Radar layout optimization method and device

Abstract

The present application relates to a radar layout optimization method and device, characterized in that it includes the following steps: determining the longitudinal section layout model of the vehicle body and obtaining the layout height of the radar based on the longitudinal section layout model; establishing the transverse section layout model of the vehicle body at the layout height of the radar and determining the minimum blind area range and the layout position of the corner radar based on the vehicle body contour line under the transverse section layout model; under the transverse section layout model, performing radar pre-arrangement in each direction in turn and iteratively adjusting the radar pre-arrangement according to the vehicle body contour line and the field of view of the corner radar; determining the final radar layout parameters according to the iteratively adjusted results of the radar pre-arrangement in each direction and the minimum blind area range. The radar layout efficiency and accuracy can be improved and the radar layout amount can be saved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle sensor layout, and in particular to a radar layout optimization method and device. Background Art

[0002] In driverless cars or vehicles with intelligent network sensors, multiple types and quantities of sensors need to be deployed. Taking ultrasonic radar as an example, in order to ensure that the radar has no blind spots and can realize its own functions, ultrasonic radars are often deployed around the vehicle.

[0003] In the related technology, the number of ultrasonic radars is basically determined based on experience, and then the installation position and angle of the radar on the vehicle are determined according to the field of view requirements. This will make the radar layout work very cumbersome, and during the layout process, the layout plan will be unfeasible or field of view defects will occur due to blind spots in the radar field of view. In addition, the lack of scientific calculation and simulation in the layout plan, and the excessive number of radars will increase costs, which will also lead to unreasonable initial layout positions of the radars and design defects. At the same time, the use of adjustable fixtures to achieve the adjustable position and installation angle of the radar itself brings more inconvenience to the radar layout and design. As the freedom of the radar itself increases, the complexity of the entire layout work will also increase accordingly. Summary of the invention

[0004] The embodiments of the present invention provide a radar layout optimization method and device to improve the radar layout efficiency and accuracy and save radar deployment amount.

[0005] On the one hand, an embodiment of the present invention provides a radar layout optimization method, characterized in that it includes the steps of:

[0006] Determining a longitudinal cross-sectional layout model of the vehicle body and acquiring a layout height of the radar based on the longitudinal cross-sectional layout model;

[0007] Establishing a transverse cross-sectional layout model of the vehicle body at the arrangement height of the radar and determining the minimum blind area range and the arrangement position of the corner radar based on the vehicle body contour line under the transverse cross-sectional layout model;

[0008] Under the transverse cross-section layout model, radar pre-arrangement is performed in each direction in turn and the radar pre-arrangement is iteratively adjusted according to the vehicle body contour line and the field of view of the corner radar;

[0009] The final radar arrangement parameters are determined according to the iterative adjustment results of the radar pre-arrangements in each direction and the minimum blind area range.

[0010] In some embodiments, determining the longitudinal cross-sectional layout model of the vehicle body comprises the steps of:

[0011] The longitudinal section layout model of the vehicle body is constructed by taking the center axis direction of the vehicle body as the x-axis direction, the direction perpendicular to the ground as the z-axis direction, and the plane determined by the x-axis and the z-axis as the longitudinal section of the vehicle body;

[0012] The longitudinal section layout model is used to obtain the radar arrangement height according to the radar field of view curve fitted on the longitudinal section of the vehicle body.

[0013] In some embodiments, the step of obtaining the layout height of the radar based on the longitudinal cross-section layout model comprises the following steps:

[0014] Selecting a radar preset point at the front or rear of the vehicle, and fitting a radar field of view curve based on the radar preset point on the longitudinal section of the vehicle body;

[0015] Calculate the vertical distance between the lowest point in the radar field of view curve and the ground, and move the radar preset point along the z-axis direction so that the vertical distance between the lowest point and the ground is greater than or equal to a preset minimum height value;

[0016] The height of the radar preset point is taken as the layout height of the radar.

[0017] In some embodiments, before taking the height of the radar preset point as the deployment height of the radar, the method further includes:

[0018] The radar preset point is translated horizontally to the vehicle body contour line and it is determined whether the current radar field of view curve intersects with the vehicle body contour line, and if so, the height of the radar preset point is iterated until the current radar field of view curve does not intersect with the vehicle body contour line when the iterative radar preset point is translated horizontally to the vehicle body contour line;

[0019] The iteration includes at least one height increase, and each height increase is to move the radar preset point up by a unit threshold along the z-axis direction;

[0020] The radar preset point needs to be horizontally moved to the vehicle body contour line each time the height is moved up and it is determined whether the current radar field of view curve intersects with the vehicle body contour line.

[0021] In some embodiments, the step of establishing a transverse cross-sectional layout model of a vehicle body at the arrangement height of the radar comprises the steps of:

[0022] Taking a plane parallel to the ground at the arrangement height of the radar as the transverse section of the vehicle body, and constructing the transverse section layout model based on the transverse section;

[0023] The transverse section layout model is used to determine the layout parameters of the radar according to the radar field of view curve fitted on the transverse section.

[0024] In some embodiments, determining the minimum blind spot range and the layout position of the corner radar based on the vehicle body contour line under the transverse cross-section layout model comprises the steps of:

[0025] Expanding the preset blind zone threshold along the transverse section based on the vehicle body contour line to determine the minimum blind zone range of radar detection;

[0026] A quadrilateral is determined according to the maximum coordinate point and the minimum coordinate point of the vehicle body contour line on the x-axis and the y-axis respectively, and the intersection point of the diagonal line of the quadrilateral and the vehicle body contour line is used as the layout point of the corner radar.

[0027] In some embodiments, the directions are directions of four sides of the quadrilateral, and radar pre-deployment is performed in any designated direction of the directions and the radar pre-deployment is iteratively adjusted according to the vehicle body contour line and the field of view of the corner radar, including the steps of:

[0028] In the specified direction, pre-arrange an initial number of radars at preset intervals on the vehicle body contour line in an axisymmetric manner;

[0029] If the field of view curve of the pre-arranged radar does not intersect with the field of view curve of the corner radar, the number of pre-arranged radars is increased by one and the pre-arrangement is performed again;

[0030] If the field of view curve of the pre-deployed radar intersects with the field of view curve of the corner radar, it is further determined whether the field of view curve of the pre-deployed radar intersects with the vehicle body contour line; if so, iteratively adjusting the position of the pre-deployed radar so that the field of view curve of the pre-deployed radar after the iterative position adjustment intersects with the field of view curve of the corner radar and does not intersect with the vehicle body contour line;

[0031] The iterative adjustment includes at least one position movement, wherein the position movement is to move the pre-deployed radar along the vehicle body contour line in the opposite direction of the intersection by a unit threshold, and after each position movement, re-determine whether the field of view curve of the pre-deployed radar intersects with the field of view curve of the corner radar;

[0032] The pre-arrangement mode after iterative adjustment is used as the result of iterative adjustment in the specified direction.

[0033] In some embodiments, determining the final radar arrangement parameters according to the iterative adjustment results of the radar pre-arrangements in each direction and the minimum blind area range comprises the steps of:

[0034] Determine whether there is an intersection point outside the minimum blind zone among the intersection points of the field of view curves between the corner radars; if not, use the number, arrangement position and posture of the pre-arranged radars in the result of iterative adjustment in each direction as the final radar arrangement parameters; if yes, start the counter and adjust the corner radar, and after each adjustment of the corner radar, increment the counter by one and re-determine whether there is an intersection point outside the minimum blind zone among the intersection points of the field of view curves between the corner radars;

[0035] If the counter count exceeds the preset threshold and it is determined that there is an intersection outside the minimum blind area, the number of radars in the corresponding direction is increased by one and marked as Class II, and the radar pre-arrangement in the direction is re-performed and the radar pre-arrangement is iteratively adjusted according to the vehicle body contour line and the field of view of the corner radar;

[0036] The adjusting angle radar refers to swinging the angle radar corresponding to the intersection point outside the minimum blind area toward the intersection point by a unit threshold to increase the horizontal angle.

[0037] In some embodiments, in the direction marked with the second type of adjustment, if the counter count exceeds a preset threshold and the intersection points of the field of view curves between the corner radars are outside the minimum blind spot range, it is determined that there is an unavoidable blind spot and an alarm is issued.

[0038] On the other hand, an embodiment of the present invention provides a device, characterized in that the device includes: at least one processor; and a memory coupled to the at least one processor, the memory containing instructions stored therein, and the instructions are loaded and executed by the processor to implement any method described in the aforementioned method embodiments.

[0039] The embodiment of the present invention provides a radar layout optimization method and device, which standardizes, automates and intelligentizes the entire radar layout process, can more quickly arrange radars, and feedback the final results. During the layout process, the minimum number of radars that meet the field of view requirements is determined through iterative adjustment, thereby reducing industrial costs. At the same time, the problem of radar detection blind spots can be intelligently solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0041] Figure 1 A schematic diagram of a flow chart of a radar layout optimization method provided by an embodiment of the present invention;

[0042] Figure 2 A schematic diagram of a longitudinal cross-sectional layout model provided by an embodiment of the present invention;

[0043] Figure 3 , 4 A schematic diagram of a horizontal cross-sectional layout model provided by an embodiment of the present invention;

[0044] Figure 5 A schematic diagram of a flow chart of a radar layout optimization method provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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.

[0046] like Figure 1 As shown, an embodiment of the present invention provides a radar layout optimization method, which includes the steps of:

[0047] S100: determining a longitudinal cross-sectional layout model of the vehicle body and acquiring a layout height of the radar based on the longitudinal cross-sectional layout model;

[0048] S200: establishing a transverse cross-sectional layout model of the vehicle body at the arrangement height of the radar and determining a minimum blind spot range and an arrangement position of a corner radar based on a vehicle body contour line under the transverse cross-sectional layout model;

[0049] S300: Under the transverse cross-section layout model, pre-arrange radars in each direction in turn and iteratively adjust the pre-arrangement of the radars according to the vehicle body contour and the field of view of the corner radars;

[0050] S400: Determine final radar arrangement parameters according to the iterative adjustment results of the radar pre-arrangements in each direction and the minimum blind area range.

[0051] It should be noted that the radar described in the embodiments of the present invention includes: ultrasonic or millimeter wave radar, but is not applicable to laser radar.

[0052] The embodiment of the present invention provides a radar layout optimization method and device, which standardizes, automates and intelligentizes the entire radar layout process, can more quickly arrange radars, and feedback the final results. During the layout process, the minimum number of radars that meet the field of view requirements is determined through iterative adjustment, thereby reducing industrial costs. At the same time, the problem of radar detection blind spots can be intelligently solved.

[0053] like Figure 2 As shown, in some embodiments, when determining the longitudinal section layout model of the vehicle body in S100, the longitudinal section layout model of the vehicle body is constructed with the center axis direction of the vehicle body as the x-axis direction, the direction perpendicular to the ground as the z-axis direction, and the plane determined by the x-axis and the z-axis as the longitudinal section of the vehicle body. The longitudinal section layout model is used to obtain the radar layout height according to the radar field of view curve fitted on the longitudinal section of the vehicle body.

[0054] In some embodiments, obtaining the layout height of the radar based on the longitudinal cross-section layout model in S100 includes the following steps:

[0055] S110: selecting a radar preset point at the front or rear of the vehicle, and fitting a radar field of view curve based on the radar preset point on the longitudinal cross section of the vehicle body;

[0056] S120: Calculate the vertical distance between the lowest point in the radar field of view curve and the ground, and move the radar preset point along the z-axis direction so that the vertical distance between the lowest point and the ground is greater than or equal to a preset minimum height value;

[0057] S130: Taking the height of the radar preset point as the deployment height of the radar.

[0058] like Figure 2 As shown, the preset minimum height value is a, which needs to satisfy that the lowest point of the radar field of view curve at the radar arrangement height is higher than a.

[0059] It should be noted that the radar preset point is moved in S120 by fitting the line of sight curve equation under the radar field of view in the longitudinal section layout model and then moving the curve equation up and down, that is, the movement of the curve equation is realized by an algorithm to determine the movement of the radar preset point in the actual scene, rather than directly moving the radar preset point from the actual scene.

[0060] Furthermore, before S130, the radar preset point can also be translated horizontally to the vehicle body contour line and determine whether the current radar field of view curve intersects with the vehicle body contour line. If so, the height of the radar preset point is iterated until the current radar field of view curve does not intersect with the vehicle body contour line when the iterated radar preset point is translated horizontally to the vehicle body contour line; wherein, the iteration includes at least one height increase, and each height increase is to move the radar preset point up by a unit threshold in the z-axis direction; after each height increase, the radar preset point needs to be translated horizontally to the vehicle body contour line again and determine whether the current radar field of view curve intersects with the vehicle body contour line.

[0061] It is understandable that in this embodiment, further optimization and adjustment is performed based on the radar preset point height determined in S120, taking into account the irregularity of the vehicle body contour, resulting in the problem that the radar's field of view curve may be blocked by the vehicle body when the radar is deployed at this height.

[0062] In some embodiments, when establishing the transverse section layout model of the vehicle body at the layout height of the radar in S200, a plane parallel to the ground at the layout height of the radar is taken as the transverse section of the vehicle body, and the transverse section layout model is constructed with the transverse section; wherein the transverse section layout model is used to determine the layout parameters of the radar according to the radar field of view curve fitted on the transverse section.

[0063] It is understandable that if Figure 3 As shown, at the arrangement height determined in S100, the plane defined by the x and y axes is the transverse cross section of the vehicle body.

[0064] like Figure 3 As shown, in some embodiments, determining the minimum blind spot range and the layout position of the corner radar based on the vehicle body contour line under the transverse cross-sectional layout model in S200 includes the steps of:

[0065] S210: Expanding a preset blind zone threshold along the transverse cross section based on the vehicle body contour line to determine a minimum blind zone range for radar detection;

[0066] S220: Determine a quadrilateral according to the maximum coordinate point and the minimum coordinate point of the vehicle body contour line on the x-axis and the y-axis respectively, and use the intersection point of the diagonal line of the quadrilateral and the vehicle body contour line as the layout point of the corner radar.

[0067] In some embodiments, each direction in S300 is a direction where four sides of the quadrilateral determined in S220 are located, and radar pre-deployment is performed in any specified direction in each direction and the radar pre-deployment is iteratively adjusted according to the vehicle body contour line and the field of view of the corner radar, including the steps of:

[0068] S310: pre-arrange an initial number of radars in an axisymmetric manner on the vehicle body contour line at preset intervals in the specified direction;

[0069] S320: If the field of view curve of the pre-deployed radar does not intersect with the field of view curve of the corner radar, increase the number of pre-deployed radars by one and perform the pre-deployment again;

[0070] S330: If the field of view curve of the pre-deployed radar intersects with the field of view curve of the corner radar, further determine whether the field of view curve of the pre-deployed radar intersects with the vehicle body contour line; if so, perform iterative position adjustment on the pre-deployed radar so that the field of view curve of the pre-deployed radar after the iterative position adjustment intersects with the field of view curve of the corner radar and does not intersect with the vehicle body contour line;

[0071] The iterative adjustment includes at least one position movement, wherein the position movement is to move the pre-deployed radar along the vehicle body contour line in the opposite direction of the intersection by a unit threshold, and after each position movement, re-determine whether the field of view curve of the pre-deployed radar intersects with the field of view curve of the corner radar;

[0072] S340: Using the iteratively adjusted pre-arrangement mode as the result of the iterative adjustment in the specified direction.

[0073] It should be noted that if Figure 4 As shown in the figure, when the radar is pre-arranged in the direction in front of the vehicle, L is the preset interval; if the field of view curve of the pre-arranged radar does not intersect with the field of view curve of the corner radar, it is judged that a detection blind spot has appeared. At this time, the number of radars is increased and then the pre-arrangement is carried out again.

[0074] Preferably, only the pre-deployed radars closest to the two side corner radars are selected for the determination in S320.

[0075] It can be understood that according to the method of pre-arranging radars in any specified direction in S300 and obtaining the results of iterative adjustment, all directions (four directions) of the vehicle body are pre-arranged in turn and the results of the pre-arrangement are obtained before entering the subsequent step S400.

[0076] In some embodiments, S400 includes the steps of:

[0077] S410: Determine whether there is an intersection point outside the minimum blind area among the intersection points of the field of view curves between the corner radars; if not, use the number, arrangement position and posture of the pre-arranged radars in the result of iterative adjustment in each direction as the final radar arrangement parameters; if yes, start the counter and adjust the corner radar, and after each adjustment of the corner radar, increment the counter by one and re-determine whether there is an intersection point outside the minimum blind area among the intersection points of the field of view curves between the corner radars;

[0078] S420: if the counter count exceeds the preset threshold and it is determined that there is an intersection outside the minimum blind area, the number of radars in the corresponding direction is increased by one and marked as Class II, and the radar pre-deployment in the direction is re-performed after adjustment, and the radar pre-deployment is iteratively adjusted according to the vehicle body contour line and the field of view of the corner radar;

[0079] The adjusting angle radar refers to swinging the angle radar corresponding to the intersection point outside the minimum blind area toward the intersection point by a unit threshold to increase the horizontal angle.

[0080] In some embodiments, in the direction marked with the second type of adjustment, if the counter count exceeds a preset threshold and the intersection points of the field of view curves between the corner radars are outside the minimum blind spot range, it is determined that there is an unavoidable blind spot and an alarm is issued.

[0081] In a specific embodiment, taking ultrasonic radar as an example, in order to arrange it around the vehicle, the following arrangement parameters need to be determined: the number of radars; the basic coordinates of the radar in the vehicle coordinate system, i.e., the x, y, z values; the initial horizontal angle of the radar relative to the field of view itself (the vertical pitch angle, which defaults to 0 degrees, and the rotation direction along the field of view centerline defaults to the radar's own factory parameters); the radar's own adjustment structure parameters: displacement, pitch angle, and horizontal angle. Figure 5 As shown, the specific arrangement method includes:

[0082] A. Determine the height (z-axis coordinate value) of the radar layout based on the longitudinal cross-section layout model;

[0083] B. Based on the height of the radar layout, other parameters of the radar layout are determined in the longitudinal cross-sectional layout model, including the minimum scientific number of radars, the vehicle coordinate x and y axis coordinate values ​​of each radar, and the horizontal angle.

[0084] It can be understood that the radar layout optimization method provided in the embodiment of the present invention can be calculated and simulated through a mobile terminal. At the beginning of the layout model calculation, the three-dimensional model of the outer surface of the whole vehicle and the three-dimensional model of the whole set of adjustable radar devices (with field of view) can be input into the mobile terminal for storage.

[0085] It should be noted that after step B, other algorithm models can be further optimized to adjust the radar state that meets the field of view requirements, and finally feedback the parameters of the self-regulation mechanism of each radar that needs to be adjusted. After that, the number and position parameters of all radars can be summarized and output, and the corresponding model and field of view can be displayed on the mobile terminal display interface.

[0086] Further to step A, it includes:

[0087] A1: Establish a coordinate system based on the longitudinal section of the vehicle body, and fit the radar lower field of view curve so that the radar field of view point is parallel to the ground line;

[0088] A2: Find the z coordinate of the lowest point of the field of view curve under the radar field of view point, and move the radar field of view curve so that the z coordinate satisfies the requirement of being at least a higher than the ground line;

[0089] A3: Calculate the horizontal distance b between the vehicle body contour and the field of view point, and move the radar curve left / right by b;

[0090] A4: Check whether the radar curve intersects with the vehicle body contour. If so, move the radar up by δ and jump to A3. Otherwise, feedback the final radar height and enter step B.

[0091] It can be understood that under the longitudinal section layout model, the section on the center axis of the vehicle body (y is 0) can be used as the basis to calculate the field of view layout of the front and rear radars; the intersection of the rear of the vehicle and the ground line can be used as the origin, the radar field of view point is made to coincide with the origin, the line of sight curve equation under the radar field of view is fitted, and the z-axis coordinate value of the lowest point of the curve equation is solved; the curve equation is moved up until the solved z-axis is higher than the minimum ground detection height a; finally, the curve equation is moved right or left until the field of view point coincides with the vehicle body curve, and further judgment is made as to whether the radar curve intersects with the vehicle body contour.

[0092] After the z value is determined, the cross-sectional radar layout model is entered, such as Figure 3 , 4 As shown, taking one position of the vehicle as an example, there are four positions in total: front, back, left, and right.

[0093] After entering Part B, it includes:

[0094] B1: Make a transverse section of the vehicle body at the height of z value, establish a coordinate system, and expand the vehicle outline m (minimum blind area range);

[0095] B2: Fitting the radar lateral field of view curve, initially limiting the initial number of radars in the front, rear, left and right directions;

[0096] B3: Determine a rectangle with the vehicle's Xmax, Xmin, Ymax, and Ymin as boundaries, and find the intersection of its diagonal and the vehicle's outline. Arrange 4 radars to coincide with the intersection;

[0097] B4: Determine whether the four positions have been pre-arranged. If so, proceed to B5. If not, proceed to B4.1.

[0098] B4.1: Pre-arrange the designated positions. During pre-arrangement, the interval L value is evenly distributed on the body contour with axis symmetry. The number is the initial number.

[0099] B4.2: Find out whether the radar field of view curves on both sides intersect with the corner radar field of view curve. If not, increase the number of radars by 1 and return to B4.1. If yes, proceed to B4.3

[0100] B4.3: Determine whether the radar field of view curve intersects with the vehicle body contour. If so, move δ in the opposite direction of the intersection point along the vehicle body contour and enter B4.2. If not, enter B4.4.

[0101] B4.4: Whether the intersection of the radar field of view curve on both sides and the corner radar field of view curve is within the minimum blind area line. If not, record the log: there is a detection blind area in this direction and return to B4. If yes, record the log: the arrangement in this direction has been completed and return to B4.

[0102] B5: Does the intersection point between the angle radar field of view curves exist outside the minimum blind area line? If so, proceed to B6; if not, it is considered that the radar arrangement adjustment of part B is completed, and the final parameters are provided for subsequent processing (including relevant steps of terminal display, etc.);

[0103] B6: Determine whether the counter reaches the threshold value N. If so, make the angle radar swing δ toward the intersection to increase the horizontal angle, and add 1 to the counter and return to B5; if not, go to B7;

[0104] B7: Determine whether it is a Class II adjustment (i.e. check whether there is a mark indicating Class II adjustment in the adjustment in this direction). If so, it is judged as Error: there is an inevitable blind spot in the radar layout, please accept it or change the shape; if not, add 1 to the number of radars in this direction, mark it as a Class II adjustment, and return to B4.1 to iteratively adjust the radar pre-layout in this direction.

[0105] After the above two layout models A and B, the number of all deployed ultrasonic radars, the coordinate position of each radar, and the horizontal angle are basically determined. The radar coordinates are then replaced with the vehicle coordinate values ​​through coordinate transformation. After the judgment of no in B5, the ultrasonic radar can be arranged under the three-dimensional model of the whole vehicle according to the position parameters, enter the three-dimensional layout model, and start the one-key layout optimization function. If the optimization test is successful, the three-dimensional model of the whole vehicle and the ultrasonic field of view model will be displayed on the mobile terminal control display interface, and the final vehicle coordinates, initial horizontal angle, radar adjustment structure parameters of each radar device: displacement, pitch angle and horizontal angle will be output in the parameter display module, and a layout parameter guidance report will be issued.

[0106] It is understandable that in the embodiment of the present invention, the overall arrangement process of the radar is disassembled into a longitudinal arrangement stage, a transverse arrangement stage, and an overall adjustment stage, and the number and position parameters of the radar are finally determined. In the transverse arrangement stage, the four corner radars are first determined, and by judging whether there is a detection blind spot and whether the field of view is blocked by the vehicle body, iterative adjustments are continuously performed to achieve the optimal algorithm and ensure the minimum number of radars. At the same time, after the four azimuth radars are arranged, two rounds of overall inspection are performed, and the δ value of the diagonal radar is iteratively adjusted to complete the overall transverse section arrangement.

[0107] The beneficial effects of the embodiments of the present invention include:

[0108] Not limited by the boundaries of the vehicle body and the styling environment, the radar layout process can be simplified. At the same time, the minimum number of radars required can be determined quickly and conveniently, solving the problem in related technologies that the number of radars used is determined based on experience at the beginning of the layout and the layout plan cannot be optimized. At the same time, considering that the area or sensor needs to be adjusted during the configuration process, the problem in related technologies that the configuration area is demarcated from the beginning, resulting in the possibility of unresolved detection blind spots in the subsequent configuration process, is solved.

[0109] On the other hand, an embodiment of the present invention provides a device, characterized in that the device includes: at least one processor; and a memory coupled to the at least one processor, the memory containing instructions stored therein, and the instructions are loaded and executed by the processor to implement any method described in the aforementioned method embodiments.

[0110] It will be appreciated by those skilled in the art that all or some of the steps, systems, and functional modules / units in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. In a hardware implementation, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed by several physical components in cooperation. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or may be implemented as hardware, or may be implemented as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable storage medium, which may include a computer-readable storage medium (or a non-transitory medium) and a communication medium (or a transient medium).

[0111] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper" and "lower" is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. Unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be internal communication between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0112] It should be noted that, in the present invention, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0113] The foregoing is merely a specific embodiment of the present invention, which enables those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A radar layout optimization method, characterized in that: It includes the steps of: Determining a longitudinal cross-sectional layout model of the vehicle body and acquiring a layout height of the radar based on the longitudinal cross-sectional layout model; Establishing a transverse cross-sectional layout model of the vehicle body at the arrangement height of the radar and determining the minimum blind area range and the arrangement position of the corner radar based on the vehicle body contour line under the transverse cross-sectional layout model; Under the transverse cross-section layout model, radar pre-arrangement is performed in each direction in turn and the radar pre-arrangement is iteratively adjusted according to the vehicle body contour line and the field of view of the corner radar; Determine the final radar arrangement parameters according to the iterative adjustment results of the radar pre-arrangements in each direction and the minimum blind area range; The step of establishing a transverse cross-sectional layout model of the vehicle body at the arrangement height of the radar comprises the following steps: Taking a plane parallel to the ground at the arrangement height of the radar as the transverse section of the vehicle body, and constructing the transverse section layout model based on the transverse section; The transverse section layout model is used to determine the layout parameters of the radar according to the radar field of view curve fitted on the transverse section; Determining the minimum blind spot range and the layout position of the corner radar based on the vehicle body contour line under the transverse cross-section layout model comprises the following steps: Expanding the preset blind zone threshold along the transverse section based on the vehicle body contour line to determine the minimum blind zone range of radar detection; Determine a quadrilateral according to the maximum coordinate point and the minimum coordinate point of the vehicle body contour line on the x-axis and the y-axis respectively, and use the intersection of the diagonal line of the quadrilateral and the vehicle body contour line as the layout point of the corner radar; The directions are directions where the four sides of the quadrilateral are located, and radar pre-arrangement is performed in any designated direction of the directions, and the radar pre-arrangement is iteratively adjusted according to the vehicle body contour line and the field of view of the corner radar, including the steps of: In the specified direction, pre-arrange an initial number of radars at preset intervals on the vehicle body contour line in an axisymmetric manner; If the field of view curve of the pre-arranged radar does not intersect with the field of view curve of the corner radar, the number of pre-arranged radars is increased by one and the pre-arrangement is performed again; If the field of view curve of the pre-deployed radar intersects with the field of view curve of the corner radar, it is further determined whether the field of view curve of the pre-deployed radar intersects with the vehicle body contour line; if so, iteratively adjusting the position of the pre-deployed radar so that the field of view curve of the pre-deployed radar after the iterative position adjustment intersects with the field of view curve of the corner radar and does not intersect with the vehicle body contour line; The iterative adjustment includes at least one position movement, wherein the position movement is to move the pre-deployed radar along the vehicle body contour line in the opposite direction of the intersection by a unit threshold, and after each position movement, re-determine whether the field of view curve of the pre-deployed radar intersects with the field of view curve of the corner radar; The pre-arrangement mode after iterative adjustment is used as the result of iterative adjustment in the specified direction; The method of determining the final radar arrangement parameters according to the iterative adjustment results of the radar pre-arrangements in each direction and the minimum blind area range comprises the following steps: Determine whether there is an intersection point outside the minimum blind zone among the intersection points of the field of view curves between the corner radars; if not, use the number, layout position and posture of the pre-deployed radars in the result of iterative adjustment in each direction as the final radar layout parameters; if yes, start the counter and adjust the corner radar, and after each adjustment of the corner radar, increment the counter by one and re-determine whether there is an intersection point outside the minimum blind zone among the intersection points of the field of view curves between the corner radars; If the counter count exceeds the preset threshold and it is determined that there is an intersection outside the minimum blind area, the number of radars in the corresponding direction is increased by one and marked as Class II, and the radar pre-arrangement in the direction is re-performed and the radar pre-arrangement is iteratively adjusted according to the vehicle body contour line and the field of view of the corner radar; The adjusting angle radar refers to swinging the angle radar corresponding to the intersection point outside the minimum blind area toward the intersection point by a unit threshold to increase the horizontal angle.

2. A radar layout optimization method as claimed in claim 1, characterized in that: The method of determining the longitudinal cross-sectional layout model of the vehicle body comprises the following steps: The longitudinal section layout model of the vehicle body is constructed by taking the center axis direction of the vehicle body as the x-axis direction, the direction perpendicular to the ground as the z-axis direction, and the plane determined by the x-axis and the z-axis as the longitudinal section of the vehicle body; The longitudinal section layout model is used to obtain the radar arrangement height according to the radar field of view curve fitted on the longitudinal section of the vehicle body.

3. A radar layout optimization method as claimed in claim 2, characterized in that: The step of obtaining the radar arrangement height based on the longitudinal cross-section layout model comprises the following steps: Selecting a radar preset point at the front or rear of the vehicle, and fitting a radar field of view curve based on the radar preset point on the longitudinal section of the vehicle body; Calculate the vertical distance between the lowest point in the radar field of view curve and the ground, and move the radar preset point along the z-axis direction so that the vertical distance between the lowest point and the ground is greater than or equal to a preset minimum height value; The height of the radar preset point is taken as the layout height of the radar.

4. A radar layout optimization method as claimed in claim 3, characterized in that: Before taking the height of the radar preset point as the arrangement height of the radar, the method further includes: The radar preset point is translated horizontally to the vehicle body contour line and it is determined whether the current radar field of view curve intersects with the vehicle body contour line, and if so, the height of the radar preset point is iterated until the current radar field of view curve does not intersect with the vehicle body contour line when the iterative radar preset point is translated horizontally to the vehicle body contour line; The iteration includes at least one height increase, and each height increase is to move the radar preset point up by a unit threshold along the z-axis direction; The radar preset point needs to be horizontally moved to the vehicle body contour line each time the height is moved up and it is determined whether the current radar field of view curve intersects with the vehicle body contour line.

5. A radar layout optimization method as claimed in claim 1, characterized in that: In the direction marked with the second type of adjustment, if the counter count exceeds a preset threshold and the intersection points of the field of view curves between the corner radars are outside the minimum blind area, it is determined that there is an unavoidable blind area and an alarm is issued.

6. A device, characterized in that: The device comprises: at least one processor; and a memory coupled to the at least one processor, wherein the memory contains instructions stored therein, and the instructions are loaded and executed by the processor to implement the method according to any one of claims 1 to 5.

Images