CN-122017785-A - Method, device, equipment and medium for inhibiting false alarm point cloud of vehicle hanging body

CN122017785ACN 122017785 ACN122017785 ACN 122017785ACN-122017785-A

Abstract

The application provides a method, a device, equipment and a medium for restraining false alarm point clouds of a vehicle hanging body. When the vehicle is running, an included angle may exist between the vehicle head and the hanging body, and a speed balance equation at the hanging point is established based on the included angle, so that the lateral speed of the hanging body is determined. And determining the yaw rate of the hanging body based on the lateral speed of the hanging body and the distance between the rear axle of the hanging body and the hanging point. And determining an included angle based on the difference between the yaw rate of the headstock and the yaw rate of the hanging body. And converting the point cloud acquired by the radar by utilizing the included angle, and determining the converted point cloud. And determining and filtering target false alarm point clouds positioned in a filtering area in the converted point clouds, wherein the filtering area is determined by fitting the edges of the hanging body by utilizing the point clouds acquired by the radar in the straight running process of the vehicle.

Inventors

HUANG DONGPING
DENG BO
YU SONGSHAN
ZHENG BO
WANG DONGFENG
YANG BO
Lian Shenxiao
Chan Xiaolin
ZHOU FUQIANG
WANG QUN

Assignees

北京川速微波科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260413

Claims (10)

1. A method of suppressing a false alarm point cloud of a vehicle hitch, the method comprising: determining a headstock yaw rate based on a headstock longitudinal speed of a headstock and a wheelbase of the headstock; Based on the included angle between the headstock and the hanging body, establishing a speed balance equation at a hanging point, and determining the lateral speed of the hanging body; Determining the yaw rate of the hanging body based on the lateral speed of the hanging body and the distance between the rear axle of the hanging body and the hanging point; determining the included angle based on a difference between the headstock yaw rate and the hanging body yaw rate; converting the point cloud acquired by the radar by utilizing the included angle, and determining the converted point cloud; and determining and filtering target false alarm point clouds positioned in a filtering area in the converted point clouds, wherein the filtering area is determined by fitting the edge of the hanging body by utilizing the point clouds acquired by a radar in the straight running process of the vehicle.
2. The method of claim 1, wherein the determining of the filtering area comprises: when the vehicle is in a straight running state, acquiring a multi-frame original point cloud acquired by a single-side radar; Screening based on the speeds of the original point clouds of the multiple frames to obtain a false alarm point cloud; fitting based on the false alarm point cloud to obtain a straight line of the edge of the hanging body; determining a target point cloud which is farthest from Shan Celei in the false alarm point cloud; determining the length of the hanging body based on the projection point of the target point cloud on the straight line; Based on the length, the filtering area is determined.
3. The method of claim 2, wherein the screening based on the speeds of the original point clouds for multiple frames to obtain a false alarm point cloud comprises: converting the original point clouds of multiple frames into a vehicle coordinate system to obtain converted point clouds; Screening the conversion point clouds based on a preset acquisition area, and determining a point cloud set positioned in the preset acquisition area; And screening out the point cloud with the speed smaller than a preset value from the point cloud set to obtain the false alarm point cloud.
4. The method of claim 1, wherein the establishing a velocity balance equation at a hitch point based on the angle between the head and the hitch body, comprises: Determining the lateral speed of the headstock based on the transverse angular speed of the headstock and the distance between the rear axle of the headstock and the hanging point; Based on the included angle, determining two lateral components of the longitudinal speed of the headstock and the lateral speed of the headstock in the lateral speed direction of the hanging body respectively; and establishing a speed balance equation based on the two lateral components and the lateral speed of the hanging body, and determining the lateral speed of the hanging body.
5. The method of claim 1, wherein converting the radar-collected point cloud using the angle, determining the converted point cloud, comprises: Determining a rotation matrix based on the included angle and the coordinates of the hanging points; and determining the converted point cloud based on the point cloud acquired by the radar and the rotation matrix.
6. The method of claim 5, wherein the determining the converted point cloud based on the radar-acquired point cloud and the rotation matrix comprises: Determining a target radial velocity of a point cloud located at the hanging point; screening point clouds with the speed less than or equal to the radial speed of the target from the point clouds acquired by the radar to obtain candidate point clouds; And converting the candidate point cloud by using the rotation matrix to obtain the converted point cloud.
7. The method of claim 6, wherein the determining a target radial velocity of a point cloud located at the hanging point comprises: Based on the included angle, determining two longitudinal components of the longitudinal speed of the headstock and the lateral speed of the headstock in the longitudinal speed direction of the hanging body respectively; establishing a speed balance equation based on the two longitudinal components and the hanging body longitudinal speed, and determining the hanging body longitudinal speed; And determining components of the longitudinal speed of the headstock, the longitudinal speed of the hanging body and the lateral speed of the hanging body in the connecting line direction of the hanging point and the radar as the target radial speed.
8. An apparatus for suppressing a false alarm point cloud of a vehicle hitch, the apparatus comprising: The first angular velocity determining unit is used for determining the yaw velocity of the headstock based on the longitudinal velocity of the headstock and the wheelbase of the headstock; The lateral speed determining unit is used for establishing a speed balance equation at a hanging point based on the included angle between the headstock and the hanging body to determine the lateral speed of the hanging body; a second angular velocity determining unit configured to determine a hanging body yaw rate based on the hanging body lateral velocity, a distance between a rear axle of the hanging body and the hanging point; an included angle determining unit, configured to determine the included angle based on a difference between the yaw rate of the headstock and the yaw rate of the hanging body; the conversion unit is used for converting the point cloud acquired by the radar by utilizing the included angle and determining the converted point cloud; And the suppression unit is used for determining and filtering target false alarm point clouds positioned in a filtering area among the converted point clouds, wherein the filtering area is determined by fitting the edge of the hanging body by utilizing the point clouds acquired by the radar in the straight running process of the vehicle.
9. An electronic device comprising a memory and a processor; the memory is used for storing related program codes; The processor is configured to invoke the program code to perform the method of suppressing a false alarm point cloud of a vehicle suspension according to any of claims 1 to 7.
10. A computer readable storage medium for storing a computer program for executing the method of suppressing a false alarm point cloud of a vehicle hanging body according to any one of claims 1 to 7.

Description

Method, device, equipment and medium for inhibiting false alarm point cloud of vehicle hanging body Technical Field The application relates to the technical field of point cloud data processing, in particular to a method, a device, equipment and a medium for inhibiting false alarm point clouds of a vehicle hanging body. Background In advanced driving assistance systems (ADVANCED DRIVING ASSISTANCE SYSTEM, ADAS) for large commercial vehicles, millimeter wave radars are typically mounted near the rear axle of the vehicle head. In the radar detection process, a type of false alarm point cloud with relatively fixed positions is formed due to strong reflection and multiple scattering effects of metal structures of a headstock and a hanging body, so that an ADAS system misjudges the false alarm point cloud as a real obstacle target, and interference is generated on ADAS functions. The existing suppression method for the false alarm signals mainly comprises the steps of fitting a hanging body contour to a historical multi-frame point cloud, and then filtering the false alarm point cloud based on the contour. However, the method has strong dependence on the spatial distribution of the point cloud, if the vehicle is in the working conditions of turning, pitching and the like, the point cloud acquired by the radar is asymmetric due to the relative displacement and posture change between the vehicle head and the hanging body, and the accurate hanging body contour is difficult to fit, so that the false alarm point cloud is difficult to accurately inhibit. Disclosure of Invention In view of the foregoing, the present application is directed to providing a method, apparatus, device and medium for suppressing a false alarm point cloud of a vehicle hanging body, so as to improve accuracy of suppressing the false alarm point cloud. In a first aspect, the present application provides a method for suppressing a false alarm point cloud of a vehicle hanging body, the method comprising: determining a headstock yaw rate based on a headstock longitudinal speed of a headstock and a wheelbase of the headstock; Based on the included angle between the headstock and the hanging body, establishing a speed balance equation at a hanging point, and determining the lateral speed of the hanging body; Determining the yaw rate of the hanging body based on the lateral speed of the hanging body and the distance between the rear axle of the hanging body and the hanging point; determining the included angle based on a difference between the headstock yaw rate and the hanging body yaw rate; converting the point cloud acquired by the radar by utilizing the included angle, and determining the converted point cloud; and determining and filtering target false alarm point clouds positioned in a filtering area in the converted point clouds, wherein the filtering area is determined by fitting the edge of the hanging body by utilizing the point clouds acquired by a radar in the straight running process of the vehicle. In one possible implementation, the determining of the filtering area includes: when the vehicle is in a straight running state, acquiring a multi-frame original point cloud acquired by a single-side radar; Screening based on the speeds of the original point clouds of the multiple frames to obtain a false alarm point cloud; fitting based on the false alarm point cloud to obtain a straight line of the edge of the hanging body; determining a target point cloud which is farthest from Shan Celei in the false alarm point cloud; determining the length of the hanging body based on the projection point of the target point cloud on the straight line; Based on the length, the filtering area is determined. In one possible implementation manner, the filtering based on the speed of the original point cloud with multiple frames to obtain a false alarm point cloud includes: converting the original point clouds of multiple frames into a vehicle coordinate system to obtain converted point clouds; Screening the conversion point clouds based on a preset acquisition area, and determining a point cloud set positioned in the preset acquisition area; And screening out the point cloud with the speed smaller than a preset value from the point cloud set to obtain the false alarm point cloud. In one possible implementation manner, the determining the lateral velocity of the hanging body based on the angle between the head and the hanging body and the velocity balance equation established at the hanging point includes: Determining the lateral speed of the headstock based on the transverse angular speed of the headstock and the distance between the rear axle of the headstock and the hanging point; Based on the included angle, determining two lateral components of the longitudinal speed of the headstock and the lateral speed of the headstock in the lateral speed direction of the hanging body respectively; and establishing a speed balance equation based on the two lateral