阅读说明：本技术 一种基于超声波数据的物体边界确定方法、系统及车辆 (Object boundary determining method and system based on ultrasonic data and vehicle ) 是由 欧阳湛 邓志权 蒋少峰 张博 于 2019-09-16 设计创作，主要内容包括：一种基于超声波数据的物体边界确定方法、系统及车辆,该方法包括：在接收到超声波传感器采集到的当前数据点之后,判断是否需要进行线段分割；如果需要,利用在所述当前数据点之后采集到的数据点进行线段拟合,以得到新的物体边界；如果不需要,利用所述当前数据点以及现有数据点进行线段拟合,以对现有物体边界进行更新；其中,所述新的物体边界与所述现有物体边界不同,所述现有物体边界是由所述现有数据点拟合出的,所述现有数据点为在所述当前数据点之前采集到的数据点。实施本发明实施例,能够减少确定物体边界所需的计算量,从而提高计算效率。(An object boundary determining method, system and vehicle based on ultrasonic data are disclosed, wherein the method comprises the following steps: after receiving a current data point acquired by an ultrasonic sensor, judging whether line segment segmentation is needed; if necessary, performing line fitting by using the data points collected after the current data point to obtain a new object boundary; if not, performing line fitting by using the current data point and the existing data point to update the boundary of the existing object; wherein the new object boundary is different from the existing object boundary, the existing object boundary being fitted by the existing data points, the existing data points being data points acquired before the current data point. By implementing the embodiment of the invention, the calculation amount required for determining the boundary of the object can be reduced, so that the calculation efficiency is improved.)

1. A method for object boundary determination based on ultrasound data, the method comprising:

after receiving a current data point acquired by an ultrasonic sensor, judging whether line segment segmentation is needed;

if necessary, performing line fitting by using the data points collected after the current data point to obtain a new object boundary;

if not, performing line fitting by using the current data point and the existing data point to update the boundary of the existing object;

wherein the new object boundary is different from the existing object boundary, the existing object boundary being fitted by the existing data points, the existing data points being data points acquired before the current data point.

2. The method of claim 1, wherein the determining whether segment segmentation is required comprises:

judging whether the variation between the ranging distance corresponding to the current data point and the ranging distance corresponding to the adjacent data point is larger than a preset first distance threshold value or not; if yes, judging that segment segmentation is needed; the adjacent data points are data points of the existing data points, the acquisition time of which is adjacent to the current data point;

or, judging whether the number of the existing data points exceeds a preset number threshold; if yes, judging that the line segment division is needed.

3. The method of claim 1 or 2, wherein after determining that no line segment segmentation is required and before said performing a line segment fit using the current data point and existing data points to update an existing object boundary, the method further comprises:

judging whether the deviation degree of the current data point from the set of the existing data points is lower than a preset first error threshold value or not; if yes, executing the step of performing line fitting by using the current data point and the existing data point to update the boundary of the existing object;

or judging whether the current data point is the Nth data point collected after the first data point; if yes, executing the step of performing line fitting by using the current data point and the existing data point to update the boundary of the existing object; wherein the first data point is the data point with the earliest acquisition time in the existing data points fitted with the existing object boundary; n is an integral multiple of a preset interval value;

or, judging whether the distance between the spatial position of the current data point and the spatial position of the adjacent data point exceeds a preset second distance threshold value; if yes, executing the step of performing line fitting by using the current data point and the existing data point to update the boundary of the existing object; wherein the adjacent data point is a data point of the existing data points, the acquisition time of which is adjacent to the current data point;

or, judging whether the current data point is an angular point; if not, executing the step of performing line segment fitting by using the current data point and the existing data point to update the boundary of the existing object.

4. The method of claim 3, further comprising:

if the distance between the spatial position of the current data point and the spatial position of the adjacent data point is judged not to exceed a preset second distance threshold, merging the current data point and the adjacent data point to obtain a merged data point;

and performing line fitting by using the merged data point and the rest data points except the adjacent data points in the existing data points so as to update the existing object boundary.

5. The method of claim 3, wherein said determining whether the current data point is a corner point comprises:

acquiring other data points with the same distance measurement distance as the current data point in the existing data points;

judging whether the difference value of the echo energy of the current data point lower than the echo energy of the other data points exceeds a preset difference threshold value or not;

if yes, determining the current data point as a corner point;

or, the determining whether the current data point is an angular point includes:

inputting the current data point into a classification model, and determining whether the current data point is an angular point according to an output result of the classification model;

the classification model is obtained by utilizing pre-marked angular point data and non-angular point data for training, and is a support vector machine.

6. The method of claim 1, wherein the determining whether segment segmentation is required comprises:

judging whether the variation between the ranging distance corresponding to the current data point and the ranging distance corresponding to the adjacent data point is larger than a preset distance threshold value or not; if yes, judging that segment segmentation is needed; the adjacent data point is the last data point collected before the current data point in the existing data points;

and after judging that the line segment division is needed, the method further comprises the following steps:

judging whether the deviation degree of the current data point from the set of the existing data points is lower than a preset error threshold value or not;

if yes, updating the existing object boundary by using the current data point, and executing the step of performing line segment fitting by using the data point acquired after the current data point to obtain a new object boundary when receiving the data point acquired after the current data point;

if not, when a data point collected after the current data point is received, executing the step of performing line segment fitting by using the data point collected after the current data point to obtain a new object boundary.

7. The method of claim 1, wherein said line segment fitting using said current data points and existing data points to update existing object boundaries comprises:

identifying segmentation points for segmenting the sub-line segments from a data point set consisting of the current data point and the existing data points;

respectively fitting the data points in the data point set according to a positive direction and a negative direction to obtain a first fitting result fitted according to the positive direction and a second fitting result fitted according to the negative direction;

selecting a fitting result with a smaller fitting error from the first fitting result and the second fitting result as the updated existing object boundary;

wherein the sub-line segment to which the division point belongs in the first fitting result is different from the sub-line segment to which the division point belongs in the second fitting result; the forward direction is a direction in which the arrangement direction of the data points is consistent with the traveling direction of the vehicle, and the reverse direction is a direction in which the arrangement direction of the data points is inconsistent with the traveling direction of the vehicle.

8. An object boundary determination system based on ultrasonic data, comprising:

the judging unit is used for judging whether line segment segmentation is needed or not after receiving the current data point acquired by the ultrasonic sensor;

the segmentation unit is used for performing line segment fitting by using data points acquired after the current data point when the judgment unit judges that line segment segmentation is required to be performed so as to obtain a new object boundary;

the updating unit is used for performing line segment fitting by using the current data point and the existing data point when the judging unit judges that the line segment segmentation is not needed so as to update the boundary of the existing object;

wherein the new object boundary is different from the existing object boundary, the existing object boundary being fitted by the existing data points, the existing data points being data points acquired before the current data point.

9. A vehicle comprising the ultrasonic data-based object boundary determination system of claim 8.

10. A computer-readable storage medium characterized by storing a computer program, wherein the computer program causes a computer to execute the object boundary determining method based on ultrasonic data according to any one of claims 1 to 7.

Technical Field

The invention relates to the technical field of ultrasonic data processing, in particular to an object boundary determining method and system based on ultrasonic data and a vehicle.

Background

In the solution of autonomous driving, the environment around the vehicle can be detected by means of ultrasound to identify obstacles and drivable areas. Generally, the position coordinates of the data points of the reflected ultrasonic waves can be calculated according to the distance measured by the ultrasonic sensor and the position coordinates of the vehicle when the distance measured is measured. If the number of data points obtained is sufficiently large, it is possible to fit the boundaries of the obstacle using a plurality of data points, thereby determining the position of the obstacle and the area in which the vehicle can travel.

However, in practice, it is found that the computing device on the vehicle is generally an embedded device, and the computing power of the embedded device is limited, and if the number of data points is too large, the computing amount is increased, so that the computing efficiency is reduced, and the requirement of real-time detection is difficult to adapt.

Disclosure of Invention

The embodiment of the invention discloses an object boundary determining method and system based on ultrasonic data and a vehicle, which can reduce the calculation amount required for determining the object boundary, thereby improving the calculation efficiency.

The embodiment of the invention discloses a method for determining an object boundary based on ultrasonic data in a first aspect, which comprises the following steps:

after receiving a current data point acquired by an ultrasonic sensor, judging whether line segment segmentation is needed;

if necessary, performing line fitting by using the data points collected after the current data point to obtain a new object boundary;

if not, performing line fitting by using the current data point and the existing data point to update the boundary of the existing object;

wherein the new object boundary is different from the existing object boundary, the existing object boundary being fitted by the existing data points, the existing data points being data points acquired before the current data point.

As an optional implementation manner, in the first aspect of the embodiment of the present invention, the determining whether segment division is required includes:

judging whether the variation between the ranging distance corresponding to the current data point and the ranging distance corresponding to the adjacent data point is larger than a preset first distance threshold value or not; if yes, judging that segment segmentation is needed; the adjacent data points are data points of the existing data points, the acquisition time of which is adjacent to the current data point;

or, judging whether the number of the existing data points exceeds a preset number threshold; if yes, judging that the line segment division is needed.

As an optional implementation manner, in the first aspect of the embodiment of the present invention, after determining that segment segmentation is not required, and before performing segment fitting using the current data point and the existing data point to update the existing object boundary, the method further includes:

judging whether the deviation degree of the current data point from the set of the existing data points is lower than a preset first error threshold value or not; if yes, executing the step of performing line fitting by using the current data point and the existing data point to update the boundary of the existing object;

or judging whether the current data point is the Nth data point collected after the first data point; if yes, executing the step of performing line fitting by using the current data point and the existing data point to update the boundary of the existing object; wherein the first data point is the data point with the earliest acquisition time in the existing data points fitted with the existing object boundary; n is an integral multiple of a preset interval value;

or, judging whether the distance between the spatial position of the current data point and the spatial position of the adjacent data point exceeds a preset second distance threshold value; if yes, executing the step of performing line fitting by using the current data point and the existing data point to update the boundary of the existing object; wherein the adjacent data point is a data point of the existing data points, the acquisition time of which is adjacent to the current data point;

or, judging whether the current data point is an angular point; if not, executing the step of performing line segment fitting by using the current data point and the existing data point to update the boundary of the existing object.

As an optional implementation manner, in the first aspect of the embodiment of the present invention, if it is determined that the distance between the spatial position of the current data point and the spatial position of the adjacent data point does not exceed the preset second distance threshold, the current data point and the adjacent data point are merged to obtain a merged data point;

and performing line fitting by using the merged data point and the rest data points except the adjacent data points in the existing data points so as to update the existing object boundary.

As an optional implementation manner, in the first aspect of the embodiment of the present invention, the determining whether the current data point is a corner point includes:

acquiring other data points with the same distance measurement distance as the current data point in the existing data points;

judging whether the difference value of the echo energy of the current data point lower than the echo energy of the other data points exceeds a preset difference threshold value or not;

if yes, determining the current data point as a corner point;

or, the determining whether the current data point is an angular point includes:

inputting the current data point into a classification model, and determining whether the current data point is an angular point according to an output result of the classification model;

the classification model is obtained by utilizing pre-marked angular point data and non-angular point data for training, and is a support vector machine.

As an optional implementation manner, in the first aspect of the embodiment of the present invention, the determining whether segment division is required includes:

judging whether the variation between the ranging distance corresponding to the current data point and the ranging distance corresponding to the adjacent data point is larger than a preset distance threshold value or not; if yes, judging that segment segmentation is needed; the adjacent data point is the last data point collected before the current data point in the existing data points;

and after judging that the line segment division is needed, the method further comprises the following steps:

judging whether the deviation degree of the current data point from the set of the existing data points is lower than a preset error threshold value or not;

if yes, updating the existing object boundary by using the current data point, and executing the step of performing line segment fitting by using the data point acquired after the current data point to obtain a new object boundary when receiving the data point acquired after the current data point;

if not, when a data point collected after the current data point is received, executing the step of performing line segment fitting by using the data point collected after the current data point to obtain a new object boundary.

As an optional implementation manner, in the first aspect of the embodiment of the present invention, the performing a line segment fitting by using the current data point and the existing data point to update the existing object boundary includes:

identifying segmentation points for segmenting the sub-line segments from a data point set consisting of the current data point and the existing data points;

respectively fitting the data points in the data point set according to a positive direction and a negative direction to obtain a first fitting result fitted according to the positive direction and a second fitting result fitted according to the negative direction;

selecting a fitting result with a smaller fitting error from the first fitting result and the second fitting result as the updated existing object boundary;

wherein the sub-line segment to which the division point belongs in the first fitting result is different from the sub-line segment to which the division point belongs in the second fitting result; the forward direction is a direction in which the arrangement direction of the data points is consistent with the traveling direction of the vehicle, and the reverse direction is a direction in which the arrangement direction of the data points is inconsistent with the traveling direction of the vehicle.

The second aspect of the embodiments of the present invention discloses an object boundary determining system based on ultrasonic data, including:

the judging unit is used for judging whether line segment segmentation is needed or not after receiving the current data point acquired by the ultrasonic sensor;

the segmentation unit is used for performing line segment fitting by using data points acquired after the current data point when the judgment unit judges that line segment segmentation is required to be performed so as to obtain a new object boundary;

the updating unit is used for performing line segment fitting by using the current data point and the existing data point when the judging unit judges that the line segment segmentation is not needed so as to update the boundary of the existing object;

wherein the new object boundary is different from the existing object boundary, the existing object boundary being fitted by the existing data points, the existing data points being data points acquired before the current data point.

The third aspect of the embodiment of the invention discloses a vehicle, which comprises the second aspect of the embodiment of the invention and an object boundary determining system based on ultrasonic data.

A fourth aspect of the present invention discloses a computer-readable storage medium storing a computer program, wherein the computer program causes a computer to execute any one of the methods disclosed in the first aspect of the embodiments of the present invention.

A fifth aspect of the embodiments of the present invention discloses a computer program product, which, when running on a computer, causes the computer to execute any one of the methods disclosed in the first aspect of the embodiments of the present invention.

Compared with the prior art, the embodiment of the invention has the following beneficial effects:

the ultrasonic sensor continuously collects data points of surrounding objects, after the current data point is collected, if the fact that line segment segmentation is needed is judged, the current data point is taken as a critical point, the data point collected before the current data point does not participate in generation calculation of a new object boundary, and therefore calculation amount during line segment fitting is reduced; meanwhile, if the judgment shows that the line segment segmentation is not needed, the current data point is used for updating the boundary of the existing object, namely, the current data point and the data points collected among the current data points are used for line segment fitting. It can be seen that, in the embodiment of the present invention, the number of data points participating in the line segment fitting may be controlled within a certain range, and not all the collected data points are used for performing global line segment fitting, so that the amount of calculation in performing line segment fitting may be reduced, and the efficiency of calculating the object boundary by the embedded devices such as the car machine and the like may be improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic flow chart of a method for determining object boundaries based on ultrasonic data according to an embodiment of the present invention;

FIG. 2 is an exemplary graph of a path distance as disclosed in embodiments of the present invention;

fig. 3 is an exemplary diagram of line segment fitting performed in the forward direction and the reverse direction, respectively, according to an embodiment of the present invention;

FIG. 4 is a schematic flow chart illustrating another method for determining object boundaries based on ultrasonic data according to an embodiment of the present disclosure;

FIG. 5 is a diagram illustrating a distribution of current data points and existing data points according to an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of an object boundary determining system based on ultrasonic data according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of another object boundary determining system based on ultrasonic data according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It is to be noted that the terms "comprises" and "comprising" and any variations thereof in the embodiments and drawings of the present invention are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

The embodiment of the invention discloses an object boundary determining method and system based on ultrasonic data and a vehicle, which can reduce the calculation amount required for determining the object boundary and improve the calculation efficiency. The following are detailed below.