Method and device for estimating an absolute velocity of an obstacle, and non-volatile computer-readable storage medium

1. A method for estimating an absolute velocity of an obstacle, comprising:

measuring an absolute velocity of a motor vehicle at a current moment t 1 by an integrated navigation device, and storing the measured absolute velocity of the motor vehicle at the current moment t 1 in a data table;

obtaining a relative velocity of the obstacle relative to the motor vehicle at a second moment t 2 by a millimeter wave radar;

adjusting the relative velocity of the obstacle at the second moment t 2 to a relative velocity of the obstacle at the current moment t 1 ; and

obtaining the absolute velocity of the obstacle at the current moment t 1 by adding the absolute velocity of the motor vehicle at the current moment t 1 to the relative velocity of the obstacle at the current moment t 1 after the adjusting;

wherein adjusting the relative velocity of the obstacle at the second moment t 2 to the relative velocity of the obstacle at the current moment t 1 comprises:

obtaining respective hypothetical absolute velocities of multiple types of obstacles at the current moment t 1 by adding relative velocities of the multiple types of obstacles at the second moment t 2 to the absolute velocity of the motor vehicle at the current moment t 1 , wherein the multiple types of obstacles are in a scene in which the obstacle is located;

determining the multiple types of obstacles having similar hypothetical absolute velocities and the greatest number in the scene at the current moment t 1 , as a type of reference obstacles; and averaging the hypothetical absolute velocities of the reference obstacles, to obtain an average error amount; and

obtaining the relative velocity of the obstacle at the current moment t 1 after the adjusting by subtracting the average error amount from the relative velocity of the obstacle at the second moment t 2 .

2. The method of claim 1 , wherein obtaining the absolute velocity of the obstacle at the current moment t 1 by adding the absolute velocity of the motor vehicle at the current moment t 1 to the relative velocity of the obstacle at the current moment t 1 after the adjusting comprises:

obtaining the absolute velocity of the obstacle at the current moment t 1 by adding the absolute velocity of the motor vehicle at the current moment t 1 to the relative velocity of the obstacle at the current moment t 1 after the adjusting, in a case that the number of the reference obstacles is greater than a first threshold and/or the average error amount is less than a second threshold.

3. A method for estimating an absolute velocity of an obstacle, comprising:

measuring an absolute velocity of a motor vehicle at a current moment t 1 by an integrated navigation device, and storing the measured absolute velocity of the motor vehicle at the current moment t 1 in a data table;

obtaining a relative velocity of the obstacle relative to the motor vehicle at a second moment t 2 by a millimeter wave radar;

adjusting the relative velocity of the obstacle at the second moment t 2 to a relative velocity of the obstacle at the current moment t 1 ; and

obtaining the absolute velocity of the obstacle at the current moment t 1 by adding the absolute velocity of the motor vehicle at the current moment t 1 to the relative velocity of the obstacle at the current moment t 1 after the adjusting;

wherein obtaining the absolute velocity of the obstacle at the current moment t 1 by adding the absolute velocity of the motor vehicle at the current moment t 1 to the relative velocity of the obstacle at the current moment t 1 after the adjusting comprises:

obtaining respective hypothetical absolute velocities of multiple types of obstacles at the current moment t 1 by adding relative velocities of the multiple types of obstacles at the second moment t 2 to the absolute velocity of the motor vehicle at the current moment t 1 , wherein the multiple types of obstacles are in a scene in which the obstacle is located;

determining the multiple types of obstacles having similar hypothetical absolute velocities at the current moment t 1 , as multiple types of reference obstacles; and averaging the hypothetical absolute velocities of the reference obstacles, to obtain an average error amount;

determining the number of each type of the reference obstacles detected by the millimeter wave radar and a detection period of the millimeter wave radar between adjacent detections, in a case that the number of each type of the reference obstacles is less than a first threshold and/or the average error amount is greater than a second threshold; and

obtaining, for each type of the reference obstacles, a function relationship among the number of reference obstacles, the detection period and a time difference t 2 −t 1 , wherein the time difference t 2 −t 1 is a difference between the second moment t 2 and the current moment t 1 .

4. The method of claim 3 , further comprising:

adjusting time data of the millimeter wave radar at the second moment t 2 to time data of the millimeter wave radar at the current moment t 1 according to the number of the reference obstacles detected by the millimeter wave radar and the detection period of the millimeter wave radar, to obtain the relative velocity of the obstacle at the current moment t 1 after the adjusting;

looking up the absolute velocity of the motor vehicle at the current moment t 1 in the data table, and obtaining the absolute velocity of the obstacle at the current moment t 1 by adding the absolute velocity of the motor vehicle at the current moment t 1 to the relative velocity of the reference obstacles at the current moment t 1 after the adjusting.

5. A system for estimating an absolute velocity of an obstacle, comprising:

one or more processors;

a storage device for storing one or more programs; wherein

the one or more programs are executed by the one or more processors to enable the one or more processors to measure an absolute velocity of a motor vehicle at a current moment t 1 , and to store the measured absolute velocity of the motor vehicle at the current moment t 1 in a data table;

obtain a relative velocity of the obstacle relative to the motor vehicle at a second moment t 2 ;

adjust the relative velocity of the obstacle at the second moment t 2 to a relative velocity of the obstacle at the current moment t 1 ; and

obtain the absolute velocity of the obstacle at the current moment t 1 by adding the absolute velocity of the motor vehicle at the current moment t 1 to the relative velocity of the obstacle at the current moment t 1 after the adjusting;

wherein the one or more programs are executed by the one or more processors to enable the one or more processors to:

obtain respective hypothetical absolute velocities of multiple types of obstacles at the current moment t 1 by adding relative velocities of the multiple types of obstacles at the second moment t 2 to the absolute velocity of the motor vehicle at the current moment t 1 , wherein the multiple types of obstacles are in a scene in which the obstacle is located;

determine the multiple types of obstacles having similar hypothetical absolute velocities and the greatest number in the scene at the current moment t 1 , as a type of reference obstacles; and averaging the hypothetical absolute velocities of the reference obstacles, to obtain an average error amount; and

obtain the relative velocity of the obstacle at the current moment t 1 after the adjusting by subtracting the average error amount from the relative velocity of the obstacle at the second moment t 2 .

6. The system of claim 5 , wherein the one or more programs are executed by the one or more processors to enable the one or more processors to:

obtain the absolute velocity of the obstacle at the current moment t 1 by adding the absolute velocity of the motor vehicle at the current moment t 1 to the relative velocity of the obstacle at the current moment t 1 after the adjusting, in a case that the number of the reference obstacles is greater than a first threshold and/or the average error amount is less than a second threshold.

7. A system for estimating an absolute velocity of an obstacle, comprising:

one or more processors;

a storage device for storing one or more programs; wherein the one or more programs are executed by the one or more processors to enable the one or more processors to:

measure an absolute velocity of a motor vehicle at a current moment t 1 , and to store the measured absolute velocity of the motor vehicle at the current moment t 1 in a data table;

obtain a relative velocity of the obstacle relative to the motor vehicle at a second moment t 2 ;

adjust the relative velocity of the obstacle at the second moment t 2 to a relative velocity of the obstacle at the current moment t 1 ; and

obtain the absolute velocity of the obstacle at the current moment t 1 by adding the absolute velocity of the motor vehicle at the current moment t 1 to the relative velocity of the obstacle at the current moment t 1 after the adjusting;

obtain respective hypothetical absolute velocities of multiple types of obstacles at the current moment t 1 by adding relative velocities of the multiple types of obstacles at the second moment t 2 to the absolute velocity of the motor vehicle at the current moment t 1 , wherein the multiple types of obstacles are in a scene in which the obstacle is located;

determine the multiple types of obstacles having similar hypothetical absolute velocities at the current moment t 1 , as multiple types of reference obstacles; and averaging the hypothetical absolute velocities of the reference obstacles, to obtain an average error amount;

determine the number of each type of the reference obstacles detected by a millimeter wave radar and a detection period of the millimeter wave radar between adjacent detections, in a case that the number of each type of the reference obstacles is less than a first threshold and/or the average error amount is greater than a second threshold; and

obtain, for each type of the reference obstacles, a function relationship among the number of reference obstacles, the detection period and a time difference t 2 −t 1 , wherein the time difference t 2 −t 1 is a difference between the second moment t 2 and the current moment t 1 .

8. The system of claim 7 , wherein the one or more programs are executed by the one or more processors to enable the one or more processors to:

adjust time data of the millimeter wave radar at the second moment t 2 to time data of the millimeter wave radar at the current moment t 1 according to the number of the reference obstacles detected by the millimeter wave radar and the detection period of the millimeter wave radar, to obtain the relative velocity of the obstacle at the current moment t 1 after the adjusting; and

look up the absolute velocity of the motor vehicle at the current moment t 1 in the data table, and obtaining the absolute velocity of the obstacle at the current moment t 1 by adding the absolute velocity of the motor vehicle at the current moment t 1 to the relative velocity of the reference obstacles at the current moment t 1 after the adjusting.

9. A non-transitory computer-readable storage medium having computer programs stored thereon, wherein the computer programs, when executed by a processor, cause the processor to perform operations of:

measuring an absolute velocity of a motor vehicle at a current moment t 1 by an integrated navigation device, and storing the measured absolute velocity of the motor vehicle at the current moment t 1 in a data table;

obtaining a relative velocity of the obstacle relative to the motor vehicle at a second moment t 2 by a millimeter wave radar;

adjusting the relative velocity of the obstacle at the second moment t 2 to a relative velocity of the obstacle at the current moment t 1 ; and

obtaining the absolute velocity of the obstacle at the current moment t 1 by adding the absolute velocity of the motor vehicle at the current moment t 1 to the relative velocity of the obstacle at the current moment t 1 after the adjusting;

wherein when the computer programs, executed by a processor, cause the processor to adjust the relative velocity of the obstacle at the second moment t 2 to the relative velocity of the obstacle at the current moment t 1 , the computer programs, executed by a processor, cause the processor to specifically perform operations of:

obtaining respective hypothetical absolute velocities of multiple types of obstacles at the current moment t 1 by adding relative velocities of the multiple types of obstacles at the second moment t 2 to the absolute velocity of the motor vehicle at the current moment t 1 , wherein the multiple types of obstacles are in a scene in which the obstacle is located;

determining the multiple types of obstacles having similar hypothetical absolute velocities and the greatest number in the scene at the current moment t 1 , as a type of reference obstacles; and averaging the hypothetical absolute velocities of the reference obstacles, to obtain an average error amount; and

obtaining the relative velocity of the obstacle at the current moment t 1 after the adjusting by subtracting the average error amount from the relative velocity of the obstacle at the second moment t 2 .

10. A non-transitory computer-readable storage medium having computer programs stored thereon, wherein the computer programs, when executed by a processor, cause the processor to perform operations of:

measuring an absolute velocity of a motor vehicle at a current moment t 1 by an integrated navigation device, and storing the measured absolute velocity of the motor vehicle at the current moment t 1 in a data table;

obtaining a relative velocity of the obstacle relative to the motor vehicle at a second moment t 2 by a millimeter wave radar;

adjusting the relative velocity of the obstacle at the second moment t 2 to a relative velocity of the obstacle at the current moment t 1 ; and

obtaining the absolute velocity of the obstacle at the current moment t 1 by adding the absolute velocity of the motor vehicle at the current moment t 1 to the relative velocity of the obstacle at the current moment t 1 after the adjusting;

wherein when the computer programs, executed by a processor, cause the processor to obtain the absolute velocity of the obstacle at the current moment t 1 by adding the absolute velocity of the motor vehicle at the current moment t 1 to the relative velocity of the obstacle at the current moment t 1 after the adjusting, the computer programs, executed by a processor, cause the processor to specifically perform operations of:

obtaining respective hypothetical absolute velocities of multiple types of obstacles at the current moment t 1 by adding relative velocities of the multiple types of obstacles at the second moment t 2 to the absolute velocity of the motor vehicle at the current moment t 1 , wherein the multiple types of obstacles are in a scene in which the obstacle is located;

determining the multiple types of obstacles having similar hypothetical absolute velocities at the current moment t 1 , as multiple types of reference obstacles; and averaging the hypothetical absolute velocities of the reference obstacles, to obtain an average error amount;

determining the number of each type of the reference obstacles detected by the millimeter wave radar and a detection period of the millimeter wave radar between adjacent detections, in a case that the number of each type of the reference obstacles is less than a first threshold and/or the average error amount is greater than a second threshold; and

obtaining, for each type of the reference obstacles, a function relationship among the number of reference obstacles, the detection period and a time difference t 2 −t 1 , wherein the time difference t 2 −t 1 is a difference between the second moment t 2 and the current moment t 1 .