least one stationary obstacle and at the same time, according to the relative speed and longitudinal distance between the current vehicle and the obstacle, and/or lateral distance generating deceleration strategies and/or steering strategies.
本申请第三方面实施例提供一种车辆，包括：存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器执行所述程序，以实现如上述实施例所述的静止障碍物的识别方法。The embodiment of the third aspect of the present application provides a vehicle, including: a memory, a processor, and a computer program stored on the memory and operable on the processor, and the processor executes the program to implement the following: The method for identifying stationary obstacles described in the above embodiments.
本申请第四方面实施例提供一种计算机可读存储介质，所述计算机可读存储介质存储计算机程序，该程序被处理器执行时实现如上的静止障碍物的识别方法。The embodiment of the fourth aspect of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the program is executed by a processor, the above method for identifying a stationary obstacle is implemented.
本申请实施例的有益效果：The beneficial effect of the embodiment of the present application:
(1)本申请实施例可以基于聚类处理后的数据确定静止目标，并基于可行驶区间边界得到多个初始目标，从而基于预测行驶轨迹识别至少一个静止障碍物，提高识别的准确性，有效避免误识别和漏识别，提高车辆的安全性和可靠性。(1) In the embodiment of the present application, the stationary target can be determined based on the data after clustering processing, and multiple initial targets can be obtained based on the boundary of the drivable interval, so as to identify at least one stationary obstacle based on the predicted driving trajectory, improve the accuracy of identification, and effectively Avoid misidentification and missed identification, improve vehicle safety and reliability.
(2)本申请实施例可以判断可行驶区间边界的轨迹曲率是否满足一定突变条件，并在满足一定突变条件时，对突变点的目标重新处理，过滤突变点路旁障碍物的雷达波，从而有针对性的识别静止障碍物，提高车辆的安全性和可靠性，提升驾乘体验。(2) The embodiment of the present application can judge whether the trajectory curvature of the boundary of the drivable interval satisfies a certain mutation condition, and when a certain mutation condition is met, the target at the mutation point is reprocessed, and the radar wave of the roadside obstacle at the mutation point is filtered, thereby Identify stationary obstacles in a targeted manner, improve vehicle safety and reliability, and enhance driving experience.
(3)本申请实施例可以判断处理后的目标属性是否满足一定条件，当满足一定条件且处于预测行驶轨迹内时，初始目标可以作为静止障碍物，从而提醒驾驶员注意静止障碍物，提高识别准确性，提高车辆行驶的安全性，增加用户的驾乘体验。(3) The embodiment of the present application can judge whether the processed target attributes meet certain conditions. When certain conditions are met and within the predicted driving trajectory, the initial target can be used as a stationary obstacle, thereby reminding the driver to pay attention to the stationary obstacle and improve recognition Accuracy, improve the safety of vehicle driving, and increase the user's driving experience.
本申请附加的方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实践了解到。Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.
附图说明Description of drawings
本申请上述的和/或附加的方面和优点从下面结合附图对实施例的描述中将变得明显和容易理解，其中：The above and/or additional aspects and advantages of the present application will become apparent and easy to understand from the following description of the embodiments in conjunction with the accompanying drawings, wherein:
图1为根据本申请实施例提供的一种静止障碍物的识别方法的流程图；FIG. 1 is a flow chart of a method for identifying stationary obstacles according to an embodiment of the present application;
图2为根据本申请一个实施例的静止障碍物的识别的流程图；FIG. 2 is a flow chart of identifying stationary obstacles according to an embodiment of the present application;
图3为根据本申请实施例提供的一种静止障碍物的识别装置的结构示意图；Fig. 3 is a schematic structural diagram of a stationary obstacle identification device provided according to an embodiment of the present application;
图4为根据本申请实施例提供的车辆的结构示意图。Fig. 4 is a schematic structural diagram of a vehicle provided according to an embodiment of the present application.
其中，10-静止障碍物的识别装置：100-筛选模块、200-拟合模块、300-识别模块。Among them, 10-recognition device for stationary obstacles: 100-screening module, 200-fitting module, 300-recognition module.
具体实施方式Detailed ways
下面详细描述本申请的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本申请，而不能理解为对本申请的限制。Embodiments of the present application are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary, and are intended to explain the present application, and should not be construed as limiting the present application.
下面参考附图描述本申请实施例的静止障碍物的识别方法、装置、车辆及存储介质。针对上述背景技术中心提到的相关技术中雷达处理目标障碍物时，易将障碍物与目标物聚类为同一目标，导致误识别或漏识别，驾驶辅助功能漏触发或误触发，降低车辆行驶的安全性，影响用户驾驶体验，智能化水平低的问题，本申请提供了一种静止障碍物的识别方法，在该方法中，可以基于聚类处理后的数据确定静止目标，并基于可行驶区间边界得到多个初始目标，从而基于预测行驶轨迹识别至少一个静止障碍物，提高识别准确性，避免误识别和漏识别，提高车辆的安全性和可靠性，提升驾乘体验。由此，解决了相关技术中雷达处理目标障碍物时，易将障碍物与目标物聚类为同一目标，导致误识别或漏识别，驾驶辅助功能漏触发或误触发，降低车辆行驶的安全性，影响用户驾驶体验，智能化水平低等问题。The method, device, vehicle, and storage medium for identifying stationary obstacles in the embodiments of the present application are described below with reference to the accompanying drawings. In view of the related technology mentioned in the background technology center mentioned above, when the radar processes the target obstacle, it is easy to cluster the obstacle and the target object into the same target, resulting in misidentification or missed identification, missed triggering or false triggering of the driving assistance function, and reducing the driving speed of the vehicle. safety, affecting the user’s driving experience, and low level of intelligence. This application provides a method for identifying stationary obstacles. In this method, the stationary target can be determined based on the clustered data, and the Multiple initial targets are obtained at the boundary of the interval, so as to identify at least one stationary obstacle based on the predicted driving trajectory, improve the recognition accuracy, avoid false recognition and missed recognition, improve the safety and reliability of the vehicle, and enhance the driving experience. Thus, it solves the problem that when radars process target obstacles in the related art, it is easy to cluster obstacles and targets into the same target, resulting in misidentification or missed identification, missing or false triggering of driving assistance functions, and reducing the safety of vehicle driving. , affecting the user's driving experience, low level of intelligence and other issues.
具体而言，图1为本申请实施例所提供的一种静止障碍物的识别方法的流程示意图。Specifically, FIG. 1 is a schematic flowchart of a method for identifying a stationary obstacle provided in an embodiment of the present application.
如图1所示，该静止障碍物的识别方法包括以下步骤：As shown in Figure 1, the identification method of the stationary obstacle includes the following steps:
在步骤S101中，对雷达反射的雷达波进行聚类处理，并结合当前车辆的车速信息，筛选出至少一个运动目标和至少一个静止目标。In step S101, the radar waves reflected by the radar are clustered and combined with the current vehicle speed information to screen out at least one moving target and at least one stationary target.
可以理解的是，本申请实施例中雷达反射的雷达波可以对目标进行照射并接收其回波，ECU(Electronic Control Unit，电子控制单元)控制器可以对雷达波的同属性目标如RCS(Radar Cross-Section，雷达截面积)值、速度、角度等进行聚类，将反射点聚类成目标点，结合当前车辆的车速信息，由此筛选出至少一个运动目标和至少一个静止目标。It can be understood that the radar wave reflected by the radar in the embodiment of the present application can irradiate the target and receive its echo, and the ECU (Electronic Control Unit, electronic control unit) controller can control the target of the same attribute as the radar wave, such as RCS (Radar Cross-Section (radar cross-section) value, speed, angle, etc. are clustered, the reflection points are clustered into target points, and combined with the current vehicle speed information, at least one moving target and at least one stationary target are screened out.
举例而言，本申请实施例可以通过RCS测量或计算出目标在雷达接收方向上反射毫米雷达波的能力；又例如，本申请实施例可以通过毫米雷达波的速度和角度测量远程物体，ECU控制器可以对毫米雷达波的同属性目标进行聚类处理，将RCS值、速度、角度等进行聚类，结合当前车辆的速度，以及目标点的相关属性，判断目标是静止目标或运动目标，当目标点与本车的相对速度的绝对值与本车速度的差约等于0时，可以判定目标点为静止For example, the embodiment of the present application can measure or calculate the ability of the target to reflect millimeter radar waves in the radar receiving direction through RCS; for another example, the embodiment of the present application can measure the remote object through the velocity and angle of the millimeter radar wave, and the ECU controls The device can cluster the targets of the same attribute of the millimeter radar wave, cluster the RCS value, speed, angle, etc., and combine the speed of the current vehicle and the related attributes of the target point to judge whether the target is a stationary target or a moving target. When the difference between the absolute value of the relative speed of the target point and the vehicle and the speed of the vehicle is approximately equal to 0, it can be determined that the target point is stationary
目标，当目标点与本车的相对速度的绝对值与本车速度的差大于0时，可以判定目标点为5运动目标。target, when the difference between the absolute value of the relative speed of the target point and the vehicle and the speed of the vehicle is greater than 0, it can be determined that the target point is a 5-moving target.
本申请实施例可以通过聚类雷达波结合车速，筛选出至少一个运动目标和至少一个静止目标，提高车辆行驶的安全性，增加车辆的智能化和实用性。In the embodiment of the present application, at least one moving target and at least one stationary target can be screened out by clustering radar waves combined with vehicle speed, so as to improve vehicle driving safety and increase vehicle intelligence and practicability.
在步骤S102中，将至少一个静止目标投射至预设车辆坐标系下，拟合出可行驶区间，并拟合出当前车辆的当前行驶状态下的预测行驶轨迹。In step S102, at least one stationary object is projected into the preset vehicle coordinate system to fit a drivable interval and a predicted driving trajectory under the current driving state of the current vehicle.
0可以理解的是，本申请实施例可以将聚类后的静止目标投射到车辆坐标系下，基于不0 It can be understood that in the embodiment of the present application, the clustered stationary objects can be projected into the vehicle coordinate system, based on different
同静止目标的位置信息，拟合出可行驶区间，通过对可行驶区间的边界轨迹进行平滑处理，可以输出行驶区间边界轨迹信息，基于车辆的车速、方向盘转角、车辆偏航率等信息，拟合出当前行驶状态下的车辆预测行驶轨迹。Based on the position information of the stationary target, the drivable interval is fitted. By smoothing the boundary trajectory of the drivable interval, the boundary trajectory information of the drivable interval can be output. Based on the vehicle speed, steering wheel angle, vehicle yaw rate and other information, the simulated Combine the predicted driving trajectory of the vehicle under the current driving state.
举例而言，本申请实施例可以将相同目标且位置连续的静止目标连续为一条可行驶区5间的边界，如果两静止点的横向位置超过阈值1m，则不能将其连续成一条线，对形成的直For example, in the embodiment of the present application, stationary objects with the same target and continuous positions can be continuous as a boundary between drivable areas. If the lateral positions of two stationary points exceed the threshold value of 1m, they cannot be continuous into a line. formed straight
线可以进行平滑处理，行成一条曲率连续的边界，通过确定边界的相关属性，包括但不限于位置的横向距离，纵向距离及对应的曲率等，从而确定当前边界内为可行驶区域；又例如，本申请实施例中的ECU控制器可以基于当前车辆的车速、方向盘的转角、偏航率等，The line can be smoothed to form a boundary with continuous curvature. By determining the relevant attributes of the boundary, including but not limited to the horizontal distance of the position, the vertical distance and the corresponding curvature, etc., it can be determined that the current boundary is a drivable area; another example , the ECU controller in the embodiment of this application can be based on the current vehicle speed, steering wheel angle, yaw rate, etc.,
拟合出当前状态下的行驶轨迹，可以基于当前车辆的行驶轨迹与上述边界的相关信息，拟0合成行驶车道的模型，确定当前车辆行驶的车道，并计算出当前车辆与边界的相对距离，Fitting the driving trajectory in the current state can be based on the current vehicle’s driving trajectory and the above-mentioned boundary related information to fit the model of the driving lane, determine the current vehicle’s driving lane, and calculate the relative distance between the current vehicle and the boundary,
当当前车辆中心与可行驶区间边界的距离小于3.5m时，可以判定当前车辆行驶在靠近静止障碍物的车道。When the distance between the center of the current vehicle and the boundary of the drivable interval is less than 3.5m, it can be determined that the current vehicle is driving in a lane close to a stationary obstacle.
本申请实施例可以通过将静止目标投射至一定车辆坐标系下，拟合出可行驶区间并预测行驶轨迹，从而进一步提升车辆的安全性和可靠性，增加用户的驾乘体验。In the embodiment of the present application, by projecting the stationary target into a certain vehicle coordinate system, fitting the drivable range and predicting the driving trajectory, the safety and reliability of the vehicle can be further improved, and the driving experience of the user can be enhanced.
5在步骤S103中，基于可行驶区间得到的可行驶区间边界得到多个初始目标，并基于预5 In step S103, a plurality of initial targets are obtained based on the drivable interval boundary obtained from the drivable interval, and based on the predicted
测行驶轨迹从多个初始目标中识别至少一个静止障碍物。At least one stationary obstacle is identified from a plurality of initial objects based on the measured driving trajectory.
可以理解的是，本申请实施例可以基于不同静止目标的位置信息，拟合出可行驶区间，将相同目标且位置连续的静止目标连续为一条可行驶区间的边界，可行驶区间内目标与本车的相对速度的绝对值与本车速度的差约等于0时，判定该目标为静止障碍物。It can be understood that in the embodiment of the present application, the drivable interval can be fitted based on the position information of different stationary objects, and the stationary objects with the same object and continuous positions can be continuous as the boundary of a drivable interval. When the difference between the absolute value of the relative speed of the car and the speed of the own car is approximately equal to 0, it is determined that the target is a stationary obstacle.
0举例而言，本申请实施例可以基于行驶边界的相关信息，确定本车行驶的车道，并计0 For example, in this embodiment of the present application, based on the relevant information of the driving boundary, the lane in which the vehicle is driving can be determined, and the
算出当前车辆与边界的相对距离，若当前车辆与可行驶区间边界的距离小于3.5m，可以判定本车行驶靠近静止障碍物的车道，当处于静止障碍物的车道内的车辆前方有路灯、树木、行人等多个初始目标时，可以判断当前车辆与多个初始目标的之间的速度差，当可行驶区间内路灯、树木与当前车辆的相对速度的绝对值与当前车辆速度的差约等于0时，可以判定路灯、树木为静止障碍物，当可行驶区间内行人与当前车辆的相对速度的绝对值与当前车辆速度的差大于0时，可以判定行人不是静止障碍物。Calculate the relative distance between the current vehicle and the boundary. If the distance between the current vehicle and the boundary of the drivable interval is less than 3.5m, it can be determined that the vehicle is driving in the lane close to the stationary obstacle. When there are street lights and trees in front of the vehicle in the lane of the stationary obstacle , pedestrians and other initial targets, the speed difference between the current vehicle and multiple initial targets can be judged, when the absolute value of the relative speed between street lights, trees and the current vehicle in the drivable range and the difference between the current vehicle speed is approximately equal to When 0, it can be determined that street lights and trees are stationary obstacles. When the difference between the absolute value of the relative speed of the pedestrian and the current vehicle in the drivable range and the current vehicle speed is greater than 0, it can be determined that the pedestrian is not a stationary obstacle.
本申请实施例可以基于可行驶区间边界得到多个初始目标，从而基于预测行驶轨迹识别至少一个静止障碍物，提高识别的准确性，有效避免误识别和漏识别，提高车辆安全性和可靠性，提升驾乘体验。In the embodiment of the present application, multiple initial targets can be obtained based on the boundary of the drivable interval, thereby identifying at least one stationary obstacle based on the predicted driving trajectory, improving the accuracy of identification, effectively avoiding misidentification and missed identification, and improving vehicle safety and reliability. Improve driving experience.
可选地，在本申请的一个实施例中，所述基于所述可行驶区间得到的可行驶区间边界得到多个初始目标，包括：判断所述可行驶区间边界的轨迹曲率是否满足预设突变条件；如果满足所述预设突变条件，则对突变点的目标重新处理，过滤突变点路旁障碍物的雷达波。Optionally, in an embodiment of the present application, the obtaining multiple initial targets based on the drivable interval boundary obtained from the drivable interval includes: judging whether the trajectory curvature of the drivable interval boundary satisfies a predetermined sudden change condition; if the preset mutation condition is met, the target at the mutation point is reprocessed, and the radar waves of roadside obstacles at the mutation point are filtered.
可以理解的是，本申请实施例可以通过ECU控制器判断可行驶区间边界的轨迹曲率是否发生突变，预设突变条件可以为突变点位置差值超过一定阈值，ECU控制器在行驶区间的边界上，可以将突变点过滤掉，重新连续横向位置信息一致边界，同时对突变点的目标重新处理，将突变点路旁障碍物的雷达波过滤掉，只处理可行驶区间边界内目标反射的雷达波。It can be understood that in the embodiment of the present application, the ECU controller can judge whether the trajectory curvature of the boundary of the drivable interval has a sudden change. The preset sudden change condition can be that the position difference of the sudden change point exceeds a certain threshold, and the ECU controller is on the boundary of the driving interval. , the mutation point can be filtered out, and the horizontal position information can be re-continued to be consistent with the boundary. At the same time, the target of the mutation point can be reprocessed, the radar wave of the roadside obstacle at the mutation point can be filtered out, and only the radar wave reflected by the target within the drivable interval boundary can be processed. .
作为一种可能实现的方式，本申请实施例可以在突变点位置差值超过一定阈值时，判定可行驶边界的轨迹曲率发生突变，此时可以将突变点的目标重新进行处理，将突变点路旁障碍物的雷达波过滤掉，只处理可行驶区间边界内目标反射的雷达波，若处理后的目标点RCS属性满足目标阈值，且位置信息处于车辆行驶轨迹内，将作为功能选定的最终目标，并可以提醒驾驶员前方有障碍物，从而提高识别的准确性，提高车辆行驶的安全性，提升用户的驾乘体验。As a possible implementation, the embodiment of the present application can determine that the trajectory curvature of the drivable boundary has a sudden change when the position difference of the sudden change point exceeds a certain threshold. At this time, the target of the sudden change point can be reprocessed, and the path The radar wave of nearby obstacles is filtered out, and only the radar wave reflected by the target within the boundary of the drivable interval is processed. If the RCS attribute of the processed target point meets the target threshold and the position information is within the vehicle trajectory, it will be used as the final function selection. Target, and can remind the driver that there are obstacles ahead, thereby improving the accuracy of recognition, improving the safety of the vehicle, and improving the driving experience of the user.
需要说明的是，预设突变条件可以由本领域技术人员根据实际情况进行设置，在此不作具体限制。It should be noted that the preset mutation conditions can be set by those skilled in the art according to the actual situation, and no specific limitation is made here.
可选地，在本申请的一个实施例中，所述基于所述预测行驶轨迹从所述多个初始目标中识别至少一个静止障碍物，包括：判断处理后的目标属性是否满足预设条件；如果满足所述预设条件且处于所述预测行驶轨迹内，则作为静止障碍物。Optionally, in an embodiment of the present application, the identifying at least one stationary obstacle from the plurality of initial targets based on the predicted driving trajectory includes: judging whether the processed target attributes satisfy a preset condition; If the preset condition is met and it is within the predicted driving trajectory, it is regarded as a stationary obstacle.
可以理解的是，本申请实施例中的预设条件可以为可行驶区间边界曲线的弯曲程度的突变条件，可以判断对突变点的目标处理后的属性是否满足一定条件，结合预测行驶轨迹，可以判断处理后的目标是否为静止障碍物，如本申请实施例中的突变点位置差值超过一定阈值，满足预设条件且路灯处于预测行驶轨迹内，此时路灯为静止障碍物，通过识别静止障碍物，可以防止发生碰撞，从而辅助驾驶系统，提高车辆行驶安全性。It can be understood that the preset condition in the embodiment of the present application can be a sudden change condition of the curvature of the boundary curve of the drivable interval, and it can be judged whether the properties of the target of the sudden change point after processing meet a certain condition, combined with the predicted driving trajectory, it can be Judging whether the processed target is a stationary obstacle, if the position difference of the mutation point in the embodiment of the present application exceeds a certain threshold, the preset condition is met and the street light is within the predicted driving trajectory, at this time the street light is a stationary obstacle, by identifying the stationary Obstacles can prevent collisions, thereby assisting the driving system and improving vehicle driving safety.
需要说明的是，预设条件可以由本领域技术人员根据实际情况进行设置，在此不作具体限制。It should be noted that the preset conditions may be set by those skilled in the art according to actual conditions, and no specific limitation is set here.
可选地，在本申请的一个实施例中，所述预设突变条件为所述突变点的横向位置与突变前的横向位置之间的差值大于第一预设阈值且与上一点的曲率半径超过第二预设阈值。Optionally, in one embodiment of the present application, the preset mutation condition is that the difference between the lateral position of the mutation point and the lateral position before the mutation is greater than the first preset threshold and the curvature of the previous point The radius exceeds a second preset threshold.
可以理解的是，本申请实施例可以判断可行驶区间边界轨迹的曲线的弯曲程度是否发生突变，当突变点的横向位置与突变前的横向位置之间的差值大于第一预设阈值且与上一点的曲率半径超过第二预设阈值时，判定满足一定突变条件，例如，当突变点的横向位置与突变前的横向位置差值超过0.7m，且与上一点的曲率半径超过一定阈值500m时，可以判定曲线的弯曲程度发生突变，此时判定满足一定突变条件，本申请实施例可以在满足突变条件时，处理突变目标，帮助识别静止障碍物，从而提高车辆行驶的安全性。It can be understood that, in the embodiment of the present application, it can be judged whether the curvature of the curve of the boundary track of the drivable interval has a sudden change, when the difference between the lateral position of the sudden change point and the lateral position before the sudden change is greater than the first preset threshold When the radius of curvature of the last point exceeds the second preset threshold, it is determined that a certain mutation condition is met, for example, when the difference between the lateral position of the mutation point and the lateral position before the mutation exceeds 0.7m, and the radius of curvature from the previous point exceeds a certain threshold of 500m , it can be determined that the degree of curvature of the curve has a sudden change. At this time, it is determined that a certain sudden change condition is met. In the embodiment of the present application, when the sudden change condition is met, the sudden change target can be processed to help identify stationary obstacles, thereby improving the driving safety of the vehicle.
需要说明的是，预设突变条件和预设阈值可以由本领域技术人员根据实际情况进行设置，在此不作具体限制。It should be noted that the preset mutation condition and the preset threshold can be set by those skilled in the art according to the actual situation, and no specific limitation is made here.
可选地，在本申请的一个实施例中，在识别所述至少一个静止障碍物之后，还包括：提示所述至少一个静止障碍物的同时，根据所述当前车辆与障碍物的相对速度、纵向距离和/或横向距离生成减速策略和/或转向策略。Optionally, in an embodiment of the present application, after identifying the at least one stationary obstacle, further comprising: while prompting the at least one stationary obstacle, according to the relative speed of the current vehicle and the obstacle, The longitudinal distance and/or the lateral distance generate a deceleration strategy and/or a steering strategy.
可以理解的是，本申请实施例可以提醒驾驶员车辆前方有静止障碍物，ECU控制器可以根据本车与目标障碍物的相对速度，纵向距离，横向距离等进行减速和/或转向控制。It can be understood that the embodiment of the present application can remind the driver that there is a stationary obstacle in front of the vehicle, and the ECU controller can perform deceleration and/or steering control according to the relative speed, longitudinal distance, and lateral distance between the vehicle and the target obstacle.
举例而言，本申请实施例可以在识别到车辆前方有静止障碍物如树木时，通过车内显示屏显示前方静止障碍物信息，提醒驾驶员注意减速行驶，可以根据当前车辆与静止障碍物的横向距离，控制方向盘转动角度进行转向；又例如，本申请实施例可以在识别到车辆前方有静止障碍物如路灯时，通过语音提醒驾驶员前方有静止障碍物，ECU可以根据当前车辆与路灯的相对速度与距离，生成减速策略和转向策略，方便驾驶员控制车辆减速行驶，并控制方向盘转动角度进行转向，防止发生安全事故，保证车辆的安全性和可靠性。For example, in the embodiment of the present application, when it is recognized that there is a stationary obstacle in front of the vehicle, such as a tree, the information of the stationary obstacle in front of the vehicle can be displayed on the display screen in the vehicle, and the driver should be reminded to slow down. Lateral distance, control the steering wheel rotation angle to steer; as another example, the embodiment of the present application can remind the driver that there is a stationary obstacle in front of the vehicle by voice when it recognizes a stationary obstacle such as a street lamp in front of the vehicle, and the ECU can Relative to the speed and distance, the deceleration strategy and steering strategy are generated to facilitate the driver to control the vehicle to decelerate and control the steering wheel rotation angle to prevent safety accidents and ensure the safety and reliability of the vehicle.
具体地，结合图2所示，以一个实施例对本申请实施例的静止障碍物的识别进行详细阐述。Specifically, with reference to what is shown in FIG. 2 , an embodiment is used to describe the identification of stationary obstacles in the embodiment of the present application in detail.
如图2所示，本申请实施例可以包括：毫米波雷达模块1、车速模块2、方向盘转角模块3、偏航率模块4、ECU控制模块5、显示模块6、减速模块7和转向模块8。As shown in Figure 2, the embodiment of the present application may include: a millimeter wave radar module 1, a vehicle speed module 2, a steering wheel angle module 3, a yaw rate module 4, an ECU control module 5, a display module 6, a deceleration module 7 and a steering module 8 .
本申请实施例可以通过毫米波雷达模块1输出原始目标毫米波数据，通过搭载在车辆上的雷达模块1发射毫米波，雷达接收经过目标反射回雷达的毫米波，本申请实施例可以通过车速模块2输出当前车辆的车速信息，本申请实施例可以通过方向盘转角模块3输出方向盘转角，当识别到有静止障碍物时，可以提示静止障碍物的同时，根据当前车辆与障碍物的相对速度、纵向距离和/或横向距离生成或转向策略，从而控制转向，本申请实施例可以通过偏航率模块4输出车辆偏航率，拟合出当前状态下的行驶轨迹，基于本车的行驶轨迹与上述边界的相关信息，拟合成行驶车道的模型，确定本车行驶的车道，并计算出本车与边界的相对距离。In the embodiment of the present application, the original target millimeter wave data can be output through the millimeter wave radar module 1, and the millimeter wave is transmitted through the radar module 1 mounted on the vehicle, and the radar receives the millimeter wave reflected by the target back to the radar. 2 Output the vehicle speed information of the current vehicle. In the embodiment of the present application, the steering wheel angle can be output through the steering wheel angle module 3. When a stationary obstacle is identified, the stationary obstacle can be prompted, and the relative speed and longitudinal Distance and/or lateral distance generation or steering strategy, so as to control the steering, the embodiment of the present application can output the vehicle yaw rate through the yaw rate module 4, and fit the driving trajectory in the current state, based on the driving trajectory of the vehicle and the above-mentioned The relevant information of the boundary is fitted into a model of the driving lane, the lane of the vehicle is determined, and the relative distance between the vehicle and the boundary is calculated.
进一步地，本申请实施例中的ECU控制模块5可以对毫米波的同属性目标(RCS值，5速度，角度等)进行聚类，将反射点聚类成目标点，同时确定目标的相关属性，包括RCS值，速度，位置信息等，ECU控制器模块5可以根据车速模块2输出车辆的速度，以及目标点的相关属性，判断目标是静止目标，还是运动目标，ECU控制器模块5可以基于车速模块2的车辆车速，方向盘转角模块3输出的转向角，偏航率模块4输出的偏航率，拟合Further, the ECU control module 5 in the embodiment of the present application can cluster the targets of the same attribute (RCS value, 5 speed, angle, etc.) of the millimeter wave, cluster the reflection points into target points, and determine the relevant attributes of the target , including RCS value, speed, position information, etc., the ECU controller module 5 can output the speed of the vehicle according to the vehicle speed module 2, and the related attributes of the target point, and judge whether the target is a stationary target or a moving target. The ECU controller module 5 can be based on The vehicle speed of the vehicle speed module 2, the steering angle output by the steering wheel angle module 3, the yaw rate output by the yaw rate module 4, and fitting
出当前状态下的行驶轨迹，ECU控制器模块5可以通过显示模块6显示，提醒驾驶员前方0有障碍物，ECU控制器模块5根据本车与目标的相对速度，纵向距离，横向距离通过减速The driving track in the current state can be displayed by the ECU controller module 5 through the display module 6, reminding the driver that there is an obstacle in front of him, and the ECU controller module 5 can decelerate according to the relative speed, longitudinal distance and lateral distance between the vehicle and the target.
模块7执行减速，通过转向模块8执行转向控制。Module 7 performs deceleration and steering module 8 performs steering control.
根据本申请实施例提出的静止障碍物的识别方法，可以基于聚类处理后的数据确定静止目标，并基于可行驶区间边界得到多个初始目标，从而基于预测行驶轨迹识别至少一个According to the method for identifying stationary obstacles proposed in the embodiments of the present application, stationary targets can be determined based on clustered data, and multiple initial targets can be obtained based on the boundaries of the drivable interval, so as to identify at least one obstacle based on the predicted driving trajectory.
静止障碍物，提高识别准确性，避免误识别和漏识别，提高车辆的安全性和可靠性，提升5驾乘体验。由此，解决了相关技术中雷达处理目标障碍物时，易将障碍物与目标物聚类为Static obstacles, improve recognition accuracy, avoid false recognition and missed recognition, improve vehicle safety and reliability, and enhance 5 driving experience. Thus, it is solved that when the radar deals with the target obstacle in the related art, it is easy to cluster the obstacle and the target into
同一目标，导致误识别或漏识别，驾驶辅助功能漏触发或误触发，降低车辆行驶的安全性，影响用户驾驶体验，智能化水平低等问题。The same goal leads to misidentification or missed identification, missed triggering or false triggering of driving assistance functions, reducing vehicle driving safety, affecting user driving experience, and low level of intelligence.
其次参照附图描述根据本申请实施例提出的静止障碍物的识别装置。Next, a device for identifying a stationary obstacle proposed according to an embodiment of the present application will be described with reference to the accompanying drawings.
0图3是本申请实施例的静止障碍物的识别装置的结构示意图。0. FIG. 3 is a schematic structural diagram of a stationary obstacle identification device according to an embodiment of the present application.
如图3所示，该静止障碍物的识别装置10包括：筛选模块100、拟合模块200和识别模块300。As shown in FIG. 3 , the stationary
具体地，筛选模块100，用于对雷达反射的雷达波进行聚类处理，并结合当前车辆的车速信息，筛选出至少一个运动目标和至少一个静止目标。Specifically, the
5拟合模块200，用于将至少一个静止目标投射至预设车辆坐标系下，拟合出可行驶区5. A
间，并拟合出当前车辆的当前行驶状态下的预测行驶轨迹。, and fit the predicted driving trajectory under the current driving state of the current vehicle.
识别模块300，用于基于可行驶区间得到的可行驶区间边界得到多个初始目标，并基于预测行驶轨迹从多个初始目标中识别至少一个静止障碍物。The
可选地，在本申请的一个实施例中，识别模块300包括：第一判断单元和过滤单元。0其中，第一判断单元，用于判断可行驶区间边界的轨迹曲率是否满足预设突变条件。Optionally, in an embodiment of the present application, the
过滤单元，用于当满足预设突变条件时，则对突变点的目标重新处理，过滤突变点路旁障碍物的雷达波。The filtering unit is used to reprocess the target at the sudden change point and filter the radar wave of roadside obstacles at the sudden change point when the preset sudden change condition is satisfied.
可选地，在本申请的一个实施例中，识别模块300还包括：第二判断单元和识别单元。Optionally, in an embodiment of the present application, the
其中，第二判断单元，用于判断处理后的目标属性是否满足预设条件。Wherein, the second judging unit is configured to judge whether the processed target attribute satisfies a preset condition.
识别单元，用于当满足预设条件且处于预测行驶轨迹内时，则作为静止障碍物。The identification unit is used to regard the obstacle as a stationary obstacle when the preset condition is met and it is within the predicted driving trajectory.
可选地，在本申请的一个实施例中，预设突变条件为突变点的横向位置与突变前的横向位置之间的差值大于第一预设阈值且与上一点的曲率半径超过第二预设阈值。Optionally, in an embodiment of the present application, the preset mutation condition is that the difference between the lateral position of the mutation point and the lateral position before the mutation is greater than the first preset threshold and the radius of curvature from the previous point exceeds the second preset threshold.
可选地，在本申请的一个实施例中，识别模块300还包括：生成单元。Optionally, in an embodiment of the present application, the
其中，生成单元，用于提示至少一个静止障碍物的同时，根据当前车辆与障碍物的相对速度、纵向距离和/或横向距离生成减速策略和/或转向策略。Wherein, the generating unit is configured to generate a deceleration strategy and/or a steering strategy according to the relative speed, longitudinal distance and/or lateral distance between the current vehicle and the obstacle while prompting at least one stationary obstacle.
需要说明的是，前述对静止障碍物的识别方法实施例的解释说明也适用于该实施例的静止障碍物的识别装置，此处不再赘述。It should be noted that the foregoing explanations of the embodiment of the method for identifying a stationary obstacle are also applicable to the device for identifying a stationary obstacle in this embodiment, and details are not repeated here.
根据本申请实施例提出的静止障碍物的识别装置，可以基于聚类处理后的数据确定静止目标，并基于可行驶区间边界得到多个初始目标，从而基于预测行驶轨迹识别至少一个静止障碍物，提高识别准确性，避免误识别和漏识别，提高车辆的安全性和可靠性，提升驾乘体验。由此，解决了相关技术中雷达处理目标障碍物时，易将障碍物与目标物聚类为同一目标，导致误识别或漏识别，驾驶辅助功能漏触发或误触发，降低车辆行驶的安全性，影响用户驾驶体验，智能化水平低等问题。According to the stationary obstacle identification device proposed in the embodiment of the present application, the stationary target can be determined based on the data after clustering processing, and a plurality of initial targets can be obtained based on the boundary of the drivable interval, so as to identify at least one stationary obstacle based on the predicted driving trajectory, Improve recognition accuracy, avoid false recognition and missed recognition, improve vehicle safety and reliability, and enhance driving experience. Thus, it solves the problem that when radars process target obstacles in the related art, it is easy to cluster obstacles and targets into the same target, resulting in misidentification or missed identification, missing or false triggering of driving assistance functions, and reducing the safety of vehicle driving. , affecting the user's driving experience, low level of intelligence and other issues.
图4为本申请实施例提供的车辆的结构示意图。该车辆可以包括：Fig. 4 is a schematic structural diagram of a vehicle provided in an embodiment of the present application. The vehicle can include:
存储器401、处理器402及存储在存储器401上并可在处理器402上运行的计算机程序。A
处理器402执行程序时实现上述实施例中提供的静止障碍物的识别方法。When the
进一步地，车辆还包括：Further, the vehicle also includes:
通信接口403，用于存储器401和处理器402之间的通信。The
存储器401，用于存放可在处理器402上运行的计算机程序。The
存储器401可能包含高速RAM存储器，也可能还包括非易失性存储器(non-volatile memory)，例如至少一个磁盘存储器。The
如果存储器401、处理器402和通信接口403独立实现，则通信接口403、存储器401和处理器402可以通过总线相互连接并完成相互间的通信。总线可以是工业标准体系结构(Industry Standard Architecture，简称为ISA)总线、外部设备互连(PeripheralComponent，简称为PCI)总线或扩展工业标准体系结构(Extended Industry StandardArchitecture，简称为EISA)总线等。总线可以分为地址总线、数据总线、控制总线等。为便于表示，图4中仅用一条粗线表示，但并不表示仅有一根总线或一种类型的总线。If the
可选地，在具体实现上，如果存储器401、处理器402及通信接口403，集成在一块芯片上实现，则存储器401、处理器402及通信接口403可以通过内部接口完成相互间的通信。Optionally, in terms of specific implementation, if the
处理器402可能是一个中央处理器(Central Processing Unit，简称为CPU)，或者是特定集成电路(Application Specific Integrated Circuit，简称为ASIC)，或者是被配置成实施本申请实施例的一个或多个集成电路。The
本申请实施例还提供一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现如上的静止障碍物的识别方法。The embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the above method for identifying a stationary obstacle is implemented.
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或N个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。In the description of this specification, descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific examples", or "some examples" mean that specific features described in connection with the embodiment or example , structure, material or characteristic is included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or N embodiments or examples in an appropriate manner. In addition, those skilled in the art can combine and combine different embodiments or examples and features of different embodiments or examples described in this specification without conflicting with each other.
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本申请的描述中，“N个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In the description of the present application, "N" means at least two, such as two, three, etc., unless otherwise specifically defined.
流程图中或在此以其他方式描述的任何过程或方法描述可以被理解为，表示包括一个或N个用于实现定制逻辑功能或过程的步骤的可执行指令的代码的模块、片段或部分，并且本申请的优选实施方式的范围包括另外的实现，其中可以不按所示出或讨论的顺序，包括根据所涉及的功能按基本同时的方式或按相反的顺序，来执行功能，这应被本申请的实施例所属技术领域的技术人员所理解。Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or N steps of executable instructions for implementing a custom logical function or process, Also, the scope of preferred embodiments of the present application includes additional implementations in which functions may be performed out of the order shown or discussed, including substantially concurrently or in reverse order depending on the functions involved, which should be considered Those skilled in the art to which the embodiments of the present application belong can understand.
在流程图中表示或在此以其他方式描述的逻辑和/或步骤，例如，可以被认为是用于实现逻辑功能的可执行指令的定序列表，可以具体实现在任何计算机可读介质中，以供指令执行系统、装置或设备(如基于计算机的系统、包括处理器的系统或其他可以从指令执行系统、装置或设备取指令并执行指令的系统)使用，或结合这些指令执行系统、装置或设备而使用。就本说明书而言，"计算机可读介质"可以是任何可以包含、存储、通信、传播或传输程序以供指令执行系统、装置或设备或结合这些指令执行系统、装置或设备而使用的装置。计算机可读介质的更具体的示例(非穷尽性列表)包括以下：具有一个或N个布线的电连接部(电子装置)，便携式计算机盘盒(磁装置)，随机存取存储器(RAM)，只读存储器(ROM)，可擦除可编辑只读存储器(EPROM或闪速存储器)，光纤装置，以及The logic and/or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced listing of executable instructions for implementing logical functions, which can be embodied in any computer-readable medium, For use with instruction execution systems, devices, or devices (such as computer-based systems, systems including processors, or other systems that can fetch instructions from instruction execution systems, devices, or devices and execute instructions), or in conjunction with these instruction execution systems, devices or equipment used. For the purposes of this specification, a "computer-readable medium" may be any device that can contain, store, communicate, propagate or transmit a program for use in or in conjunction with an instruction execution system, device, or device. More specific examples (non-exhaustive list) of computer readable media include the following: electrical connection with one or N wires (electronic device), portable computer disk case (magnetic device), random access memory (RAM), Read Only Memory (ROM), Erasable and Editable Read Only Memory (EPROM or Flash Memory), Fiber Optic Devices, and
便携式光盘只读存储器(CDROM)。另外，计算机可读介质甚至可以是可在其上打印所述5程序的纸或其他合适的介质，因为可以通过对纸或其他介质进行光学扫描，接着进行编辑、解译或必要时以其他合适方式进行处理来以电子方式获得所述程序，然后将其存储在计算机存储器中。Portable compact disc read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the described 5 programs may be printed, since the paper or other medium may be optically scanned and subsequently edited, interpreted, or otherwise suitably The program is processed electronically and stored in computer memory.
应当理解，本申请的各部分可以用硬件、软件、固件或它们的组合来实现。在上述实It should be understood that each part of the present application may be realized by hardware, software, firmware or a combination thereof. in the above
施方式中，N个步骤或方法可以用存储在存储器中且由合适的指令执行系统执行的软件或0固件来实现。如果用硬件来实现和在另一实施方式中一样，可用本领域公知的下列技术中的任一项或他们的组合来实现：具有用于对数据信号实现逻辑功能的逻辑门电路的离散逻辑电路，具有合适的组合逻辑门电路的专用集成电路，可编程门阵列(PGA)，现场可编程门阵列(FPGA)等。In an embodiment, the N steps or methods may be implemented by software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware as in another embodiment, it can be implemented by any one or a combination of the following techniques known in the art: Discrete logic circuits with logic gates for implementing logic functions on data signals , ASICs with appropriate combinational logic gates, Programmable Gate Arrays (PGA), Field Programmable Gate Arrays (FPGA), etc.
本技术领域的普通技术人员可以理解实现上述实施例方法携带的全部或部分步骤是可5以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，Those of ordinary skill in the art can understand that all or part of the steps carried by the method of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium,
该程序在执行时，包括方法实施例的步骤之一或其组合。When the program is executed, it includes one of the steps of the method embodiment or a combination thereof.
此外，在本申请各个实施例中的各功能单元可以集成在一个处理模块中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个模块中。上述集成的模块既In addition, each functional unit in each embodiment of the present application may be integrated into one processing module, each unit may exist separately physically, or two or more units may be integrated into one module. The above integrated modules are both
可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。所述集成的模块如果以0软件功能模块的形式实现并作为独立的产品销售或使用时，也可以存储在一个计算机可读It can be implemented in the form of hardware or in the form of software function modules. If the integrated module is implemented in the form of 0 software function modules and sold or used as an independent product, it can also be stored in a computer-readable
取存储介质中。from the storage medium.
上述提到的存储介质可以是只读存储器，磁盘或光盘等。尽管上面已经示出和描述了本申请的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本申请的限制，本领域的普通技术人员在本申请的范围内可以对上述实施例进行变化、修改、替换和变型。The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, and the like. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limitations on the present application, and those skilled in the art can make the above-mentioned The embodiments are subject to changes, modifications, substitutions and variations.
Claims (10)
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