Obstacle positioning method, device and terminal
View Patent ↗An obstacle positioning method, device and terminal are provided. The method includes determining installation positions of at least two detectors on a vehicle, and respective detection areas of the detectors, determining an overlapping area of the detection areas of the detectors, and if determining that an obstacle is located in the overlapping area, determining a position of the obstacle according to the installation positions of the detectors forming the overlapping area. By changing the number and positions of detectors installed on an unmanned vehicle, a plurality of overlapping areas of the detection areas of the detectors are obtained, the distribution of obstacles around the vehicle are optimally identified, so that the unmanned vehicle makes reasonable driving plans based on an accurate surrounding obstacle environment.
1. An obstacle positioning method, comprising:
determining installation positions of at least two detectors on a vehicle, and respective detection areas of the detectors;
determining an overlapping area of the detection areas of the detectors; and
in a case where determining that an obstacle is located in the overlapping area, establishing a coordinate system, and determining a position of the obstacle according to the installation positions of the detectors forming the overlapping area,
wherein the determining the position of the obstacle according to the installation positions of the detectors forming the overlapping area comprises:
calculating, in the coordinate system, coordinates of the installation positions of the detectors associated with the overlapping area; and
calculating coordinates of the position of the obstacle, based on the coordinates of the installation positions of the associated detectors, a distance between the associated detectors, and a distance between each associated detector of the associated detectors and the obstacle,
wherein the determining the overlapping area of the detection areas of the detectors comprises:
depicting a body frame according to a contour of the vehicle, and marking the detectors in the body frame;
establishing the coordinate system with a middle point of a rear axle of the vehicle as an origin, and determining boundary coordinates of the detection areas of the detectors in the established coordinate system; and
determining the overlapping area according to the boundary coordinates of the detection areas of the detectors.
2. The obstacle positioning method according to claim 1 , further comprising:
determining at least one non-overlapping area of the detection areas of the detectors according to the overlapping area and the respective detection areas of the detectors;
in a case where determining that the obstacle is located in a non-overlapping area, determining the non-overlapping area in which the obstacle is located, as a position area of the obstacle.
3. An obstacle positioning device, comprising:
at least two detectors installed on a vehicle, wherein each detector has a detection area;
one or more processors; and
a memory configured for storing one or more programs;
wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to:
determine installation positions of the at least two detectors, and respective detection areas of the detectors, and to determine an overlapping area of the detection areas of the detectors; and
in a case where it is determined that an obstacle is located in the overlapping area, establish a coordinate system, and determine a position of the obstacle according to the installation positions of the detectors forming the overlapping area,
wherein the one or more programs, when executed by the one or more processors, cause the one or more processors further to:
calculate, in the coordinate system, coordinates of the installation positions of the detectors associated with the overlapping area; and
calculate coordinates of the position of the obstacle, based on the coordinates of the installation positions of the associated detectors, a distance between the associated detectors, and a distance between each associated detector of the associated detectors and the obstacle,
wherein the one or more programs, when executed by the one or more processors, cause the one or more processors further to:
depict a body frame according to a contour of the vehicle, and mark the detectors in the body frame;
establish the coordinate system with a middle point of a rear axle of the vehicle as an origin, and determine boundary coordinates of the detection areas of the detectors in the established coordinate system; and
determine the overlapping area according to the boundary coordinates of the detection areas of the detectors.
4. The obstacle positioning device according to claim 3 , wherein the one or more programs, when executed by the one or more processors, cause the one or more processors further to:
determine at least one non-overlapping area of the detection areas of the detectors according to the overlapping area and the respective detection areas of the detectors, and in a case where it is determined that the obstacle is located in a non-overlapping area, determine the non-overlapping area in which the obstacle is located, as a position area of the obstacle.
5. A non-transitory computer-readable storage medium, in which a computer program is stored, wherein the computer program, when executed by a processor, causes the processor to:
determine installation positions of the at least two detectors, and respective detection areas of the detectors, and to determine an overlapping area of the detection areas of the detectors; and
in a case where it is determined that an obstacle is located in the overlapping area, establish a coordinate system, and determine a position of the obstacle according to the installation positions of the detectors forming the overlapping area,
wherein the computer program, when executed by the processor, causes the processor further to:
calculate, in the coordinate system, coordinates of the installation positions of the detectors associated with the overlapping area; and
calculate coordinates of the position of the obstacle, based on the coordinates of the installation positions of the associated detectors, a distance between the associated detectors, and a distance between each associated detector of the associated detectors and the obstacle,
wherein the computer program, when executed by the processor, causes the processor further to:
depict a body frame according to a contour of the vehicle, and mark the detectors in the body frame;
establish the coordinate system with a middle point of a rear axle of the vehicle as an origin, and determine boundary coordinates of the detection areas of the detectors in the established coordinate system; and
determine the overlapping area according to the boundary coordinates of the detection areas of the detectors.