CN113514847A

CN113514847A - Vehicle outer contour dimension detection method and system and storage medium

Info

Publication number: CN113514847A
Application number: CN202010280822.5A
Authority: CN
Inventors: 胡小波; 刘云备; 许军立
Original assignee: LeiShen Intelligent System Co Ltd
Current assignee: LeiShen Intelligent System Co Ltd
Priority date: 2020-04-10
Filing date: 2020-04-10
Publication date: 2021-10-19

Abstract

The embodiment of the invention discloses a method and a system for detecting the size of an outer contour of a vehicle and a storage medium. Wherein, the method comprises the following steps: according to radar data scanned by at least two laser radars on a vehicle in the running process, determining position coordinates of the radar data in a target coordinate system; the at least two laser radars are arranged along the lateral upper part and the right upper part of the vehicle running road in a staggered manner; determining a vehicle contour straight line according to the position coordinates of the radar data in a target coordinate system; and determining the current outer contour dimension of the vehicle according to the position coordinates of the vehicle contour straight line in a target coordinate system. According to the technical scheme, the vehicle outer contour dimension can be automatically and accurately detected, the detection cost is reduced, the detection efficiency is improved, and a new thought is provided for the vehicle outer contour dimension detection.

Description

Vehicle outer contour dimension detection method and system and storage medium

Technical Field

The embodiment of the invention relates to the technical field of laser radars, in particular to a method and a system for detecting the size of an outer contour of a vehicle and a storage medium.

Background

The motor vehicle is an indispensable vehicle in the rapid development of social economy and takes on the functions of cargo transportation, passenger transportation and the like. In order to reduce transportation costs, some users of motor vehicles privately modify vehicle size to increase the single volume of transportation of the vehicle. The vehicle which is modified by persons in private seriously violates the safety standard of vehicle use, and in order to guarantee the safety of the vehicle, the outer contour of the vehicle (such as the length, the width and the height of the vehicle) needs to be detected regularly. At present, the detection of the outer contour size of a vehicle is mainly carried out in a manual measurement mode, the efficiency is low, the cost is high, the accuracy is low, and improvement is urgently needed.

Disclosure of Invention

The embodiment of the invention provides a method and a system for detecting the size of the outer contour of a vehicle and a storage medium, which can realize automatic and accurate detection of the size of the outer contour of the vehicle, reduce the detection cost, improve the detection efficiency and provide a new idea for detecting the size of the outer contour of the vehicle.

In a first aspect, an embodiment of the present invention provides a vehicle outer contour dimension detection method, including:

according to radar data scanned by at least two laser radars on a vehicle in the running process, determining position coordinates of the radar data in a target coordinate system; the at least two laser radars are arranged along the lateral upper part and the right upper part of the vehicle running road in a staggered manner;

determining a vehicle contour straight line according to the position coordinates of the radar data in a target coordinate system;

and determining the current outer contour dimension of the vehicle according to the position coordinates of the vehicle contour straight line in a target coordinate system.

In a second aspect, an embodiment of the present invention further provides a vehicle outer contour dimension detection apparatus, including:

the position coordinate determination module is used for determining the position coordinates of the radar data in a target coordinate system according to the radar data scanned by at least two laser radars on the vehicle in the running process; the at least two laser radars are arranged along the lateral upper part and the right upper part of the vehicle running road in a staggered manner;

the contour straight line determining module is used for determining a vehicle contour straight line according to the position coordinates of the radar data in the target coordinate system;

and the contour dimension determining module is used for determining the current contour dimension of the vehicle according to the position coordinates of the vehicle contour straight line in the target coordinate system.

In a third aspect, the embodiment of the invention further provides a vehicle outer contour dimension detection system, which comprises at least two laser radars and processing equipment; the processing equipment is connected with the at least two laser radars, and the at least two laser radars are arranged along the lateral upper part and the right upper part of the vehicle running road in a staggered manner; the processing apparatus includes:

one or more processors;

storage means for storing one or more programs;

when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the vehicle outer contour dimension detection method of any of the first aspects for each lidar.

In a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements the vehicle outer contour dimension detection method described in any of the first aspects.

According to the method, the system and the storage medium for detecting the vehicle outer contour size, at least two laser radars are arranged above and laterally and vertically above a vehicle running road in a staggered mode, radar data are scanned for a vehicle in the running process, position coordinates of the radar data in a target coordinate system are determined, a vehicle contour straight line is determined according to the position coordinates of the radar data in the target coordinate system, and then the current outer contour size of the vehicle is determined according to the position coordinates of the vehicle contour straight line in the target coordinate system. According to the technical scheme of the embodiment of the invention, manual measurement is not needed, and the vehicle outer contour dimension can be automatically and accurately detected by adopting at least two laser radars, so that the detection cost is reduced, the detection efficiency is improved, and a new thought is provided for the vehicle outer contour dimension detection.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

FIG. 1A is a flowchart of a method for detecting a vehicle outer contour dimension according to a first embodiment of the present invention;

FIG. 1B is a simplified schematic diagram of a lidar mounting location of an embodiment of the present invention;

FIG. 1C is a schematic diagram illustrating the effect of the vehicle contour line in the horizontal plane in the first embodiment of the present invention;

FIG. 1D is a schematic diagram illustrating the effect of a vehicle contour line in a vertical plane in which the vehicle travels according to a first embodiment of the present invention;

FIG. 2 is a flowchart of a method for detecting the outer contour dimension of a vehicle according to a second embodiment of the present invention;

FIG. 3A is a flowchart of a method for detecting the outer contour dimension of a vehicle according to a third embodiment of the present invention;

FIG. 3B is a schematic diagram illustrating the effect of the point cloud of the truck projected on the horizontal plane in the third embodiment of the present invention;

FIG. 3C is a schematic diagram of the effect of the point cloud of the vehicle outer contour of the truck in the horizontal plane in the third embodiment of the invention;

FIG. 3D is a schematic representation of the effect of the straight vehicle contour line in the horizontal plane for a truck in accordance with a third embodiment of the present invention;

FIG. 4A is a flowchart of a method for detecting the outer contour dimension of a vehicle according to a fourth embodiment of the present invention;

FIG. 4B is a schematic block diagram of a vehicle outer contour dimension verification process according to a fourth embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a vehicle outer contour dimension detection device according to a fifth embodiment of the present invention;

FIG. 6A is a schematic structural diagram of a vehicle outer contour dimension detection system according to a sixth embodiment of the present invention;

fig. 6B is a schematic structural diagram of a processing device of a vehicle outer contour dimension detection system in a sixth embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.

Example one

FIG. 1A is a flowchart of a method for detecting a vehicle outer contour dimension according to a first embodiment of the present invention; FIG. 1B is a simplified schematic diagram of a lidar mounting location of an embodiment of the present invention; FIG. 1C is a schematic diagram illustrating the effect of the vehicle contour line in the horizontal plane in the first embodiment of the present invention; fig. 1D is a schematic diagram illustrating an effect of a vehicle contour line in a vertical plane in which a vehicle driving direction is located in the first embodiment of the present invention. The embodiment is suitable for the condition that at least two laser radars are adopted to automatically detect the outer contour size of the running vehicle. The method can be executed by the vehicle outer contour dimension detection device of the embodiment of the invention, and the device can be realized in a software and/or hardware mode. As shown in fig. 1A-1D, the method specifically includes the steps of:

s101, according to radar data scanned by at least two laser radars on a vehicle in the running process, determining position coordinates of the radar data in a target coordinate system.

At least two of the laser radars used in the embodiments of the present invention may be high-speed laser radars used for ranging. And the at least two laser radars are arranged along the lateral upper part and the right upper part of the vehicle running road in a staggered manner. Specifically, the at least two laser radars may be respectively mounted on columns staggered above and directly above the side of the vehicle traveling road. For example, fig. 1B shows a case where three laser radars are deployed, in which the

laser radars

10A and 10B are mounted on

pillars

12A and 12B on both sides of the vehicle travel road 11 so that the laser radars are located laterally above the vehicle travel road 11, and the laser radar 10C is mounted on a gantry 12C directly above the vehicle travel road 11 with being offset from the laterally above

laser radars

10A and 10B. The laser radar 10C may be located at the right middle position of the driving road of the vehicle, and optionally, the laser radar 10C may be located in the middle area of the road 11. As shown in fig. 1B, the distance between the laser radar 10C and the laser radar 10A in the horizontal direction is D, which is the misalignment distance between the two laser radars. In the embodiment of the invention, the purpose that at least two laser radars are arranged along the lateral upper part and the right upper part of the driving road of the vehicle in a staggered mode is to determine the driving speed of the vehicle subsequently. Optionally, the at least two lidar in this embodiment may be single line lidar or multi-line lidar. If the laser radar is a single line laser radar, when at least two single line laser radars are installed, the rotating shaft of the laser radar (such as the

laser radars

10A and 10B in fig. 1B) above the vehicle running road side needs to be parallel to the horizontal plane, that is, the scanning surface of the single line laser radar is a vertical surface; the rotation axis of the lidar (e.g., lidar 10C in fig. 1B) directly above the driving road of the vehicle needs to form a certain inclination angle with the horizontal plane, that is, the emergent light of the single line lidar is inclined downwards, so that the scanning surface of the single line lidar forms a certain angle with the horizontal plane. If the laser radar is a multi-line laser radar, when at least two multi-line laser radars are installed, the rotating shaft of the laser radar can be parallel to the horizontal plane and can also be perpendicular to the horizontal plane, namely, the scanning surface of the multi-line laser radar is a two-dimensional plane, and the scanning of a three-dimensional space is realized through rotation. In the present embodiment, a laser radar is mainly used as an example of a single line laser radar.

When the laser radar in this embodiment is a single line laser radar, the radar data obtained by scanning may be distance information and angle information between the spatial point cloud and the center of the laser radar. Specifically, the distance information is the distance between the spatial point cloud and the laser radar center connecting line, and the angle information is the angle between the connecting line of the spatial point cloud and the laser radar center and the horizontal direction or the vertical direction. When the lidar of the present embodiment is a multiline lidar, the radar data scanned by the lidar may be three-dimensional coordinate values of a spatial point cloud with respect to the center of the lidar, i.e., (x, y, z).

Optionally, in the embodiment of the present invention, when the vehicle to be detected runs out of the road on which the laser radar is arranged, the laser radars arranged above and right above the side of the road on which the vehicle runs emit laser beams to scan radar data of the spatial point cloud in the running process of the vehicle. And the processing equipment of the vehicle outer contour dimension detection system acquires radar data obtained by scanning at least two laser radars, and then determines the three-dimensional position coordinates of the space point cloud corresponding to the radar data under a target coordinate system according to the radar data.

In the embodiment of the invention, the radar data acquired by the processing equipment is acquired by a plurality of laser radars, and the initial coordinate system corresponding to the radar data acquired by each laser radar is the coordinate system where the laser radar is located. The target coordinate system in this embodiment may be a coordinate system in which any one of the plurality of laser radars is located; other spatial coordinate systems are also possible, such as the geocentric coordinate system. When the position coordinate of the radar data under the target coordinate system is determined according to the radar data scanned by at least two laser radars on the vehicle in the driving process, the step may be: firstly, according to radar data scanned by at least two laser radars on a vehicle in a running process, determining position coordinates of the radar data in an initial coordinate system; and then converting the position coordinates of the radar data in the initial coordinate system into a target coordinate system to obtain the position coordinates of the radar data in the target coordinate system. Specifically, the position coordinates of each radar data under the initial coordinate system of the radar data are determined according to the radar data scanned by at least two laser radars on the running vehicle, and then the position coordinates under each initial coordinate system are converted into a unified target coordinate system based on the conversion relation between each initial coordinate system and the target coordinate system, so as to obtain the position coordinates of the space point cloud corresponding to each radar data under the target coordinate system.

Optionally, in this embodiment, since the scanning surface of the multi-line lidar is a two-dimensional plane, scanning and detection of a three-dimensional space can be achieved through rotation, so that the point cloud data of the vehicle can be obtained through single-frame scanning as long as the vehicle enters the scanning field range of the multi-line lidar. Of course, in order to ensure the accuracy of the determination, the data processing may also be performed by using the result of scanning multiple frames. Therefore, if the at least two lidar is multi-line lidar, when the position coordinates of the radar data in the initial coordinate system are determined, the position coordinates of the radar data in the initial coordinate system can be extracted from the radar data scanned by the at least two lidar on the vehicle in the driving process. Specifically, three-dimensional position coordinates (x, y, z) may be extracted from radar data scanned by the multi-line laser radar as an x-coordinate value, a y-coordinate value, and a z-coordinate value of a spatial point cloud corresponding to the radar data in the multi-line laser radar coordinate system. Because the scanning surface of the single line laser radar is a vertical surface, when the position coordinates of the radar data in the initial coordinate system are determined if the at least two laser radars are single line laser radars, only the position coordinates of the radar data in two dimensions in the three-dimensional space can be solved according to the distance information and the angle information in the radar data, so that the running speed of the vehicle to be detected needs to be determined, and the position coordinates in the third dimension are determined based on the running speed of the vehicle. The specific determination method will be described in detail in the following examples.

And S102, determining a vehicle contour straight line according to the position coordinates of the radar data in the target coordinate system.

Optionally, in an embodiment of the present invention, the vehicle outer contour straight line at least includes a vehicle contour straight line projected by the vehicle into a horizontal plane, and may also include a vehicle contour straight line projected by the vehicle into a vertical plane along a vehicle driving direction.

Optionally, in this step, the position of each spatial point cloud corresponding to the radar data may be analyzed according to the position coordinates of the radar data in the target coordinate system, so as to determine a vehicle contour straight line capable of representing the vehicle outer contour. Specifically, according to the position coordinates of the radar data in the target coordinate system, point clouds representing the outer contour of the vehicle are determined from the space point clouds corresponding to the radar data, and then the point clouds representing the outer contour of the vehicle are subjected to straight line fitting to obtain a vehicle contour straight line. However, non-vehicle noise point clouds may exist in radar data scanned by the laser radar, so that in order to improve the accuracy of wheel point cloud extraction in the step, vehicle point clouds can be extracted from the spatial point clouds, and then point clouds representing the outer contour of the vehicle can be further extracted from the extracted vehicle point clouds, so that a vehicle contour straight line can be fitted. Optionally, how to extract the vehicle point cloud from the spatial point cloud in this step, how to extract the point cloud representing the vehicle outer contour, and a specific implementation process of fitting the vehicle contour straight line will be described in detail in the following embodiments.

In the step of determining the vehicle contour straight line based on the position coordinates of the radar data in the target coordinate system, only the vehicle contour straight line in the horizontal plane (i.e., straight lines S1-S4 shown in fig. 1C) may be determined; it is also possible to determine the vehicle contour straight line in the horizontal plane of the vehicle, and also determine the vehicle contour straight line in the vertical plane in which the vehicle travels (i.e., each vehicle contour straight line shown in fig. 1D).

S103, determining the current outer contour size of the vehicle according to the position coordinates of the vehicle contour straight line in the target coordinate system.

Wherein the current outer contour dimension includes at least one of an outer contour length, a width, and a height of the vehicle. Specifically, the outer contour length may be a distance between two perpendicular planes perpendicular to a vehicle longitudinal symmetry plane and respectively abutting against the vehicle front and rear outermost protruding portions, i.e., a distance between the vehicle front-most end and the vehicle rear-most end along the vehicle traveling direction. The width of the outer contour may be a distance between two planes which are parallel to a longitudinal symmetry plane of the vehicle and abut against the fixed protruding portions on both sides of the vehicle, respectively, i.e., a distance from a leftmost end to a rightmost end of the vehicle. The outer contour height may be the distance between the vehicle support plane and the horizontal plane against which the highest protruding portion of the vehicle abuts, i.e. the distance between the highest point and the lowest point of the vehicle.

Optionally, when the vehicle contour straight line is determined from the spatial point cloud in S102, at least the vehicle contour straight line projected to the horizontal plane by the vehicle needs to be determined. In the case of a motor vehicle, whether it is a car, truck or bus, the projection of its outer contour on a horizontal plane may be approximated as a rectangle, i.e., the positional relationship of the four vehicle contour lines in the horizontal plane is a rectangle. The present step may now detect the current outer contour dimension of the vehicle by:

firstly, a current outer contour width detection mode: and determining a first distance between the transverse vehicle contour straight lines in the horizontal plane according to the position coordinates of the transverse vehicle contour straight lines in the horizontal plane in the target coordinate system, and taking the first distance as the current outer contour width of the vehicle. Specifically, two lateral vehicle contour straight lines that are fitted to the vehicle in the horizontal plane may be respectively used as the leftmost end (i.e., the left door end) and the rightmost end (i.e., the right door end) of the vehicle, and then the distance (i.e., the first distance) between the two fitted lateral vehicle contour straight lines is calculated according to the two straight line distance calculation formula, and the first distance is used as the current outer contour width of the vehicle. Illustratively, the distance d1 between S1 and S3 is calculated as the current outer contour width, taking the two lateral vehicle contour lines in FIG. 1C, namely S1 and S3, as the leftmost and rightmost ends of the vehicle, respectively.

Secondly, detecting the current outer contour length: and determining a second distance between the longitudinal vehicle contour straight lines in the horizontal plane according to the position coordinates of the longitudinal vehicle contour straight lines in the horizontal plane in the target coordinate system, and taking the second distance as the current outer contour length of the vehicle. Specifically, the method comprises the following steps: two longitudinal vehicle contour straight lines which are fitted by the vehicle in a horizontal plane are respectively used as the foremost end (namely the head end) and the rearmost end (namely the tail end) of the vehicle, then the distance (namely the second distance) between the two fitted longitudinal vehicle contour straight lines is calculated according to a calculation formula of the distance between the two straight lines, and the second distance is used as the current outer contour length of the vehicle. Illustratively, the distance d2 between S2 and S4 is calculated as the current outer contour length, taking the two longitudinal vehicle contour lines in FIG. 1C, namely S2 and S4, as the forward and aft ends of the vehicle, respectively.

Thirdly, a current outer contour length detection mode depends on the plane of the vehicle contour straight line determined in the step S102, if only the vehicle contour straight line in the horizontal plane is determined in the step S102, the current outer contour height of the vehicle can be determined according to the position coordinates of the transverse vehicle contour straight line in the horizontal plane under the target coordinate system, namely the maximum position coordinate value and the minimum position coordinate value of the transverse vehicle contour straight line in the direction vertical to the horizontal plane are determined according to the position coordinates of the transverse vehicle contour straight line in the horizontal plane under the target coordinate system; and taking the difference value of the maximum position coordinate value and the minimum position coordinate value as the current outer contour height of the vehicle. Specifically, the horizontal vehicle contour straight line in the horizontal plane represents a straight line from the vehicle head to the vehicle tail, and at this time, the maximum value (i.e., the highest point of the vehicle) and the minimum value (i.e., the lowest point of the vehicle) in the Z-axis direction may be found according to position coordinates of the two horizontal vehicle contour straight lines in the horizontal plane, which are perpendicular to the horizontal plane direction (i.e., the Z-axis direction) in the target coordinate system, and then the distance difference between the highest point and the lowest point is taken as the current outer contour height of the vehicle. For example, from the point clouds corresponding to the two lateral vehicle contour lines (i.e., S1 and S3) in fig. 1C, the maximum point and the minimum point of the Z coordinate value are found, and the Z coordinate position difference between the maximum point and the minimum point is calculated as the current outer contour height of the vehicle.

If the vehicle contour straight line in the horizontal plane and the vertical plane where the vehicle driving direction is located is determined in S102, the current outer contour height of the vehicle may be determined according to the position coordinates of the lateral vehicle contour straight line in the vertical plane where the vehicle driving direction is located in the target coordinate system, that is, according to the position coordinates of the lateral vehicle contour straight line in the vertical plane where the vehicle driving direction is located in the target coordinate system, the third distance between the lateral vehicle contour straight line farthest from the ground in the vertical plane and the ground is determined, and the third distance is used as the current outer contour height of the vehicle. Specifically, the method comprises the following steps: the transverse vehicle contour straight line which is farthest from the ground in the vertical plane of the vehicle driving direction can be used as the straight line of the highest point of the vehicle, the ground is used as the straight line of the lowest point of the vehicle, the distance (namely, the third distance) between the straight line of the highest point of the vehicle and the straight line of the lowest point of the vehicle is calculated according to the calculation formula of the distance between the two straight lines, and the third distance is used as the current outer contour height of the vehicle. For example, the straight line S5 farthest from the ground in fig. 1D is taken as the straight line of the highest point of the vehicle, the ground S6 is taken as the straight line of the lowest point of the vehicle, and the distance D3 between S5 and S6 is calculated as the current outer contour height.

It should be noted that, in the embodiment of the present invention, the number of the laser radars for collecting radar data is at least two, and the larger the number of the laser radars is, the more accurate the determined vehicle contour straight line is, and the more accurate the determined current outer contour size number of the vehicle is.

According to the method for detecting the vehicle outer contour size, at least two laser radars are arranged above and right above a vehicle running road in a staggered mode, radar data are scanned for a vehicle in the running process, the position coordinates of the radar data in a target coordinate system are determined, a vehicle contour straight line is determined according to the position coordinates of the radar data in the target coordinate system, and then the current outer contour size of the vehicle is determined according to the position coordinates of the vehicle contour straight line in the target coordinate system. According to the technical scheme of the embodiment of the invention, manual measurement is not needed, and the vehicle outer contour dimension can be automatically and accurately detected by adopting at least two laser radars, so that the detection cost is reduced, the detection efficiency is improved, and a new thought is provided for the vehicle outer contour dimension detection.

Example two

Fig. 2 is a flowchart of a vehicle outer contour dimension detection method in a second embodiment of the present invention, and this embodiment is based on the above-described embodiments and further optimizes the method, and specifically provides a description of a specific situation of how to determine position coordinates of radar data in a target coordinate system according to radar data scanned by at least two laser radars on a vehicle in a driving process when the laser radars are single line laser radars. Specifically, as shown in fig. 2, the operation process includes the following steps:

s201, determining the vehicle running speed according to the multiframe radar data scanned by the at least two laser radars on the vehicle in the running process and the dislocation distance of the at least two laser radars.

Specifically, can be that the vehicle position point that the laser radar of dislocation arrangement above the road side of traveling of a vehicle and directly over all can gather is selected to the vehicle, as the reference point, if can be with the locomotive position of vehicle as the reference point, obtain the time stamp of a set of laser radar when to this reference point of scanning at least, wherein, a set of laser radar is to by distributing in road side of traveling of vehicle and directly over, and constitute at two laser radar of horizontal direction dislocation arrangement. For example, lidar 10A and lidar 10C of fig. 1B are a set of lidar pairs; lidar 10B and lidar 10C are also a set of lidar pairs. And then, according to the distance between the two laser radars in each group of laser radar pairs in the vehicle running direction in the horizontal plane and the time stamps when the two laser radars scan the reference points, the running speed of the vehicle can be calculated. For example, assuming that the time when the laser radar 10A scans the timestamp of the vehicle head position is t1, the time when the laser radar 10C scans the timestamp of the vehicle head position is t2, and the distance between the laser radar 10A and the laser radar 10C in the horizontal plane in the vehicle traveling direction is D (i.e., the offset distance between the two laser radars), the traveling speed V of the vehicle may be calculated by the formula D ═ t1-t2| × V.

Alternatively, when the two lidar pairs have the same specification and are strictly started at the same time, and the vehicle running speed is calculated in this embodiment, the vehicle running speed V may also be calculated according to the distance D between the two lidar pairs in the vehicle running direction in the horizontal plane, the number of scanning frames (i.e., S1 and S2) when the two lidar pairs scan the reference point, and the scanning frequency H of the lidar according to the formula D ═ S1-S2| × 1/hxv.

It should be noted that, when the step determines the vehicle running speed according to at least two sets of laser radar pairs, it may be configured to calculate a vehicle running speed according to the method described above based on each set of laser radar pairs, and then perform an integration process on the calculated vehicle running speeds, such as an averaging process, or according to a preset screening rule, to screen out the most accurate vehicle running speed as the final vehicle running speed.

And S202, determining the position coordinates of the radar data in the initial coordinate system according to the vehicle running speed, the distance information and the angle information in the radar data.

Specifically, in this step, for the spatial point cloud corresponding to each radar data, the coordinate value of the radar data on the coordinate axis of the vehicle driving direction in the initial coordinate system is calculated according to the vehicle driving speed and the corresponding timestamp (or the number of scanning frames and the scanning frequency) when the laser radar scans the radar data; and calculating coordinate values of the radar data on the other two coordinate axes except the vehicle running direction under the initial coordinate system according to the geometric position relation between the space point cloud corresponding to the radar data and the laser radar central point scanning the radar data. For example, assuming that a coordinate axis of a vehicle driving direction is an X axis, a vehicle driving speed is V, distance information in certain radar data scanned by a laser radar is d, angle information (i.e., an angle between a connecting line of a spatial point cloud and a center of the laser radar and a horizontal direction) is α, a timestamp when the laser radar scans the radar data is t, a scanning frame number is S, and a scanning frame rate of the laser radar is H, an X axis coordinate of the spatial point cloud corresponding to the radar data in an initial coordinate system is: x ═ txv, or X ═ sx 1/hxv; the Y-axis coordinate is d multiplied by cos alpha; the Z-axis coordinate is Z ═ d × sin α.

And S203, converting the position coordinates of the radar data in the initial coordinate system into the target coordinate system to obtain the position coordinates of the radar data in the target coordinate system.

In this embodiment, since the radar data is scanned by at least two laser radars, and the coordinate system of each laser radar is a radar coordinate system constructed with the central point as the origin, the position coordinates determined by the point cloud data scanned by different laser radars in S202 are located under different radar coordinate systems. For example, the initial coordinate system of the point cloud data acquired by the laser radar 10A, in which the position coordinates corresponding to the vehicle head position are determined, is a radar coordinate system constructed by using the center of the laser radar 10A as an origin; the initial coordinate system of the point cloud data collected by the laser radar 10C and the position coordinate corresponding to the determined vehicle head position is a radar coordinate system constructed by taking the center of the laser radar 10C as an origin. Therefore, in the step, the position coordinates in different coordinate systems need to be converted into the same target coordinate system, so that the position coordinates of the point clouds in each space can be analyzed subsequently in the same target coordinate system, and the size of the outer contour of the vehicle can be detected.

Specifically, in this step, the position coordinates of the radar data in the initial coordinate system are converted into the target coordinate system, which may be that the position coordinates of the radar data in the initial coordinate system are converted into the geocentric coordinate system; it is also possible to uniformly convert the position coordinates of the radar data in the initial coordinate system into the radar coordinate system of any one of the at least two lidar (i.e. any initial coordinate system). This embodiment does not limit this. When the position coordinate conversion is performed, the position coordinates in each initial coordinate system may be converted into the target coordinate system based on a coordinate conversion relationship (e.g., a coordinate conversion matrix) between each initial coordinate system and the target coordinate system to be converted, so as to obtain the position coordinates of each radar data in the target coordinate system.

And S204, determining a vehicle contour straight line according to the position coordinates of the radar data in the target coordinate system.

And S205, determining the current outer contour size of the vehicle according to the position coordinates of the vehicle contour straight line in the target coordinate system.

According to the method for detecting the vehicle outer contour size, provided by the embodiment of the invention, if at least two single line laser radars are arranged above and right above a vehicle running road in a staggered mode, radar data are scanned for a vehicle in the running process, the vehicle running speed is determined according to the scanned multi-frame radar data and the staggered distance of the at least two laser radars, the position coordinate of the radar data in an initial coordinate system is determined based on the vehicle running speed, the distance information and the angle information in the radar data, then the position coordinate of the radar data in a target coordinate system is converted into a target coordinate system, a vehicle contour straight line is determined according to the position coordinate of the radar data in the target coordinate system, and the current outer contour size of the vehicle is determined according to the position coordinate of the vehicle contour straight line in the target coordinate system. According to the technical scheme of the embodiment of the invention, the position coordinates of the radar data can be accurately determined, the vehicle outline dimension detection is carried out by accurately determining the vehicle outline straight line subsequently, the guarantee is provided, and a new thought is provided for the vehicle outline dimension detection.

EXAMPLE III

Fig. 3A is a flowchart of a method for detecting a vehicle outer contour dimension according to a third embodiment of the present invention, and fig. 3B is a schematic view of an effect of a point cloud of a truck projected onto a horizontal plane according to the third embodiment of the present invention; FIG. 3C is a schematic diagram of the effect of the point cloud of the vehicle outer contour of the truck in the horizontal plane in the third embodiment of the invention; fig. 3D is a schematic diagram of the effect of the vehicle contour line in the horizontal plane of the truck in the third embodiment of the present invention. Based on the above embodiments, the present embodiment performs further optimization, and specifically gives a description of how to determine a vehicle contour straight line according to the position coordinates of the radar data in the target coordinate system. Specifically, as shown in fig. 3A-3D, the operation process includes the following steps:

s301, according to radar data scanned by at least two laser radars on a vehicle in the running process, position coordinates of the radar data in a target coordinate system are determined.

The at least two laser radars are arranged along the lateral upper part and the right upper part of the vehicle running road in a staggered mode.

And S302, extracting vehicle point cloud according to the position coordinates of the radar data in the target coordinate system.

Optionally, because the ground point cloud contained in the spatial point cloud corresponding to the radar data can seriously interfere with the accuracy of vehicle point cloud extraction, the ground point cloud in the spatial point cloud can be removed before the vehicle point cloud is extracted in the step. And then extracting the vehicle point cloud from the rest space point cloud.

Optionally, when the ground point clouds in the spatial point clouds are removed in the step, the ground point clouds can be removed from the spatial point clouds by adopting a random sampling consistency algorithm (RANSAC algorithm) according to the position coordinates of all the spatial point clouds in a target coordinate system; and ground point clouds and the like can be removed from the space point clouds by adopting a ground fitting algorithm according to the position coordinates of all the space point clouds under the target coordinate system. This embodiment is not limited to this. When the vehicle point cloud is extracted from the remaining space point cloud, the vehicle point cloud can be extracted from the remaining space point cloud after the ground point cloud is removed based on a clustering algorithm; the residual space point cloud can also be input into a vehicle point cloud extraction model trained in advance, and vehicle point cloud output by the vehicle point cloud extraction model and the like can be obtained. This embodiment is also not limited.

And S303, projecting the position coordinates of the vehicle point cloud under the target coordinate system into a preset plane.

The preset plane is a horizontal plane or a vertical plane where the horizontal plane and the vehicle running direction are located.

Optionally, if the vehicle driving direction is the X-axis direction, when the position coordinates of the vehicle point cloud extracted in step S302 in the target coordinate system are projected to the horizontal plane, the position coordinates of the vehicle point cloud in the target coordinate system may be projected to the XOY plane; in this step, when the position coordinates of the vehicle point cloud extracted in S302 in the target coordinate system are projected onto the vertical plane where the vehicle driving direction is located, the position coordinates of the vehicle point cloud in the target coordinate system may be projected onto the X0Z plane where the X axis is located.

For example, fig. 3B is a schematic diagram illustrating a projection effect after the point cloud of the truck extracted in S302 is projected onto a horizontal plane when the vehicle to be detected is a truck, where the projection data shown in the box 1 in the diagram is a back-mirror area of the truck; the projection data shown in box 2 is the nose area of the truck and the projection data shown in box 3 is the cargo area of the truck.

It should be noted that, in this step, at least the position coordinates of the vehicle point cloud in the target coordinate system are projected into the horizontal plane. The vertical plane of the vehicle running direction can be projected or not projected. Different preset planes projected in the step can cause different modes for subsequently detecting the current outer contour size of the vehicle.

S304, extracting the outer contour point cloud of the vehicle on the preset plane according to the projection data of the vehicle point cloud on the preset plane.

Optionally, in this step, the point cloud corresponding to the vehicle outer contour boundary, that is, the outer contour point cloud, may be extracted according to the projection data of the vehicle point cloud on the preset plane. The specific extraction method may be that an image edge extraction algorithm is adopted to analyze the projection data projected into the preset plane, and a data point corresponding to the vehicle outer contour boundary in the projection data is determined and used as the outer contour point cloud of the vehicle in the preset plane. For example, after the projection data of the truck point cloud in the horizontal plane shown in fig. 3B is subjected to outer contour point cloud extraction, the effect schematic diagram of the vehicle outer contour point cloud in the horizontal plane of the truck shown in fig. 3C is obtained.

It should be noted that, if the preset plane is a horizontal plane, only the outer contour point cloud of the vehicle on the horizontal plane is extracted in the step; if the preset plane is a horizontal plane and a vertical plane where the vehicle driving direction is located, the step not only extracts the outer contour point cloud of the vehicle on the horizontal plane, but also extracts the outer contour point cloud of the vertical plane where the vehicle is located in the driving direction.

S305, performing straight line segmentation fitting on the position coordinates of the outline point cloud under the target coordinate system, and determining the vehicle outline straight line of the vehicle on a preset plane.

Optionally, the external contour point cloud of the vehicle extracted in S304 may include some interference regions that may affect the detection of the external contour size, for example, the rearview mirror region (i.e., the region where the block 1 is located) in the external contour point cloud of the vehicle extracted in fig. 3C is the interference region. In order to remove the interference of the rearview mirror area, in the step, for each preset plane, firstly, according to the position coordinates of the outer contour point cloud in the preset plane under the target coordinate system, boundary straight line segmentation is performed on the outer contour point cloud to obtain end-to-end connected straight line point clouds in a closed state, and then straight line fitting is performed on the segmented straight line point clouds to obtain a vehicle contour straight line of the vehicle in the preset plane. For example, after performing straight line segmentation and straight line fitting on the point cloud of the vehicle outer contour in fig. 3C, the straight lines of the vehicle outer contour of the truck in the horizontal plane shown in fig. 3D are obtained, i.e., S1, S2, S3 and S4.

If the preset plane is a horizontal plane, determining a vehicle contour straight line of the vehicle on the horizontal plane only based on the outer contour point cloud of the horizontal plane; if the preset plane is a horizontal plane and a vertical plane where the vehicle driving direction is located, determining a vehicle contour straight line of the vehicle on the horizontal plane based on the outer contour point cloud of the horizontal plane; and determining a vehicle contour straight line of the vehicle on a vertical plane based on the outer contour point cloud of the vertical plane in which the vehicle is in the driving direction.

And S306, determining the current outer contour size of the vehicle according to the position coordinates of the vehicle contour straight line in the target coordinate system.

According to the vehicle outline dimension detection method provided by the embodiment of the invention, after the position coordinates of radar data in a target coordinate system are determined according to the radar data of running vehicles scanned by laser radars arranged above and right above a vehicle running road in a staggered manner, noise point clouds are removed from space point clouds corresponding to the radar data, vehicle point clouds are extracted, then the vehicle point clouds are projected into a preset plane, the outer contour point clouds are extracted from the projection data in the preset plane and then are subjected to straight line segmentation fitting to obtain a vehicle outline straight line of the vehicle in the preset plane, and then the current outline dimension parameters of the vehicle are determined according to the position coordinates of the vehicle outline straight line in the target coordinate system. According to the technical scheme of the embodiment of the invention, the accuracy of straight line extraction of the vehicle outer contour is greatly improved, and a guarantee is provided for determining the size of the current vehicle outer contour accurately and efficiently in the follow-up process.

Example four

FIG. 4A is a flowchart of a method for detecting the outer contour dimension of a vehicle according to a fourth embodiment of the present invention; fig. 4B is a schematic block diagram of a vehicle outer contour dimension verification process in the fourth embodiment of the present invention. Based on the above embodiments, the embodiment is further optimized, and specifically provides a preferred example for implementing a vehicle outer contour dimension verification process based on vehicle outer contour dimension detection. Specifically, as shown in fig. 4A-4B, the method of this embodiment specifically includes the following steps:

s401, according to radar data scanned by at least two laser radars on a vehicle in the driving process, position coordinates of the radar data in a target coordinate system are determined.

For example, the laser radar of the vehicle outer contour dimension detecting portion shown in fig. 4B scans radar data of a current space during the running process of the vehicle to be detected, and sends the radar data to the processing device, and the position coordinate determining module, the contour straight line determining module and the contour dimension determining module in the processing device determine the current outer contour dimension of the vehicle to be detected by performing the operations of S401-S403.

S402, determining a vehicle contour straight line according to the position coordinates of the radar data in the target coordinate system.

And S403, determining the current outer contour dimension of the vehicle according to the position coordinates of the vehicle contour straight line in the target coordinate system.

S404, determining a two-dimensional plane view of the vehicle according to the position coordinates of the vehicle point cloud under the target coordinate system.

The two-dimensional plane view may be an orthographic view of the vehicle on a two-dimensional plane, and may include at least one of a front view and a top view of the vehicle, for example.

Optionally, in this step, according to the position coordinates of the vehicle point cloud in the target coordinate system, the two-dimensional plane view of the vehicle may be determined as follows: extracting vehicle point cloud from the space point cloud corresponding to the radar data, and then projecting position coordinates of the vehicle point cloud in a target coordinate system into a horizontal plane to obtain a top view of the vehicle; and projecting the position coordinates of the vehicle point cloud under the target coordinate system to a vertical plane where the vehicle driving direction is located to obtain a front view of the vehicle. It should be noted that, the method for extracting the vehicle point cloud from the space point cloud corresponding to the radar data has been described in the foregoing embodiment, and details are not described in this embodiment.

And S405, displaying a two-dimensional plane view of the vehicle and the current outer contour dimension of the vehicle.

Optionally, in order to improve the visualization effect of the vehicle outer contour size detection at this time, after the vehicle outer contour size detection part in fig. 4B determines the current outer contour size, the view parameter display module in the processing device may perform the determining of the two-dimensional plane view of the vehicle in S404 and S405, and display the two-dimensional plane view and the current outer contour size of the vehicle; in order to better manage the current vehicle outer contour dimension, as shown in fig. 4B, in this embodiment, a background management module may also be configured to send a value to the displayed two-dimensional plane view of the vehicle and the current vehicle outer contour dimension of the vehicle, and the background management module stores the original radar data acquired by the laser radar, the two-dimensional plane view of the vehicle, and the current vehicle outer contour dimension, so that the data can be used in the subsequent S406 when the vehicle is subjected to outer contour dimension verification.

S406, checking the outer contour dimension of the vehicle based on the preset evaluation standard and the current outer contour dimension of the vehicle.

The preset evaluation criterion may be a criterion for evaluating whether a vehicle meets a vehicle safe driving requirement. For example, it can be determined whether a vehicle is changed in outer contour dimension, which violates the requirement of safe driving of the vehicle. Optionally, the preset evaluation standard may be a factory standard outer contour size of a vehicle type corresponding to the vehicle to be detected; it may also be a historical detected historical outer contour dimension of the vehicle to be detected.

Optionally, this step is based on the preset evaluation criterion and the current outer contour size of the vehicle, and the process of checking the outer contour size of the vehicle may be performed by the vehicle outer contour size checking part in fig. 4B. Specifically, the data verification module in the processing device may obtain the preset evaluation standard and the current outer contour size of the vehicle from the background management module through the data interface, compare the current outer contour size with the vehicle outer contour size (i.e., the factory standard outer contour size and/or the historical outer contour size) recorded in the preset evaluation standard, determine whether the current outer contour size of the vehicle is consistent with the preset evaluation standard, if so, the verification is passed, otherwise, the verification is not passed. And then generating a current checking report according to the checking result, wherein the detection report can be, for example, a two-dimensional plane view showing the vehicle, the current outer contour dimension of the vehicle, a pre-evaluation criterion, whether the checking is passed or not, and the like.

Optionally, in this step, based on the preset evaluation criterion and the current outer contour size of the vehicle, the process of checking the outer contour size of the vehicle may be a process of annual inspection of the motor vehicle by the vehicle management, that is, the vehicle outer contour size checking part in fig. 4B is a part controlled by the vehicle management.

It should be noted that the operation of S404-S405 is to facilitate visual display of the verification result, and this process may be omitted when the actual vehicle outer contour size is detected, for example, after S403 is executed to determine the current outer contour size of the vehicle, the raw radar data collected by the laser radar and the detected current outer contour size are stored in the background management module, and when S406 is executed subsequently, the current outer contour size of the vehicle is directly obtained from the background management module, and the vehicle is subjected to the outer contour size inspection based on the preset evaluation criterion and the current outer contour size of the vehicle.

According to the method for detecting the size of the outer contour of the vehicle, provided by the embodiment of the invention, the position coordinates of radar data in a target coordinate system are determined according to the radar data of the running vehicle scanned by the laser radars which are arranged along the upper side and right above the running road of the vehicle in a staggered manner, the straight line of the contour of the vehicle is determined according to each position coordinate, and then the current size of the outer contour of the vehicle is determined according to the position coordinates of the straight line of the contour of the vehicle in the target coordinate system; and determining a two-dimensional plane view of the vehicle according to the vehicle point cloud, and visually displaying the two-dimensional plane view and the current outer contour size of the vehicle, so that a user can conveniently and visually check the detection result. The method and the device have the advantages that the outer contour dimension of the vehicle is verified based on the preset evaluation standard and the current outer contour dimension of the vehicle, after the outer contour dimension of the current vehicle is automatically detected, the outer contour dimension of the vehicle is automatically verified based on the detected current outer contour dimension of the vehicle and the preset evaluation standard, the whole process is free of manual intervention, the efficiency is high, the cost is low, the accuracy is high, the fairness and the objectivity of the verification process of the outer contour dimension of the vehicle are guaranteed, and the condition of artificial data counterfeiting is avoided.

EXAMPLE five

Fig. 5 is a schematic structural diagram of a vehicle outer contour dimension detection device according to a fifth embodiment of the present invention. The device can execute the vehicle outer contour dimension detection method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. As shown in fig. 5, the apparatus specifically includes:

the position coordinate determination module 501 is configured to determine, according to radar data scanned by at least two laser radars on a vehicle in a driving process, position coordinates of the radar data in a target coordinate system; the at least two laser radars are arranged along the lateral upper part and the right upper part of the vehicle running road in a staggered manner;

a contour straight line determining module 502, configured to determine a vehicle contour straight line according to the position coordinates of the radar data in the target coordinate system;

and the contour dimension determining module 503 is configured to determine a current contour dimension of the vehicle according to the position coordinate of the vehicle contour straight line in the target coordinate system.

According to the vehicle outer contour dimension detection device provided by the embodiment of the invention, at least two laser radars are arranged above and right above the side of a vehicle running road in a staggered mode, radar data are scanned for a vehicle in the running process, the position coordinates of the radar data in a target coordinate system are determined, a vehicle contour straight line is determined according to the position coordinates of the radar data in the target coordinate system, and the current outer contour dimension of the vehicle is further determined according to the position coordinates of the vehicle contour straight line in the target coordinate system. According to the technical scheme of the embodiment of the invention, manual measurement is not needed, and the vehicle outer contour dimension can be automatically and accurately detected by adopting at least two laser radars, so that the detection cost is reduced, the detection efficiency is improved, and a new thought is provided for the vehicle outer contour dimension detection.

Further, the position coordinate determination module 501 includes:

the position coordinate determination unit is used for determining the position coordinates of the radar data in an initial coordinate system according to the radar data scanned by at least two laser radars on the vehicle in the driving process; the initial coordinate system of each radar data is the coordinate system where the laser radar collecting each radar data is located;

and the position coordinate conversion unit is used for converting the position coordinate of the radar data in the initial coordinate system into the position coordinate of the radar data in the target coordinate system to obtain the position coordinate of the radar data in the target coordinate system.

Further, the position coordinate determination unit is specifically configured to:

if the at least two laser radars are multi-line laser radars, extracting position coordinates of the radar data in an initial coordinate system from radar data scanned by the at least two laser radars on the vehicle in the driving process;

if the at least two laser radars are single-line laser radars, determining the vehicle running speed according to multi-frame radar data scanned by the at least two laser radars on the vehicle in the running process and the dislocation distance of the at least two laser radars; and determining the position coordinates of the radar data in an initial coordinate system according to the vehicle running speed, the distance information and the angle information in the radar data.

Further, the contour straight line determining module 502 is specifically configured to:

extracting vehicle point cloud according to the position coordinates of the radar data in a target coordinate system;

projecting the position coordinates of the vehicle point cloud under a target coordinate system into a preset plane; the preset plane is a horizontal plane or a vertical plane where the horizontal plane and the vehicle running direction are located;

extracting the outer contour point cloud of the vehicle on a preset plane according to the projection data of the vehicle point cloud on the preset plane;

and performing straight line segmentation fitting on the position coordinates of the outer contour point cloud under a target coordinate system, and determining a vehicle contour straight line of the vehicle on the preset plane.

Further, the contour size determination module 503 includes:

the contour width determining unit is used for determining a first distance between the transverse vehicle contour straight lines in the horizontal plane according to the position coordinates of the transverse vehicle contour straight lines in the horizontal plane under a target coordinate system, and taking the first distance as the current outer contour width of the vehicle;

the contour length determining unit is used for determining a second distance between the longitudinal vehicle contour straight lines in the horizontal plane according to the position coordinates of the longitudinal vehicle contour straight lines in the horizontal plane under the target coordinate system, and taking the second distance as the current outer contour length of the vehicle;

and the contour height determining unit is used for determining the current contour height of the vehicle according to the position coordinates of the transverse vehicle contour straight line in the horizontal plane under the target coordinate system or according to the position coordinates of the transverse vehicle contour straight line in the vertical plane where the vehicle runs under the target coordinate system.

Further, when the contour height determining unit determines the current outer contour height of the vehicle according to the position coordinates of the horizontal vehicle contour straight line in the horizontal plane in the target coordinate system, the contour height determining unit is specifically configured to:

determining a maximum position coordinate value and a minimum position coordinate value of a transverse vehicle contour straight line in a direction vertical to a horizontal plane according to the position coordinate of the transverse vehicle contour straight line in a horizontal plane under a target coordinate system;

and taking the difference value of the maximum position coordinate value and the minimum position coordinate value as the current outer contour height of the vehicle.

Further, when determining the current outer contour height of the vehicle according to the position coordinate of the horizontal vehicle contour straight line in the vertical plane where the vehicle driving direction is located in the target coordinate system, the contour height determining unit is specifically configured to:

and determining a third distance between the transverse vehicle contour straight line farthest from the ground and the ground in the vertical plane according to the position coordinates of the transverse vehicle contour straight line in the vertical plane where the vehicle driving direction is located in the target coordinate system, and taking the third distance as the current outer contour height of the vehicle.

Further, the above apparatus further comprises:

a view parameter display module to: determining a two-dimensional plane view of the vehicle according to the position coordinates of the vehicle point cloud under a target coordinate system, and displaying the two-dimensional plane view of the vehicle and the current outer contour dimension parameters of the vehicle; and/or the presence of a gas in the gas,

and the vehicle checking module is used for checking the outer contour dimension of the vehicle based on a preset evaluation standard and the current outer contour dimension of the vehicle.

EXAMPLE six

Fig. 6A is a schematic structural diagram of a vehicle outer contour dimension detection system according to a sixth embodiment of the present invention, and fig. 6B is a schematic structural diagram of a processing device of a vehicle outer contour dimension detection system according to a fifth embodiment of the present invention. The vehicle outer contour dimension detection system 6 shown in fig. 6A includes at least two laser radars 61 and a processing device 60. The at least two laser radars 61 are arranged along the lateral upper part and the right upper part of the vehicle running road in a staggered manner; and the processing device 60 is connected to the respective laser radars 61. The mounting positions of the at least two laser radars 61 have been described in detail in the first embodiment. FIG. 6B illustrates a block diagram of an exemplary processing device 60 suitable for use in implementing embodiments of the present invention. The processing device 60 shown in fig. 6B is only an example and should not bring any limitation to the function and the scope of use of the embodiment of the present invention. As shown in fig. 6B, the processing device 60 is in the form of a general purpose computing device. The components of the processing device 60 may include, but are not limited to: one or more processors or processing units 601, a system memory 602, and a bus 603 that couples various system components including the system memory 602 and the processing unit 601.

Bus 603 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

The processing device 60 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by processing device 60 and includes both volatile and nonvolatile media, removable and non-removable media.

The system memory 602 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)604 and/or cache memory 605. The processing device 60 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 606 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 6B and commonly referred to as a "hard drive"). Although not shown in FIG. 6B, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 603 by one or more data media interfaces. System memory 602 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.

A program/utility 608 having a set (at least one) of program modules 607 may be stored, for example, in system memory 602, such program modules 607 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. The program modules 607 generally perform the functions and/or methods of the described embodiments of the invention.

The processing device 60 may also communicate with one or more external devices 609 (e.g., keyboard, pointing device, display 610, etc.), with one or more devices that enable a user to interact with the device, and/or with any devices (e.g., network card, modem, etc.) that enable the processing device 60 to communicate with one or more other computing devices. Such communication may occur via an input/output (I/O) interface 611. Also, the processing device 60 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the internet) via the network adapter 612. As shown in FIG. 6B, the network adapter 612 communicates with the other modules of the processing device 60 via the bus 603. It should be appreciated that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the processing device 60, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.

The processing unit 601 executes a program stored in the system memory 602, thereby executing various functional applications and data processing, for example, implementing a vehicle outer contour dimension detection method provided in any embodiment of the present invention for each lidar.

EXAMPLE seven

The seventh embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, can implement the method for detecting the outer contour dimension of the vehicle according to the foregoing embodiment.

Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer-readable storage medium may be, for example but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

The above example numbers are for description only and do not represent the merits of the examples.

It will be appreciated by those of ordinary skill in the art that the modules or operations of the embodiments of the invention described above may be implemented using a general purpose computing device, which may be centralized on a single computing device or distributed across a network of computing devices, and that they may alternatively be implemented using program code executable by a computing device, such that the program code is stored in a memory device and executed by a computing device, and separately fabricated into integrated circuit modules, or fabricated into a single integrated circuit module from a plurality of modules or operations thereof. Thus, the present invention is not limited to any specific combination of hardware and software.

The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts in the embodiments are referred to each other.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A vehicle outer contour dimension detection method is characterized by comprising the following steps:

2. The method of claim 1, wherein determining position coordinates of the radar data in a target coordinate system from radar data scanned by at least two lidar pairs of a vehicle during travel comprises:

according to radar data scanned by at least two laser radars on a vehicle in the driving process, determining position coordinates of the radar data in an initial coordinate system; the initial coordinate system of each radar data is the coordinate system where the laser radar collecting each radar data is located;

and converting the position coordinates of the radar data in the initial coordinate system into a target coordinate system to obtain the position coordinates of the radar data in the target coordinate system.

3. The method of claim 2, wherein determining position coordinates of the radar data in an initial coordinate system from radar data scanned by at least two lidar pairs of a vehicle during travel comprises:

4. The method of claim 1, wherein determining a vehicle contour line from the position coordinates of the radar data in the target coordinate system comprises:

5. The method of claim 1, wherein determining the current outer contour dimension of the vehicle from the position coordinates of the vehicle contour line in the target coordinate system comprises:

determining a first distance between the transverse vehicle contour straight lines in the horizontal plane according to the position coordinates of the transverse vehicle contour straight lines in the horizontal plane in a target coordinate system, and taking the first distance as the current outer contour width of the vehicle;

determining a second distance between the longitudinal vehicle contour straight lines in the horizontal plane according to the position coordinates of the longitudinal vehicle contour straight lines in the horizontal plane in a target coordinate system, and taking the second distance as the current outer contour length of the vehicle;

and determining the current outer contour height of the vehicle according to the position coordinates of the transverse vehicle contour straight line in the horizontal plane under the target coordinate system or according to the position coordinates of the transverse vehicle contour straight line in the vertical plane where the vehicle driving direction is located under the target coordinate system.

6. The method of claim 5, wherein determining the current outer contour height of the vehicle from the position coordinates of the lateral vehicle contour line in the horizontal plane under the target coordinate system comprises:

7. The method of claim 5, wherein determining the current outer contour height of the vehicle according to the position coordinates of a transverse vehicle contour straight line in a vertical plane in which the vehicle driving direction is located in a target coordinate system comprises:

8. The method of claim 1, wherein after determining the current outer contour dimension of the vehicle based on the position coordinates of the vehicle contour line in the target coordinate system, further comprising:

determining a two-dimensional plane view of the vehicle according to the position coordinates of the vehicle point cloud under a target coordinate system, and displaying the two-dimensional plane view of the vehicle and the current outer contour dimension of the vehicle; and/or

And checking the outer contour dimension of the vehicle based on a preset evaluation standard and the current outer contour dimension of the vehicle.

9. A vehicle outer contour dimension detection system is characterized by comprising at least two laser radars and processing equipment; the processing equipment is connected with the at least two laser radars, and the at least two laser radars are arranged along the lateral upper part and the right upper part of the vehicle running road in a staggered manner; the processing apparatus includes:

one or more processors;

storage means for storing one or more programs;

when executed by the one or more processors, cause the one or more processors to implement the vehicle outer contour dimension detection method of any one of claims 1-8 for each lidar.

10. A computer-readable storage medium on which a computer program is stored, which program, when executed by a processor, implements a vehicle outer contour dimension detecting method according to any one of claims 1 to 8.