Radar detection method, system and device and storage medium

Abstract

The invention discloses a radar detection method, system and device and a storage medium, and the method comprises the steps: determining a plurality of radars participating in polling on a vehicle according to the current motion state of the vehicle; and grouping the plurality of radars to control the radars in each group to detect obstacles in parallel, so that the obstacle detection efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of radar detection technology, and in particular to a radar detection method, system, device and storage medium. Background Art

[0002] In vehicle driving scenarios, accurate perception of the vehicle's surroundings is an important guarantee for safe driving. Among them, ultrasonic radar is used in the field of vehicle driving due to its advantages such as wide near-range detection range, accurate near-range detection distance, and high obstacle recall rate.

[0003] In actual application, due to the limitation of the working principle of ultrasonic radar, multiple radars cannot send waves at the same time, and each ultrasonic radar needs to send out the next detection signal after a specified interval each time it sends out a detection signal for environmental detection, in order to confirm whether the sent detection signal has an echo. For the above reasons, the existing technology adopts a round-robin wave-sending method to control a single ultrasonic radar in turn to complete an environmental detection, which often requires a long detection time, resulting in low efficiency in obstacle judgment. Summary of the invention

[0004] In order to solve the above technical problems, the present invention discloses a radar detection method for shortening the detection time of obstacles.

[0005] In order to achieve the above object, the present invention discloses a radar detection method, comprising:

[0006] Determining, according to a current motion state of the vehicle, a plurality of radars on the vehicle that participate in polling;

[0007] The plurality of radars are grouped to control the radars in each group to detect obstacles in parallel.

[0008] A radar detection method disclosed in the present invention first determines the radars participating in polling according to the current running state of the vehicle, reduces the number of radars participating in polling, and thus improves the polling efficiency; then groups the multiple radars to control the multiple radars in each group to simultaneously detect obstacles, and then performs obstacle detection by the multiple radars simultaneously, thereby improving the efficiency of obstacle detection.

[0009] As a preferred example, the step of determining multiple radars on the vehicle that participate in polling according to the current motion state of the vehicle includes:

[0010] When the vehicle is currently in a moving state, it is determined that a plurality of front radars installed on the vehicle participate in polling.

[0011] The present invention determines that the front radar participates in polling when the vehicle is in a forward state, which can not only detect obstacles that may exist in the forward direction of the vehicle, but also avoid low polling efficiency caused by all radars participating in polling, thereby improving polling efficiency.

[0012] As a preferred example, the step of determining multiple radars on the vehicle that participate in polling according to the current motion state of the vehicle includes:

[0013] When the vehicle is currently in a reversing state, it is determined that a plurality of rear radars installed on the vehicle participate in polling.

[0014] The present invention determines that the rear radar participates in polling when the vehicle is in a reversing state, which can detect obstacles that may exist in the reversing direction of the vehicle and avoid low polling efficiency caused by all radars participating in the polling.

[0015] As a preferred example, the step of determining multiple radars on the vehicle that participate in polling according to the current motion state of the vehicle includes:

[0016] When the vehicle is currently in a parking state, it is determined that neither the front radar nor the rear radar participates in polling.

[0017] The present invention controls the front radar and the rear radar not to participate in polling when the vehicle is in a parking state, thereby avoiding useless radar polling.

[0018] As a preferred example, the grouping of the plurality of radars comprises:

[0019] Obtaining the detection range and ultrasonic shape corresponding to each of the radars;

[0020] The plurality of radars are divided into a plurality of groups according to the detection range and ultrasonic wave shape, and a polling sequence corresponding to each group is generated; wherein the detection ranges of two radars in each group do not interfere with each other, and the ultrasonic wave shapes do not interfere with each other.

[0021] The present invention divides multiple radars participating in polling into different groups according to the detection range of the radar and the ultrasonic shape, so that the multiple radars in each group do not interfere with each other during detection, thereby realizing simultaneous emission of multiple radars to detect obstacles, thereby improving the efficiency of obstacle detection and realizing simultaneous polling of multiple radars through grouping, thereby improving the efficiency of polling.

[0022] As a preferred example, the respectively controlling the radars in each group to perform obstacle detection includes:

[0023] controlling the plurality of radars in each group to transmit a first signal in parallel, and determining that the radar receives a second signal;

[0024] controlling an alarm radar installed on the vehicle to transmit a third signal, and determining that the alarm radar receives a fourth signal;

[0025] The position of the obstacle is acquired according to the fourth signal.

[0026] According to the non-interference between radars in the group, the present invention can detect obstacles simultaneously through multiple radars, and when the radar participating in the polling detects an obstacle, a secondary detection is performed through the alarm radar, thereby improving the accuracy of obstacle detection.

[0027] As a preferred example, the respectively controlling the radars in each group to perform obstacle detection includes:

[0028] When the second signal or the fourth signal is not received or the position of the obstacle is acquired, the plurality of radars in the next group are controlled to detect obstacles in parallel according to the polling sequence.

[0029] The present invention starts obstacle detection of the next group of radars according to the obstacle detection results fed back by the radars participating in the polling and the alarm radar, thereby improving the detection efficiency and ensuring the detection accuracy.

[0030] In a second aspect, the present invention further discloses a radar detection system, including a radar determination module and a radar detection module;

[0031] The radar determination module is used to determine multiple radars on the vehicle that participate in polling according to the current motion state of the vehicle;

[0032] The radar detection module is used to group the multiple radars to control the radars in each group to detect obstacles in parallel.

[0033] A radar detection system disclosed in the present invention first determines the radars participating in polling according to the current operating state of the vehicle, reduces the number of radars participating in polling, and thus improves the polling efficiency; then groups the multiple radars to control the multiple radars in each group to simultaneously detect obstacles, thereby improving the efficiency of obstacle detection by performing obstacle detection simultaneously through the multiple radars.

[0034] In a third aspect, the present invention discloses an electronic device, comprising: at least one processor; and a memory communicatively connected to at least one of the processors; wherein the memory stores instructions executable by at least one of the processors, and the instructions are executed by at least one of the processors so that at least one of the processors can execute a radar detection method described in the first aspect.

[0035] In a fourth aspect, the present invention discloses a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the radar detection method described in the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 : A schematic flow chart of a radar detection method provided by one embodiment of the present invention;

[0037] Figure 2 : A schematic diagram of the structure of a radar detection system provided by one embodiment of the present invention;

[0038] Figure 3 : A flow chart of another radar detection method provided by an embodiment of the present invention;

[0039] Figure 4 : A schematic diagram of the installation position of a radar provided in one embodiment of the present invention;

[0040] Figure 5 : A schematic diagram of a radar group polling process provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] During vehicle driving, obstacle detection can be performed based on ultrasonic radar. However, due to the working principle of ultrasonic radar, each radar needs to be polled one by one to obtain the obstacle detection result, resulting in relatively low obstacle detection efficiency.

[0043] Based on the technical problems you may encounter above, please refer to Figure 1 , an embodiment of the present application provides a radar detection method, the method comprising:

[0044] Step 101: According to the current motion state of the vehicle, a plurality of radars on the vehicle that participate in polling are determined.

[0045] In one implementation, step 101 includes: when the vehicle is currently in a forward state, determining that a plurality of front radars installed on the vehicle participate in polling.

[0046] When the vehicle is currently in a reversing state, it is determined that a plurality of rear radars installed on the vehicle participate in polling.

[0047] When the vehicle is currently in a parking state, it is determined that neither the front radar nor the rear radar participates in polling.

[0048] In the implementation manner, step 101 determines the radars participating in polling under different operating states according to the current motion state of the vehicle, which can not only detect obstacles that may exist in the current direction of travel of the vehicle, but also avoid low polling efficiency caused by all radars participating in polling, thereby improving polling efficiency.

[0049] Step 102: Group the plurality of radars to control the radars in each group to detect obstacles in parallel.

[0050] In one embodiment, the process of grouping radars in step 102 mainly includes: obtaining the detection range and ultrasonic shape corresponding to each of the radars; dividing the multiple radars into several groups according to the detection range and ultrasonic shape, and generating a polling order corresponding to each group; wherein the detection ranges and ultrasonic shapes of each pair of radars in each group do not interfere with each other.

[0051] In the implementation manner of the present application, the multiple radars participating in the polling are divided into different groups according to the detection range and ultrasonic shape of the radar, so that the multiple radars in each group do not interfere with each other during detection, thereby enabling multiple radars to send waves simultaneously to detect obstacles, thereby improving the efficiency of obstacle detection and realizing simultaneous polling of multiple radars through grouping, thereby improving the efficiency of polling.

[0052] After the radars are grouped, the process of controlling the radars in each group to detect obstacles in parallel in step 102 mainly includes: controlling multiple radars in each group to transmit a first signal in parallel, and determining that the radar receives a second signal; controlling the alarm radar installed on the vehicle to transmit a third signal, and determining that the alarm radar receives a fourth signal; and obtaining the position of the obstacle according to the fourth signal.

[0053] Further, when the second signal or the fourth signal is not received or the position of the obstacle is acquired, the multiple radars in the next group are controlled to detect obstacles in parallel according to the polling sequence.

[0054] In the implementation mode of the present application, according to the mutual non-interference between the radars in the group, multiple radars can be used to detect obstacles at the same time, and when the radar participating in the polling detects an obstacle, the alarm radar performs a secondary detection to improve the accuracy of obstacle detection. Furthermore, the obstacle detection of the next group of radars is started according to the obstacle detection results fed back by the radar participating in the polling and the alarm radar, which not only improves the efficiency of detection, but also ensures the accuracy of detection.

[0055] The present application also provides a radar detection system in the embodiment of the present application. The radar detection method in the embodiment of the present application can be executed by the radar detection system in the embodiment of the present application. Figure 2 , mainly includes a radar determination module 201 and a radar detection module 202.

[0056] The radar determination module 201 is used to determine multiple radars on the vehicle that participate in polling according to the current motion state of the vehicle.

[0057] The radar detection module 202 is used to group the multiple radars to control the radars in each group to detect obstacles in parallel.

[0058] The radar detection method and system provided in the implementation mode of the present application determine the radars participating in the polling according to the current operating status of the vehicle, reduce the number of radars participating in the polling, and thus improve the efficiency of the polling, and then group the multiple radars to control the multiple radars in each group to detect obstacles at the same time, thereby improving the efficiency of obstacle detection by performing obstacle detection by multiple radars at the same time.

[0059] See also Figure 3 , is another flow chart of the radar detection method provided in the embodiment of the present application, which mainly includes steps 301 to 303, wherein the steps are mainly:

[0060] Step 301: Acquire the current motion state of the vehicle, and determine multiple radars participating in polling according to the current motion state.

[0061] In the embodiment of the present application, before detecting obstacles by using a radar installed on the vehicle, in order to ensure all-round protection of the vehicle's surrounding environment, radars are usually installed at different positions of the vehicle.

[0062] As an optional solution, the vehicle is equipped with 6 radars. The specific installation positions of the 6 radars are shown in Table 1 and Figure 4 The table 1 is:

[0063]

[0064]

[0065] Referring to Table 1, radar No. 1 and radar No. 2 installed on the front bumper of the vehicle are used as the front radars of the vehicle. Radar No. 3, radar No. 4, radar No. 5 and radar No. 6 installed on the rear bumper of the vehicle are used as the rear radars of the vehicle.

[0066] Specifically, when it is determined that the vehicle is in a forward state, only obstacles in the forward direction of the vehicle need to be detected, and the rear radar, that is, radar No. 1 and radar No. 2, can work without participating in polling, and only radar No. 1 and radar No. 2 need to be polled. In another embodiment, when it is determined that the vehicle is in a reverse state, only obstacles in the backward direction of the vehicle need to be detected, and the front radar, that is, radar No. 1 and radar No. 2, stop working and do not participate in polling, and only radar No. 3, radar No. 4, radar No. 5 and radar No. 6 need to be polled.

[0067] Step 302: Group the multiple radars participating in the polling to obtain multiple radar groups.

[0068] In an embodiment of the present application, in order to improve the overall efficiency of radar polling and shorten the total time for obstacle judgment, a radar grouping method is proposed to group multiple radars on a vehicle so that multiple radars in the same group can send detection signals in parallel, thereby eliminating the need to control the radars to perform detection one by one.

[0069] In one implementation of this embodiment, in order to ensure that radars in the same group do not interfere with each other, the radars are grouped according to the detection range of each radar and the shape of the ultrasonic wave emitted. Specifically, the detection ranges of two radars in each group do not interfere with each other, and the shape of the ultrasonic wave emitted by each radar is not interfered by the ultrasonic wave generated by other radars in the same group.

[0070] As a preferred solution, the six radars installed in the above-mentioned vehicle are grouped according to the radar grouping method. According to the installation positions of the radars, the detection ranges of radar No. 3 and radar No. 6 do not interfere with each other, the detection ranges of radar No. 1 and radar No. 4 or radar No. 5 do not interfere with each other, and the detection ranges of radar No. 2 and radar No. 4 or radar No. 5 do not interfere with each other. Further, according to the installation positions of the radars, the waveforms of the ultrasonic waves emitted by radar No. 4 and radar No. 5 interfere with each other; the waveforms of the ultrasonic waves emitted by radar No. 3 and radar No. 4 interfere with each other; the waveforms of the ultrasonic waves emitted by radar No. 5 and radar No. 6 interfere with each other; the waveforms of the ultrasonic waves emitted by radar No. 6 and radar No. 4 interfere with each other; the waveforms of the ultrasonic waves emitted by radar No. 3 and radar No. 5 interfere with each other.

[0071] Based on the interference analysis of the detection range between radars and the ultrasonic waveform, it can be known that the six radars can be divided into three groups, that is, radar No. 1 and radar No. 5 form radar group one; radar No. 2 and radar No. 4 form radar group two; radar No. 3 and radar No. 6 form radar group three.

[0072] In one implementation, when it is determined that the radars participating in the polling are radar No. 1 and radar No. 2, it is determined to poll the radar group 1 and the radar group 2.

[0073] In another implementation, when it is determined that the radars participating in the polling are radar No. 3, radar No. 4, radar No. 5, and radar No. 6, it is determined to poll the radar group 1, radar group 2, and radar group 3.

[0074] Step 303: poll each radar group in turn to obtain the obstacle detection result of the vehicle.

[0075] In the embodiment of the present application, after the radar groups that need to participate in the polling are determined, each radar group is polled in turn to obtain the obstacle detection results fed back when multiple radars in each radar group perform parallel detection.

[0076] In one embodiment, when it is determined that the radars participating in the polling are radar No. 3, radar No. 4, radar No. 5 and radar No. 6, and the corresponding radar groups are radar group 1, radar group 2 and radar group 3, the process of controlling the radar group 1, radar group 2 and radar group 3 to perform obstacle detection can refer to Figure 5 .like Figure 5 As shown, in one polling working cycle, firstly, radar No. 5 in radar group one is controlled to transmit an ultrasonic signal, and whether there is an obstacle is determined according to the signal received by radar No. 5. When there is no obstacle, radar No. 4 in radar group two is controlled to transmit an ultrasonic signal for obstacle detection. After radar group two does not detect an obstacle, radar No. 3 and radar No. 6 in radar group three are controlled to transmit ultrasonic signals in parallel for obstacle detection.

[0077] In another embodiment, referring to Figure 5 When the signal received by radar No. 5 in radar group 1 contains an obstacle signal, the alarm radar installed on the vehicle is controlled to emit an ultrasonic signal for obstacle detection. When the ultrasonic signal received by the alarm radar does not contain an obstacle signal, radar group 2 can be controlled to detect obstacles, and when the ultrasonic signal received by the alarm radar contains an obstacle signal, the position of the obstacle is recorded.

[0078] Specifically, when the ultrasonic radar is used to record the position of the obstacle, the radar controller may drive the radar to emit an ultrasonic signal and start a timer for timing, and then the ultrasonic wave propagates in the medium, reflects back after encountering an obstacle, and the radar controller drives the radar to stop timing immediately after receiving the reflected wave. The obstacle distance is calculated based on the time difference calculated by the timer and the sound wave transmission speed.

[0079] In a specific application scheme, when it is determined that the radars participating in the polling are radar No. 3, radar No. 4, radar No. 5 and radar No. 6, when performing obstacle detection based on the radar detection method provided in the embodiment of the present application, the detection distance S of each radar is set to 1.6 meters, and the transmission time of the ultrasonic signal emitted by the radar is t = 2*1.6 meters / (340m / s)≈10ms. Each time the radar sends out an ultrasonic signal, it is necessary to specify an interval time T before sending out the next ultrasonic signal, and in order to eliminate interference, when the interval time T is set to be greater than 2 times the sound wave transmission time, the value of T is set to 20ms.

[0080] When the T value is set to 20ms, then within one working cycle, when radar group one, radar group two and radar group three all participate in polling, based on radar group one emitting an ultrasonic signal once and the alarm radar emitting ultrasonic signals twice, the total duration of a complete polling within one working cycle is 20*3*3=180ms.

[0081] Based on the radar polling process provided by the prior art, it can be seen that a radar detection signal needs to send at least 3 different driving pulse signals to ensure the accuracy of the obstacle signal, so the polling time corresponding to a single radar is 60ms; and when there are 6 radars on the vehicle, in the absence of obstacles, based on the prior art traversal of all radars, it can be seen that the total polling time within a working cycle is 60*6=360ms.

[0082] The radar detection method provided by the embodiment of the present application uses the motion state of the vehicle to determine the radars involved in the polling, avoids the polling of useless radars, and then reduces the polling time by reducing the number of radars involved in the polling. Furthermore, multiple radars are grouped using the detection range of the radar and the shape of the ultrasonic wave emitted, and multiple radars in the same group can be controlled to perform obstacle detection in parallel, thereby achieving multiple radars that can be polled within an interval time, which can reduce the total polling time compared to the prior art, thereby improving the obstacle detection result.

[0083] An embodiment of the present application also provides a computer-readable storage medium, which includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute each step of the embodiment of the above-mentioned radar detection method. For a specific description, please refer to the embodiment of the above-mentioned radar detection method.

[0084] An embodiment of the present application also provides an electronic device, including a memory and a processor, wherein the memory is used to store information including program instructions, and the processor is used to control the execution of the program instructions. When the program instructions are loaded and executed by the processor, the steps of the embodiment of the above-mentioned radar detection method are implemented. For a specific description, please refer to the embodiment of the above-mentioned radar detection method.

[0085] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0086] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0087] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0088] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (Processor) to perform some steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program codes.

[0089] The specific embodiments described above further illustrate the purpose, technical solutions and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. It is particularly pointed out that for those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. A radar detection method, characterized in that: include: Determining, according to a current motion state of the vehicle, a plurality of radars on the vehicle that participate in polling; The plurality of radars are grouped to control the radars in each group to detect obstacles in parallel.

2. A radar detection method according to claim 1, characterized in that: The step of determining, according to the current motion state of the vehicle, a plurality of radars on the vehicle that participate in polling includes: When the vehicle is currently in a moving state, it is determined that a plurality of front radars installed on the vehicle participate in polling.

3. A radar detection method according to claim 1, characterized in that: The step of determining, according to the current motion state of the vehicle, a plurality of radars on the vehicle that participate in polling includes: When the vehicle is currently in a reversing state, it is determined that a plurality of rear radars installed on the vehicle participate in polling.

4. A radar detection method according to any one of claims 2 to 3, characterized in that: The step of determining, according to the current motion state of the vehicle, a plurality of radars on the vehicle that participate in polling includes: When the vehicle is currently in a parking state, it is determined that neither the front radar nor the rear radar participates in polling.

5. A radar detection method according to claim 1, characterized in that: The grouping of the plurality of radars comprises: Obtaining the detection range and ultrasonic shape corresponding to each of the radars; The plurality of radars are divided into a plurality of groups according to the detection range and the ultrasonic wave shape, and a polling sequence corresponding to each group is generated; wherein the detection ranges of two radars in each group do not interfere with each other, and the ultrasonic wave shapes do not interfere with each other.

6. A radar detection method according to claim 1, characterized in that: The respectively controlling the radars in each group to detect obstacles in parallel comprises: controlling the plurality of radars in each group to transmit a first signal in parallel, and determining that the radar receives a second signal; controlling an alarm radar installed on the vehicle to transmit a third signal, and determining that the alarm radar receives a fourth signal; The position of the obstacle is acquired according to the fourth signal.

7. A radar detection method according to any one of claims 5 to 6, characterized in that: The respectively controlling the radars in each group to perform obstacle detection comprises: When the second signal or the fourth signal is not received or the position of the obstacle is acquired, the plurality of radars in the next group are controlled to detect obstacles in parallel according to the polling sequence.

8. A radar detection system, characterized in that: It includes a radar determination module and a radar detection module; The radar determination module is used to determine multiple radars on the vehicle that participate in polling according to the current motion state of the vehicle; The radar detection module is used to group the multiple radars to control the radars in each group to detect obstacles in parallel.

9. An electronic device, characterized in that: include: at least one processor; and a memory communicatively connected to at least one of the processors; wherein the memory stores instructions executable by at least one of the processors, and the instructions are executed by at least one of the processors so that at least one of the processors can execute a radar detection method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute a radar detection method according to any one of claims 1 to 7.

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