CN-115793668-B - Obstacle avoidance method and device for vehicle

CN115793668BCN 115793668 BCN115793668 BCN 115793668BCN-115793668-B

Abstract

The invention relates to the technical field of vehicle obstacle avoidance, and provides a vehicle obstacle avoidance method and device, wherein the vehicle obstacle avoidance method comprises the following steps of acquiring laser radar data of a preset angle range in front of the travelling direction of a vehicle through a laser radar arranged on the vehicle; generating corresponding equivalent images according to the laser radar data, processing the equivalent images to identify obstacle information, and carrying out obstacle avoidance prompt or action control according to the obstacle information. The invention can accurately and automatically identify the obstacle in the traveling direction of the vehicle in the weak light environment, and can take corresponding obstacle avoidance prompt or action, thereby improving the safety of the vehicle and saving the labor cost.

Inventors

YAO JUNJUN
XIAO TAO
XU WEIXING
HAN ZHAOYU
QI YUANYE

Assignees

常州海图信息科技股份有限公司

Dates

Publication Date: 20260505
Application Date: 20221226

Claims (6)

1. The obstacle avoidance method for the vehicle is characterized by comprising the following steps of: acquiring laser radar data of a preset angle range in front of the vehicle travelling direction through a laser radar arranged on the vehicle; generating a corresponding equivalent image according to the laser radar data; processing the equivalent image to identify obstacle information; performing obstacle avoidance prompt or action control according to the obstacle information, The method specifically comprises constructing a first gray image with preset size and pixel gray values of a first value, converting each distance-angle data in the laser radar data into corresponding two-dimensional coordinates, changing the gray value of the pixel at each two-dimensional coordinate in the first gray image into a second value to obtain a second gray image, wherein the second value is different from the first value, carrying out affine transformation on the second gray image, transforming the starting point of the laser radar data from the origin of the upper left corner of the second gray image to the midpoint of the bottom corner to obtain a corrected image as the equivalent image, The equivalent image is processed to identify obstacle information, and specifically comprises the steps of screening out a pixel area with gray values of the second numerical value in the equivalent image; the method comprises the steps of carrying out communication processing on pixel areas with gray values of second values in an equivalent image to obtain a plurality of first communication areas, carrying out circular expansion on each first communication area to obtain a plurality of expansion areas, calculating expansion radius according to the distance from the center of the first communication area to a laser radar data starting point, the maximum detection distance of the laser radar and detection precision data of the laser radar to obtain a combined area, carrying out communication processing on the combined area to obtain a plurality of second communication areas, traversing the plurality of second communication areas, solving intersection of each second communication area and the pixel areas with gray values of the second values in the equivalent image to obtain intersection areas, judging whether the number of the intersection areas in each second communication area reaches a preset number, determining the second communication areas with the number of the intersection areas reaching the preset number as selected areas, and further screening the selected areas according to the area and the length of an external rectangle to obtain a barrier target area.
2. The vehicle obstacle avoidance method of claim 1 wherein the preset angular range is set in accordance with a width of the vehicle.
3. The vehicle obstacle avoidance method of claim 1, wherein obstacle avoidance cues or motion control is performed according to the obstacle information, specifically comprising: Calculating the distance from the center of the obstacle target area to the starting point of the laser radar data; And corresponding alarm prompt is carried out or the vehicle is controlled to execute obstacle avoidance action according to the distance from the center of the obstacle target area to the starting point of the laser radar data.
4. A vehicle obstacle avoidance device, comprising: The acquisition module is used for acquiring laser radar data of a preset angle range in front of the vehicle travelling direction through a laser radar arranged on the vehicle; the generation module is used for generating a corresponding equivalent image according to the laser radar data; The identification module is used for processing the equivalent image to identify obstacle information; A control module for carrying out obstacle avoidance prompt or action control according to the obstacle information, The generating module is specifically configured to construct a first gray image with a preset size and a first value of pixel gray values, convert each distance-angle data in the laser radar data into a corresponding two-dimensional coordinate, change the gray value of the pixel at each two-dimensional coordinate in the first gray image into a second value to obtain a second gray image, wherein the second value is different from the first value, perform affine transformation on the second gray image, transform a laser radar data origin point from an origin point of an upper left corner of the second gray image to a midpoint of a bottom edge to obtain a corrected image as the equivalent image, The identification module is specifically configured to screen out a pixel area with a gray value of the second value in the equivalent image, perform communication processing on the pixel area with the gray value of the second value in the equivalent image to obtain a plurality of first communication areas, perform circular expansion on each first communication area to obtain a plurality of expansion areas, wherein the expansion radius is calculated according to the distance from the center of the first communication area to the starting point of the laser radar data, the maximum detection distance of the laser radar and the detection precision data of the laser radar, combine the expansion areas to obtain a combined area, perform communication processing on the combined area to obtain a plurality of second communication areas, traverse the plurality of second communication areas, obtain intersection areas by solving the pixel areas with the gray value of the second value in the equivalent image, judge whether the number of the intersection areas in each second communication area reaches a preset number, combine the plurality of the second communication areas to obtain a selected area, and further determine the selected area as a selected area of the selected obstacle according to the preset number of the second communication areas.
5. The vehicle obstacle avoidance apparatus of claim 4 wherein the preset angular range is set in accordance with the width of the vehicle.
6. The vehicle obstacle avoidance apparatus of claim 4 wherein the control module is specifically configured to: Calculating the distance from the center of the obstacle target area to the starting point of the laser radar data; And corresponding alarm prompt is carried out or the vehicle is controlled to execute obstacle avoidance action according to the distance from the center of the obstacle target area to the starting point of the laser radar data.

Description

Obstacle avoidance method and device for vehicle Technical Field The invention relates to the technical field of vehicle obstacle avoidance, in particular to a vehicle obstacle avoidance method and a vehicle obstacle avoidance device. Background In environments with weak light rays such as coal mines, the light supplementing equipment is limited by safety regulations and cannot illuminate a scene needing to be moved. Therefore, vehicles operating in these environments need to take some measure to prevent them from colliding with obstacles. The conventional measures at present are manual intercom guidance, double-spectrum-based camera recognition and millimeter wave radar recognition, and all have certain defects. The manual guidance can generate higher labor cost, the camera identification based on double spectrums can only be visible and cannot realize automatic and accurate alarm prompt, the millimeter wave radar identification executes some existing identification algorithms, the situation of identification failure often occurs, and the accidental collision accident is still difficult to stop. Disclosure of Invention The invention aims to solve the technical problems, and provides a vehicle obstacle avoidance method and device, which can accurately and automatically identify obstacles in the traveling direction of a vehicle in a weak light environment, and can take corresponding obstacle avoidance prompt or action, so that the safety of the vehicle can be improved, and the labor cost is saved. The technical scheme adopted by the invention is as follows: A vehicle obstacle avoidance method comprises the following steps of obtaining laser radar data of a preset angle range in front of a vehicle travelling direction through a laser radar arranged on the vehicle, generating corresponding equivalent images according to the laser radar data, processing the equivalent images to identify obstacle information, and carrying out obstacle avoidance prompt or action control according to the obstacle information. The preset angle range is set according to the width of the vehicle. The method comprises the steps of constructing a first gray level image with a preset size and a first value of pixel gray level values, converting each distance-angle data in the laser radar data into corresponding two-dimensional coordinates, changing the gray level value of a pixel at each two-dimensional coordinate in the first gray level image into a second value to obtain a second gray level image, wherein the second value is different from the first value, carrying out affine transformation on the second gray level image, and transforming a laser radar data starting point from an origin of an upper left corner of the second gray level image to a midpoint of a bottom edge to obtain a corrected image serving as the equivalent image. The equivalent image is processed to identify obstacle information, and specifically comprises the steps of screening out a pixel area with gray values of the second numerical value in the equivalent image; the method comprises the steps of carrying out communication processing on pixel areas with gray values of second values in an equivalent image to obtain a plurality of first communication areas, carrying out circular expansion on each first communication area to obtain a plurality of expansion areas, calculating expansion radius according to the distance from the center of the first communication area to a laser radar data starting point, the maximum detection distance of the laser radar and detection precision data of the laser radar to obtain a combined area, carrying out communication processing on the combined area to obtain a plurality of second communication areas, traversing the plurality of second communication areas, solving intersection of each second communication area and the pixel areas with gray values of the second values in the equivalent image to obtain intersection areas, judging whether the number of the intersection areas in each second communication area reaches a preset number, determining the second communication areas with the number of the intersection areas reaching the preset number as selected areas, and further screening the selected areas according to the area and the length of an external rectangle to obtain a barrier target area. The obstacle avoidance prompt or action control method comprises the steps of calculating the distance from the center of an obstacle target area to the laser radar data starting point, and carrying out corresponding alarm prompt or control on the vehicle to execute obstacle avoidance action according to the distance from the center of the obstacle target area to the laser radar data starting point. The vehicle obstacle avoidance device comprises an acquisition module, a generation module, an identification module and a control module, wherein the acquisition module is used for acquiring laser radar data of a preset angle range in front of the veh