Vehicle radar system and ranging method, device, vehicle and medium based thereon

Abstract

The present invention discloses a vehicle radar system and a distance measurement method, device, vehicle and medium based thereon. The method comprises: determining the number of vehicle-mounted radars at a target position; when the number is less than a preset value, controlling all the vehicle-mounted radars at the target position to perform transceiver work, and using a clustering algorithm with a fixed window threshold to determine the distance between the vehicle-mounted radar and the obstacle, and using the distance between the vehicle-mounted radar and the obstacle as the distance between the vehicle and the obstacle; when the number is greater than or equal to the preset value, controlling any one of the vehicle-mounted radars at the target position to perform a transmission work, and all to perform a reception work, and using a clustering algorithm with a fixed window threshold to determine the distance between the vehicle-mounted radar and the obstacle, and using a triangulation positioning algorithm according to the distance between the vehicle-mounted radar and the obstacle to obtain the distance between the vehicle and the obstacle. This can adapt to different vehicle models, improve the efficiency of measurement, and ensure the accuracy of the measurement results.

Description

Technical Field

[0001] The present invention relates to the field of vehicle-mounted radar technology, and in particular to a vehicle radar system and a ranging method, device, vehicle and medium based thereon. Background Art

[0002] With the rapid development of science and technology, vehicle intelligence has become a trend. In related technologies, the distance between a vehicle and an obstacle can be determined based on a vehicle radar system, and a collision warning can be issued based on the distance between the vehicle and the obstacle. However, in the distance measurement method based on a vehicle radar system in related technologies, there are technical problems such as poor anti-interference ability of the vehicle radar system, poor applicability of the distance measurement method, and slow processing speed, which results in low efficiency and accuracy of the distance between the vehicle and the obstacle, or even the inability to measure the distance between the vehicle and the obstacle. Summary of the invention

[0003] The present invention aims to solve one of the technical problems in the related art at least to a certain extent. To this end, one object of the present invention is to propose a ranging method based on a vehicle radar system, which can adapt to different vehicle models, improve the efficiency of measurement, and ensure the accuracy of the measurement result.

[0004] A second object of the present invention is to provide a computer-readable storage medium.

[0005] A third object of the present invention is to provide a vehicle radar system.

[0006] A fourth object of the present invention is to provide a vehicle.

[0007] A fifth object of the present invention is to provide a ranging device based on a vehicle radar system.

[0008] To achieve the above-mentioned purpose, the first aspect of the embodiment of the present invention proposes a ranging method based on a vehicle radar system, the method comprising: determining the number of vehicle-mounted radars at the target position; when the number of vehicle-mounted radars at the target position is less than a preset value, controlling all the vehicle-mounted radars at the target position to perform sending and receiving operations, and using a clustering algorithm with a fixed window threshold to determine the distance between the vehicle-mounted radar and the obstacle, and using the distance between the vehicle-mounted radar and the obstacle as the distance between the vehicle and the obstacle; when the number of vehicle-mounted radars at the target position is greater than or equal to a preset value, controlling any one of the vehicle-mounted radars at the target position to perform sending operations, and all of them to perform receiving operations, and using a clustering algorithm with a fixed window threshold to determine the distance between the vehicle-mounted radar and the obstacle, and using a triangulation positioning algorithm based on the distance between the vehicle-mounted radar and the obstacle to obtain the distance between the vehicle and the obstacle.

[0009] According to the ranging method based on the vehicle radar system of the embodiment of the present invention, a corresponding ranging scheme is selected according to the number of vehicle-mounted radars at the target position of the vehicle, so as to be adaptable to different vehicle models, improve the measurement efficiency, and ensure the accuracy of the measurement results.

[0010] In some embodiments of the present invention, before all the vehicle-mounted radars controlling the target position perform sending and receiving operations, or before any one of the vehicle-mounted radars controlling the target position performs sending operations and all perform receiving operations, the method also includes: controlling the vehicle-mounted radars corresponding to the vehicle corners of the target position to only receive but not send, and determining whether all the vehicle-mounted radars corresponding to the vehicle corners have received echo data.

[0011] In some embodiments of the present invention, a clustering algorithm with a fixed window threshold is used to determine the distance between the vehicle-mounted radar and the obstacle, including: determining the fixed window threshold and determining the center point based on the received echo data; determining the effective distance within the fixed window based on the fixed window threshold and the center point; and determining the distance between the vehicle-mounted radar and the obstacle based on the effective distance within the fixed window.

[0012] In some embodiments of the present invention, determining the distance between the vehicle-mounted radar and the obstacle based on the effective distance within the fixed window includes: obtaining multiple groups of effective distances within the fixed windows; calculating the average value of the effective distances within each group of the fixed windows to obtain multiple average distances; and calculating the average value of the multiple average distances as the distance between the vehicle-mounted radar and the obstacle.

[0013] In some embodiments of the present invention, a triangulation positioning algorithm is used to obtain the distance between the vehicle and the obstacle according to the distance between the vehicle-mounted radar and the obstacle, including: determining the spacing of the vehicle-mounted radars at the target position; calculating the vertical distance of the line connecting the obstacle and the vehicle-mounted radar at the target position according to the distance between the vehicle-mounted radar and the obstacle, the spacing of the vehicle-mounted radars at the target position and the Pythagorean theorem, and using the calculation result as the distance between the vehicle and the obstacle.

[0014] In some embodiments of the present invention, the target position includes the head of the vehicle or the tail of the vehicle.

[0015] To achieve the above objectives, an embodiment of the second aspect of the present invention proposes a computer-readable storage medium, on which a ranging program based on a vehicle radar system is stored. When the program is executed by a processor, the ranging method based on a vehicle radar system described in any of the above embodiments is implemented.

[0016] According to the computer-readable storage medium of an embodiment of the present invention, a corresponding ranging scheme is selected according to the number of vehicle-mounted radars at the target position of the vehicle, thereby being able to adapt to different vehicle models, improve measurement efficiency, and ensure the accuracy of measurement results.

[0017] To achieve the above-mentioned purpose, an embodiment of the third aspect of the present invention proposes a vehicle radar system, which includes one or more processors and a memory, and the memory stores a ranging program based on the vehicle radar system. When the ranging program based on the vehicle radar system is executed by the processor, the ranging method based on the vehicle radar system described in any of the above-mentioned embodiments is implemented.

[0018] According to the vehicle radar system of the embodiment of the present invention, a corresponding ranging scheme is selected according to the number of vehicle-mounted radars at the target position of the vehicle, so that it can adapt to different vehicle models, improve the measurement efficiency, and ensure the accuracy of the measurement results.

[0019] To achieve the above-mentioned purpose, an embodiment of the fourth aspect of the present invention proposes a vehicle, which includes one or more processors and a memory, and the memory stores a ranging program based on a vehicle radar system. When the ranging program based on the vehicle radar system is executed by the processor, the ranging method based on the vehicle radar system described in any of the above-mentioned embodiments is implemented.

[0020] According to the vehicle of the embodiment of the present invention, a corresponding ranging scheme is selected according to the number of vehicle-mounted radars at the target position of the vehicle, thereby being able to adapt to different vehicle models, improve measurement efficiency, and ensure the accuracy of measurement results.

[0021] To achieve the above-mentioned purpose, the fifth aspect of the present invention proposes a distance measuring device based on a vehicle radar system, which includes a determination module, a first control module and a second control module. The determination module is used to determine the number of vehicle-mounted radars at the target position. The first control module is used to control all the vehicle-mounted radars at the target position to perform transceiver work when the number of vehicle-mounted radars at the target position is less than a preset value, and use a clustering algorithm with a fixed window threshold to determine the distance between the vehicle-mounted radar and the obstacle, and use the distance between the vehicle-mounted radar and the obstacle as the distance between the vehicle and the obstacle. The second control module is used to control any one of the vehicle-mounted radars at the target position to perform transmission work and all to perform reception work when the number of vehicle-mounted radars at the target position is greater than or equal to a preset value, and use a clustering algorithm with a fixed window threshold to determine the distance between the vehicle-mounted radar and the obstacle, and use a triangulation positioning algorithm based on the distance between the vehicle-mounted radar and the obstacle to obtain the distance between the vehicle and the obstacle.

[0022] According to the ranging device based on the vehicle radar system of the embodiment of the present invention, a corresponding ranging scheme is selected according to the number of vehicle-mounted radars at the target position of the vehicle, so as to be adaptable to different vehicle models, improve the measurement efficiency, and ensure the accuracy of the measurement results.

[0023] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a flow chart of a distance measurement method based on a vehicle radar system according to an embodiment of the present invention;

[0025] Figure 2 It is a distribution diagram of vehicle-mounted radar according to the related art;

[0026] Figure 3 is a flow chart of a distance measurement method based on a vehicle radar system according to an embodiment of the present invention;

[0027] Figure 4 is a flow chart of a distance measurement method based on a vehicle radar system according to an embodiment of the present invention;

[0028] Figure 5 is a flow chart of a distance measurement method based on a vehicle radar system according to an embodiment of the present invention;

[0029] Figure 6 is a flow chart of a distance measurement method based on a vehicle radar system according to an embodiment of the present invention;

[0030] Figure 7 is a flow chart of a distance measurement method based on a vehicle radar system according to an embodiment of the present invention;

[0031] Figure 8 is a flow chart of a distance measurement method based on a vehicle radar system according to an embodiment of the present invention;

[0032] Fig. 9 is a flow chart of a distance measurement method based on a vehicle radar system according to an embodiment of the present invention;

[0033] Fig.10 is a schematic diagram of a scene of a ranging method based on a vehicle radar system according to an embodiment of the present invention;

[0034] Fig.11 is a structural block diagram of a vehicle radar system according to an embodiment of the present invention;

[0035] Fig.12 is a structural block diagram of a vehicle according to an embodiment of the present invention;

[0036] Fig.13 4 is a structural block diagram of a distance measuring device based on a vehicle radar system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0037] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0038] See also Figure 1 The present invention proposes a ranging method based on a vehicle radar system, the method comprising:

[0039] S11: The number of vehicle-mounted radars that determine the target location;

[0040] S13: when the number of vehicle-mounted radars at the target position is less than a preset value, all the vehicle-mounted radars at the target position are controlled to perform transceiver work, and a clustering algorithm with a fixed window threshold is used to determine the distance between the vehicle-mounted radar and the obstacle, and the distance between the vehicle-mounted radar and the obstacle is used as the distance between the vehicle and the obstacle;

[0041] S15: When the number of vehicle-mounted radars at the target position is greater than or equal to a preset value, any one of the vehicle-mounted radars at the target position is controlled to perform sending work and all of them are controlled to perform receiving work, and a clustering algorithm with a fixed window threshold is used to determine the distance between the vehicle-mounted radar and the obstacle, and a triangulation positioning algorithm is used according to the distance between the vehicle-mounted radar and the obstacle to obtain the distance between the vehicle and the obstacle.

[0042] According to the ranging method based on the vehicle radar system of the embodiment of the present invention, a corresponding ranging scheme is selected according to the number of vehicle-mounted radars at the target position of the vehicle, so as to be adaptable to different vehicle models, improve the measurement efficiency, and ensure the accuracy of the measurement results.

[0043] It can be understood that for the in-loop autonomous driving test method based on Gaussian clustering in the related technology, although the Gaussian clustering algorithm is used for filtering, in the strong echo interference scenarios such as brake interference and keychain interference, inaccurate calculations will occur, resulting in false alarms of the in-loop radar and even safety problems; and this method is only applicable to certain specific scenarios of in-loop autonomous driving, not to all models; and the places that are not covered by the envelope between the two probes of this method are all blind spots; in addition, the Gaussian clustering algorithm needs to obtain the mean and standard deviation, which is relatively slow and complicated from the perspective of algorithm and application. That is, the in-loop autonomous driving test method based on Gaussian clustering has problems such as poor anti-interference ability, limited usage scenarios, large blind spots, low calculation speed, and complex calculation.

[0044] For the multi-probe universal automatic parking system and method in the related art, the strategy of using the vehicle-mounted radar probe to send multiple signals at once will cause all probes to work at the same time. In the strong echo interference scenarios such as brake interference and keychain interference, the interference will increase exponentially according to the number of probes. Moreover, in this scheme, the received echo data is not filtered. Although the vertical distance from the obstacle to the vehicle can be obtained, the vertical distance from the obstacle to the vehicle will deviate greatly from the actual distance due to the weak anti-interference ability of the system, resulting in a large deviation between the obtained vertical distance from the obstacle to the vehicle and the actual distance, thereby causing more false alarms of the vehicle-mounted radar. In addition, this scheme is only applicable to models with more than 4 vehicle-mounted radars at the front and rear, such as Figure 2 The vehicle models include 12 vehicle-mounted radars (UPA, APA). According to the models circulating in the market, the deployment of vehicle-mounted radars is basically in the front and rear of the vehicle. Taking the front of the vehicle as an example, if the number of vehicle-mounted radars in the front of the vehicle is less than 4, then there will be one vehicle-mounted radar in the left front and right front of the vehicle head, and then there will be one vehicle-mounted radar in the middle of the vehicle head, or even no vehicle-mounted radar in the middle. In this case, the measurable range of the vehicle-mounted radar and the angle problem of the corner vehicle-mounted radar will cause the solution to be completely unimplementable. That is, the universal automatic parking system and method based on multiple vehicle-mounted radars have extremely poor anti-interference ability, a large number of radar false alarms, and limited usage scenarios.

[0045] In an embodiment of the present invention, the ranging scheme is divided based on the number of vehicle-mounted radars at the target location, such as Figure 3 As shown, when the number of vehicle-mounted radars at the target position is less than the preset value, the full transmission and reception + clustering method is used for ranging, which can solve the problems of low computing speed and complex computing in the related technology, and can also solve the problem of limited usage scenarios in the related technology; when the number of vehicle-mounted radars at the target position is greater than or equal to the preset value, the one-transmit-multiple-receive + clustering + triangulation positioning method is used for ranging, which can solve the problem of large blind spots in the related technology, and can also solve the problem of a large number of false alarms in the related technology.

[0046] Specifically, the vehicle-mounted radar includes but is not limited to ultrasonic radar, laser radar, and millimeter wave radar. The vehicle is equipped with a vehicle-mounted radar. In some embodiments, the relevant data of the vehicle-mounted radar installed on the vehicle can be determined according to the vehicle model by reading the vehicle's local storage data, obtaining data through the Internet, and user active input. The relevant data includes but is not limited to the model of the vehicle-mounted radar, the installation location of the vehicle-mounted radar, the distance between any two vehicle-mounted radars, and the number of vehicle-mounted radars. After determining the relevant data of the vehicle-mounted radar installed on the vehicle, the number of vehicle-mounted radars at the target location can be determined according to the relevant data.

[0047] The working modes of the vehicle-mounted radar may include sending, receiving and not working. Controlling the vehicle-mounted radar to send can be understood as controlling the vehicle-mounted radar to send detection signals to the outside world (which can be in the form of ultrasonic waves, lasers or millimeter waves, etc.). Controlling the vehicle-mounted radar to receive can be understood as controlling the vehicle-mounted radar to receive echoes from the outside world (which can be detection signals reflected from obstacles or signals actively sent by other objects, etc.). Controlling the vehicle-mounted radar to send and receive can be understood as controlling the vehicle-mounted radar to send and receive in a preset order. Not working can be understood as neither sending nor receiving is performed.

[0048] In one embodiment, the preset value is 4. The number of vehicle-mounted radars at the target location is less than 4, that is, the number of vehicle-mounted radars at the target location may be 1, 2, or 3. The number of vehicle-mounted radars at the target location is greater than or equal to 4, that is, the number of vehicle-mounted radars at the target location may be 4, 5, 6, or other values ​​greater than 4.

[0049] It can be understood that when the number of vehicle-mounted radars at the target position is less than the preset value, the spacing between the vehicle-mounted radars is large, and the horizontal envelope coverage of each vehicle-mounted radar basically does not overlap. For example, the number of vehicle-mounted radars at the target position is 2. Usually, one of the two vehicle-mounted radars is installed at the left front corner of the vehicle, and the other of the two vehicle-mounted radars is installed at the right front corner of the vehicle. The vehicle-mounted radar at the left front corner detects obstacles in front of the left side of the vehicle, and the vehicle-mounted radar at the right front corner detects obstacles in front of the right side of the vehicle. At this time, if the vehicle-mounted radar at the left front corner is controlled to send and all are receiving, then only The vehicle-mounted radar at the left front corner can receive the echo reflected by the obstacle, while the vehicle-mounted radar at the right front corner basically cannot receive the echo reflected by the obstacle. In this way, it can only detect obstacles in the left front, but not in the right front, which poses a safety hazard. Therefore, when the number of vehicle-mounted radars at the target position is less than the preset value, all the vehicle-mounted radars at the target position are controlled to perform transceiver work. Then, when the vehicle-mounted radar at the left front corner and the vehicle-mounted radar at the right front corner are both performing transceiver work, they can detect obstacles in front of the left side of the vehicle and obstacles in front of the right side of the vehicle. Furthermore, since the horizontal envelope coverage of the vehicle-mounted radar at the left front corner and the vehicle-mounted radar at the right front corner basically do not overlap, the vehicle-mounted radar at the left front corner will not misjudge the distance between the obstacle at the right front and the vehicle due to detecting an obstacle at the right front, and the vehicle-mounted radar at the right front corner will not misjudge the distance between the obstacle at the left front and the vehicle due to detecting an obstacle at the left front. Therefore, when the number of vehicle-mounted radars at the target position is less than the preset value, the distance between the vehicle-mounted radar and the obstacle can be directly used as the distance between the vehicle and the obstacle.

[0050] When the number of vehicle-mounted radars at the target location is greater than or equal to the preset value, the distance between the vehicle-mounted radars is small, and the horizontal envelope coverage of at least two adjacent vehicle-mounted radars has an overlapping area, which greatly reduces the blind area between the two adjacent vehicle-mounted radars, and can control any one of the vehicle-mounted radars at the target location to perform sending work, and all of them to perform receiving work. Furthermore, since the same obstacle may be detected by at least two vehicle-mounted radars, and the distances between the same obstacle and the at least two vehicle-mounted radars are not the same, at this time, if the distance between the vehicle-mounted radar and the obstacle is directly used as the distance between the vehicle and the obstacle, it will result in multiple distances between the same obstacle and the vehicle, which is inconsistent with the actual situation, cannot well reflect the real situation of the obstacle, and may cause false alarms. For example, the number of vehicle-mounted radars at the target location is 4, namely the first radar, the second radar, the third radar and the fourth radar. The first radar is installed at the left front corner of the vehicle, the fourth radar is installed at the right front corner of the vehicle, the second radar and the third radar are installed between the first radar and the fourth radar, and the second radar is located between the first radar and the third radar. The first radar detects obstacles in front of the left side of the vehicle, and the fourth radar detects obstacles in front of the right side of the vehicle. The second radar and the third radar can detect obstacles within a certain range in front of the left side of the vehicle and can also detect obstacles within a certain range in front of the right side of the vehicle. For a certain obstacle in front of the left side of the vehicle, the distance between it and the first radar may be 2 meters, the distance between it and the first radar may be 2.2 meters, and the distance between it and the first radar may be 2.5 meters. Therefore, when the number of vehicle-mounted radars at the target location is greater than or equal to the preset value, the distance between the vehicle and the obstacle is obtained by using the triangulation positioning algorithm according to the distance between the vehicle-mounted radar and the obstacle.

[0051] In some embodiments of the present invention, the target position includes the head of the vehicle or the rear of the vehicle. In this way, a ranging solution can be provided according to the number of vehicle-mounted radars at the head of the vehicle and the number of vehicle-mounted radars at the rear of the vehicle. In other words, the vehicle-mounted radars at the head of the vehicle and the rear of the vehicle work independently.

[0052] When the number of on-board radars at the head of the vehicle is less than a preset value, all the on-board radars at the head of the vehicle are controlled to perform sending and receiving operations, and a clustering algorithm with a fixed window threshold is used to determine the distance between the on-board radar at the head of the vehicle and the obstacle, and the distance between the on-board radar at the head of the vehicle and the obstacle is used as the distance between the vehicle and the obstacle; when the number of on-board radars at the head of the vehicle is greater than or equal to a preset value, any one of the on-board radars at the head of the vehicle is controlled to perform sending operations, and all of them are controlled to perform receiving operations, and a clustering algorithm with a fixed window threshold is used to determine the distance between the on-board radar at the head of the vehicle and the obstacle, and a triangulation positioning algorithm is used according to the distance between the on-board radar at the head of the vehicle and the obstacle to obtain the distance between the vehicle and the obstacle.

[0053] Similarly, when the number of on-board radars at the rear of the vehicle is less than a preset value, all of the on-board radars at the rear of the vehicle are controlled to perform sending and receiving operations, and a clustering algorithm with a fixed window threshold is used to determine the distance between the on-board radar at the rear of the vehicle and the obstacle, and the distance between the on-board radar at the rear of the vehicle and the obstacle is used as the distance between the vehicle and the obstacle; when the number of on-board radars at the rear of the vehicle is greater than or equal to a preset value, any one of the on-board radars at the rear of the vehicle is controlled to perform sending operations, and all of them are controlled to perform receiving operations, and a clustering algorithm with a fixed window threshold is used to determine the distance between the on-board radar at the rear of the vehicle and the obstacle, and a triangulation positioning algorithm is used based on the distance between the on-board radar at the rear of the vehicle and the obstacle to obtain the distance between the vehicle and the obstacle.

[0054] In an example, the preset value is 4, the number of on-board radars at the front of the vehicle is 2, and the number of on-board radars at the rear of the vehicle is 4. Then, the two on-board radars at the front of the vehicle are controlled to perform sending and receiving operations, and a clustering algorithm with a fixed window threshold is used to determine the distance between the on-board radar at the front of the vehicle and the obstacle, and the distance between the on-board radar at the front of the vehicle and the obstacle is used as the distance between the vehicle and the obstacle; any one of the four on-board radars at the rear of the vehicle is controlled to perform sending operations, and all of them perform receiving operations, and a clustering algorithm with a fixed window threshold is used to determine the distance between the on-board radar at the rear of the vehicle and the obstacle, and a triangulation positioning algorithm is used based on the distance between the on-board radar at the rear of the vehicle and the obstacle to obtain the distance between the vehicle and the obstacle.

[0055] In some embodiments, after step S13 and step S15, the distance measurement method based on the vehicle radar system further includes: when the distance between the vehicle and the obstacle is less than or equal to the preset distance, a collision prompt is issued; when the distance between the vehicle and the obstacle is greater than the preset distance, the distance between the obstacle and the vehicle is continuously monitored. In this way, the user is reminded in time to prevent collision with the obstacle and improve the user's driving experience. Specifically, the collision prompt method may include one or more of broadcasting a preset prompt voice, playing a preset melody or preset tone, displaying a preset prompt text, displaying a preset prompt animation, and lighting an indicator light. The preset distance may be 120 cm. The preset distance may be customized by the user.

[0056] See also Figure 4 In some embodiments of the present invention, before all the vehicle-mounted radars controlling the target position perform the sending and receiving operations, or before any one of the vehicle-mounted radars controlling the target position performs the sending operation and all perform the receiving operation, the method further includes:

[0057] S17: Controlling the vehicle-mounted radars corresponding to the corners of the vehicle at the target position to perform reception-only operation without transmitting, and determining whether all the vehicle-mounted radars corresponding to the corners of the vehicle have received the echo data.

[0058] In this way, while saving power consumption, it is possible to more accurately determine whether there is echo interference in the surrounding environment, which is conducive to solving the problem of poor anti-interference ability in related technologies. It can be understood that strong echo interference will be generated in specific scenarios such as large car braking and hand-held keychain shaking. The number of such echoes is large and there is no pattern to follow, which will reduce the ranging accuracy of the vehicle-mounted radar and even cause the vehicle-mounted radar to malfunction. The solution of this embodiment can solve the problems that the filtering algorithm cannot solve to a large extent, and can eliminate the negative impact of strong echo interference on the vehicle-mounted radar.

[0059] Specifically, the vehicle corners may include the left front corner, the right front corner, the left rear corner and the right rear corner of the vehicle. The vehicle radars at the target position that are set corresponding to the vehicle corners may be understood as the vehicle radars that are directly set at the vehicle corners, or the vehicle radars at the target position that are closest to the vehicle corners. For example, when the target position is the head of the vehicle and four vehicle radars are installed side by side on the bumper of the head of the vehicle, the vehicle radar closest to the left front corner of the vehicle and the vehicle radar closest to the right front corner of the vehicle are the vehicle radars set corresponding to the vehicle corners.

[0060] Controlling the radar to perform reception without transmission can be understood as controlling the radar to perform reception without transmission. It can be understood that when the vehicle-mounted radars corresponding to the corners of the vehicle at the target position perform reception without transmission, the other vehicle-mounted radars at the target position do not work, thereby saving power consumption.

[0061] In the process of the on-board radars corresponding to the corners of the vehicle at the target position performing the receiving-only operation without transmitting, if it is determined that any on-board radar receives echo data, it can be determined that there is echo interference in the current surrounding environment, and then the on-board radars corresponding to the corners of the vehicle at the target position are controlled to continue to perform the receiving-only operation without transmitting until it is determined that there is no echo interference in the current surrounding environment; if it is determined that all on-board radars have not received echo data within a set time or a set number of times, it can be determined that there is no echo interference in the current surrounding environment. When it is determined that there is no echo interference in the current surrounding environment, the step of controlling all the on-board radars at the target position to perform the transmitting and receiving operation, or the step of controlling any one of the on-board radars at the target position to perform the transmitting operation and all of them to perform the receiving operation.

[0062] It should be pointed out that in Figure 4In the embodiment shown, step S17 is executed before step S13 and step S15, that is, first determine whether there is echo data in the surrounding environment, then determine a specific distance measurement scheme according to the number of vehicle-mounted radars at the target position, and execute the distance measurement scheme. In other embodiments, a specific distance measurement scheme may be first determined according to the number of vehicle-mounted radars at the target position, then determine whether there is echo data in the surrounding environment, and execute the distance measurement scheme when there is no echo data (such as Figure 5 shown).

[0063] See also Figure 6 In some embodiments of the present invention, a clustering algorithm with a fixed window threshold is used to determine the distance between the vehicle-mounted radar and the obstacle, including:

[0064] S21: Determine a fixed window threshold, and determine a center point according to the received echo data;

[0065] S23: Determine the effective distance within the fixed window according to the fixed window threshold and the center point;

[0066] S25: Determine the distance between the vehicle-mounted radar and the obstacle according to the effective distance within the fixed window.

[0067] In this way, the clustering algorithm used in the related art is improved, and the clustering algorithm with a fixed window threshold is used for filtering, which can quickly and accurately determine the distance between the vehicle-mounted radar and the obstacle.

[0068] It can be understood that in the related art, clustering algorithms may include K-Means algorithm and mean shift algorithm. Since K-Means algorithm needs to know the number of classes, that is, the number of center points in advance, and in the vehicle ranging scenario, the echo data is collected in real time and the number of center points cannot be known in advance, the K-Means algorithm cannot be directly used to determine the distance between the vehicle radar and the obstacle in real time; since the core of the mean shift algorithm is the sliding window, this will result in a slower calculation speed and is not suitable for the vehicle ranging scenario. Therefore, the mean shift algorithm cannot be directly used to determine the distance between the vehicle radar and the obstacle in real time.

[0069] The clustering algorithm with a fixed window threshold in the embodiment of the present invention is designed based on some principles of the K-Means algorithm and the mean shift algorithm. It can not only obtain the advantage of the fast calculation speed of the K-Means algorithm, but also use the mean shift algorithm to make up for the shortcomings of the K-Means algorithm.

[0070] Specifically, the fixed window threshold can be set to 5 cm. The echo data can be data generated according to echoes received multiple times within a preset period, that is, the echo data can include a plurality of sub-data, each of which corresponds to a measurement result of the distance between the vehicle-mounted radar and the obstacle. In an embodiment of the present invention, the distance between the vehicle-mounted radar and the obstacle can be determined based on echo data received once, or based on echo data received multiple times, which is not limited here.

[0071] Taking the determination of the distance between the vehicle-mounted radar and the obstacle based on the echo data received once as an example, filtering using the clustering algorithm with a fixed window threshold can include the following steps: determining the fixed window threshold; taking the median of several sub-data in the single echo data as the center point of the clustering algorithm with a fixed window threshold; calculating the distance from the sub-data to the center point in the single echo data; if the distance from the sub-data to the center point is greater than the fixed window threshold, discarding the sub-data; if the distance from the sub-data to the center point is less than or equal to the fixed window threshold, transferring the sub-data to the fixed window, and determining the sub-data transferred to the fixed window as the effective distance within the fixed window; after calculating the distance from each sub-data to the center point in the single echo data, calculating the average value of all effective distances within the fixed window, and using the calculation result as the distance between the vehicle-mounted radar and the obstacle.

[0072] See also Figure 7 In some embodiments of the present invention, step S25 includes:

[0073] S251: Obtaining effective distances within multiple groups of fixed windows;

[0074] S253: Calculate the average value of the effective distances in each group of fixed windows to obtain multiple average distances;

[0075] S255: Calculate an average of the multiple average distances as the distance between the vehicle-mounted radar and the obstacle.

[0076] In this way, the distance between the vehicle-mounted radar and the obstacle is determined based on the echo data received multiple times, the filtering effect is better, and the distance between the vehicle-mounted radar and the obstacle can be determined more accurately.

[0077] Specifically, the distance between the vehicle-mounted radar and the obstacle can be determined based on echo data received three times, four times or more, which is not limited here. The echo data received once can determine the effective distance within a set of fixed windows, and the echo data received multiple times can determine the effective distance within multiple sets of fixed windows.

[0078] Please combine Figure 8In an embodiment of determining the distance between the vehicle-mounted radar and the obstacle according to the echo data received multiple times, filtering using a clustering algorithm with a fixed window threshold may include the following steps:

[0079] S31: Determine a fixed window threshold;

[0080] S32: taking the median of several sub-data in the single echo data as the center point of the clustering algorithm with a fixed window threshold;

[0081] S33: Calculate the distance from each sub-data in the single echo data to the center point;

[0082] S34: Determine whether the distance from the sub-data to the center point is less than or equal to the fixed window threshold;

[0083] S35: If not, discard the sub-data;

[0084] S36: If yes, the sub-data is transferred to the fixed window, and the sub-data transferred to the fixed window is determined as the effective distance in the fixed window;

[0085] S37: after calculating the distance from each sub-data in the single echo data to the center point, calculate the average value of all effective distances in the fixed window corresponding to the single echo data, and record it as the average distance;

[0086] S38: Determine whether the number of times the average distance is recorded is greater than or equal to a preset number. If not, repeat the above steps S32 to S37 according to the echo data received again. The preset number can be 3 times, 4 times or any other number.

[0087] S39: If yes, calculate the average of all average distances, and use the calculated result as the distance between the vehicle-mounted radar and the obstacle.

[0088] See also Fig. 9 In some embodiments of the present invention, the distance between the vehicle and the obstacle is obtained by using a triangulation positioning algorithm according to the distance between the vehicle-mounted radar and the obstacle, including:

[0089] S41: Determine the distance between the vehicle-mounted radars at the target location;

[0090] S43: Calculate the vertical distance between the obstacle and the line connecting the vehicle-mounted radar at the target position according to the distance between the vehicle-mounted radar and the obstacle, the spacing between the vehicle-mounted radars at the target position, and the Pythagorean theorem, and use the calculation result as the distance between the vehicle and the obstacle.

[0091] In this way, when the number of vehicle-mounted radars at the target position is greater than or equal to a preset value, the actual distance between the vehicle and the obstacle can be accurately determined.

[0092] Specifically, the distance between the vehicle-mounted radars at the target location can be determined by at least one of reading the vehicle's local storage data, acquiring data through the Internet, and active user input.

[0093] In one example, the vehicle radars at the target location include vehicle radar A and vehicle radar B. After determining the distance m1 between vehicle radar A and obstacle C, the distance m2 between vehicle radar B and obstacle C, and the distance n between vehicle radar A and vehicle radar B, the following can be constructed: Fig.10 The triangle shown, combined with the Pythagorean theorem, can determine the vertical distance z between the obstacle C and the line AC connecting the vehicle-mounted radar A and the vehicle-mounted radar B. Taking the vertical distance z as the distance between the vehicle and the obstacle can more accurately reflect the actual position of the obstacle relative to the vehicle.

[0094] In order to implement the above embodiments, the embodiments of the present invention further provide a computer-readable storage medium, which can implement the ranging method based on the vehicle radar system of any of the above embodiments. The computer-readable storage medium provided by the present invention stores a ranging program based on the vehicle radar system, and when the program is executed by a processor, the ranging method based on the vehicle radar system of any of the above embodiments is implemented.

[0095] According to the computer-readable storage medium of an embodiment of the present invention, a corresponding ranging scheme is selected according to the number of vehicle-mounted radars at the target position of the vehicle, thereby being able to adapt to different vehicle models, improve measurement efficiency, and ensure the accuracy of measurement results.

[0096] For example, when the program is executed by a processor, the following steps of a ranging method based on a vehicle radar system are implemented:

[0097] S11: The number of vehicle-mounted radars that determine the target location;

[0098] S13: when the number of vehicle-mounted radars at the target position is less than a preset value, all the vehicle-mounted radars at the target position are controlled to perform transceiver work, and a clustering algorithm with a fixed window threshold is used to determine the distance between the vehicle-mounted radar and the obstacle, and the distance between the vehicle-mounted radar and the obstacle is used as the distance between the vehicle and the obstacle;

[0099] S15: When the number of vehicle-mounted radars at the target position is greater than or equal to a preset value, any one of the vehicle-mounted radars at the target position is controlled to perform sending work and all of them are controlled to perform receiving work, and a clustering algorithm with a fixed window threshold is used to determine the distance between the vehicle-mounted radar and the obstacle, and a triangulation positioning algorithm is used according to the distance between the vehicle-mounted radar and the obstacle to obtain the distance between the vehicle and the obstacle.

[0100] It can be understood that the ranging program based on the vehicle radar system includes the ranging program code based on the vehicle radar system. The ranging program code based on the vehicle radar system can be in source code form, object code form, executable file or some intermediate form, etc. The computer readable storage medium may include: any entity or device capable of carrying the ranging program code based on the vehicle radar system, recording medium, USB flash drive, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), and software distribution medium, etc. The processor can be a central processing unit, or other general-purpose processors, digital signal processors (DigitalSignal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc.

[0101] In order to implement the above embodiments, the present invention also provides a vehicle radar system, which can implement the distance measurement method based on the vehicle radar system in any of the above embodiments. Fig.11 The vehicle radar system 100 proposed in the present invention includes one or more processors 102 and a memory 104. The memory 104 stores a ranging program 106 based on the vehicle radar system 100. When the ranging program 106 based on the vehicle radar system 100 is executed by the processor 102, the ranging method based on the vehicle radar system 100 of any of the above-mentioned embodiments is implemented.

[0102] The vehicle radar system 100 according to the embodiment of the present invention selects a corresponding ranging scheme according to the number of vehicle-mounted radars at the target position of the vehicle, thereby being able to adapt to different vehicle models, improve measurement efficiency, and ensure the accuracy of measurement results.

[0103] It should be pointed out that the above explanation of the implementation method and beneficial effects of the ranging method based on the vehicle radar system is also applicable to the vehicle radar system 100 of this embodiment. In order to avoid redundancy, it will not be elaborated here.

[0104] In order to implement the above embodiments, the present invention also provides a vehicle, which can implement the distance measurement method based on the vehicle radar system in any of the above embodiments. Fig.12The vehicle 200 proposed in the present invention includes one or more processors 202 and a memory 204. The memory 204 stores a ranging program 206 based on a vehicle radar system. When the ranging program 206 based on a vehicle radar system is executed by the processor 202, the ranging method based on a vehicle radar system of any of the above-mentioned embodiments is implemented.

[0105] According to the vehicle 200 of the embodiment of the present invention, a corresponding ranging scheme is selected according to the number of vehicle-mounted radars at the target position of the vehicle 200, so as to adapt to different vehicle models, improve the efficiency of measurement, and ensure the accuracy of the measurement results.

[0106] Specifically, the vehicle 200 includes but is not limited to a pure electric vehicle, a hybrid electric vehicle, an extended-range electric vehicle, a fuel vehicle, etc. The vehicle 200 may include a vehicle radar system.

[0107] It should be pointed out that the above explanation of the implementation method and beneficial effects of the ranging method based on the vehicle radar system is also applicable to the vehicle 200 of this embodiment. In order to avoid redundancy, it will not be expanded here in detail.

[0108] In order to implement the above embodiments, the present invention also provides a distance measurement device based on a vehicle radar system, which can implement the distance measurement method based on a vehicle radar system in any of the above embodiments. Fig.13 The distance measuring device 300 based on the vehicle radar system proposed by the present invention includes a determination module 302, a first control module 304 and a second control module 306. The determination module 302 is used to determine the number of vehicle-mounted radars at the target position. The first control module 304 is used to control all the vehicle-mounted radars at the target position to perform transceiver work when the number of vehicle-mounted radars at the target position is less than a preset value, and adopt a clustering algorithm with a fixed window threshold to determine the distance between the vehicle-mounted radar and the obstacle, and use the distance between the vehicle-mounted radar and the obstacle as the distance between the vehicle and the obstacle. The second control module 306 is used to control any one of the vehicle-mounted radars at the target position to perform transmission work and all to perform reception work when the number of vehicle-mounted radars at the target position is greater than or equal to a preset value, and adopt a clustering algorithm with a fixed window threshold to determine the distance between the vehicle-mounted radar and the obstacle, and adopt a triangulation positioning algorithm according to the distance between the vehicle-mounted radar and the obstacle to obtain the distance between the vehicle and the obstacle.

[0109] According to the ranging device 300 based on the vehicle radar system of the embodiment of the present invention, a corresponding ranging scheme is selected according to the number of vehicle-mounted radars at the target position of the vehicle, so as to be adaptable to different vehicle models, improve the measurement efficiency, and ensure the accuracy of the measurement results.

[0110] In some embodiments of the present invention, the distance measuring device 300 based on the vehicle radar system further includes a prompting module and a monitoring module, wherein the prompting module is used to provide a collision prompt when the distance between the vehicle and the obstacle is less than or equal to a preset distance. The monitoring module is used to continuously monitor the distance between the obstacle and the vehicle when the distance between the vehicle and the obstacle is greater than a preset distance.

[0111] In some embodiments of the present invention, the ranging device 300 based on the vehicle radar system also includes a third control module, which is used to control the vehicle-mounted radars corresponding to the corners of the vehicle at the target position to only receive but not transmit, and to determine whether all the vehicle-mounted radars corresponding to the corners of the vehicle have received echo data.

[0112] In some embodiments of the present invention, the first control module 304 and the second control module 306 may include a first determining unit, a second determining unit and a third determining unit. The first determining unit is used to determine a fixed window threshold and determine a center point according to the received echo data. The second determining unit is used to determine an effective distance within the fixed window according to the fixed window threshold and the center point. The third determining unit is used to determine the distance between the vehicle-mounted radar and the obstacle according to the effective distance within the fixed window.

[0113] In some embodiments of the present invention, the third determination unit may include an acquisition subunit, a first calculation subunit, and a second calculation subunit. The acquisition subunit is used to obtain effective distances within multiple groups of fixed windows. The first calculation subunit is used to calculate the average value of the effective distances within each group of fixed windows to obtain multiple average distances. The second calculation subunit is used to calculate the average value of the multiple average distances as the distance between the vehicle-mounted radar and the obstacle.

[0114] In some embodiments of the present invention, the second control module 306 may include a fourth determination unit and a first calculation unit. The fourth determination unit is used to determine the distance between the vehicle-mounted radars at the target position. The first calculation unit is used to calculate the vertical distance between the obstacle and the line connecting the vehicle-mounted radar at the target position according to the distance between the vehicle-mounted radar and the obstacle, the distance between the vehicle-mounted radars at the target position and the Pythagorean theorem, and use the calculation result as the distance between the vehicle and the obstacle.

[0115] In some embodiments of the present invention, the target location includes the head of the vehicle or the rear of the vehicle.

[0116] It should be pointed out that the above explanation of the implementation method and beneficial effects of the ranging method based on the vehicle radar system is also applicable to the ranging device 300 based on the vehicle radar system of this embodiment. To avoid redundancy, it will not be elaborated here.

[0117] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0118] In addition, the terms "first", "second", etc. used in the embodiments of the present invention are only used for descriptive purposes and should not be understood as indicating or implying relative importance, or implicitly indicating the number of technical features indicated in the present embodiment. Therefore, the features defined by the terms "first", "second", etc. in the embodiments of the present invention can explicitly or implicitly indicate that the embodiment includes at least one of the features. In the description of the present invention, the word "multiple" means at least two or two or more, such as two, three, four, etc., unless otherwise clearly and specifically defined in the embodiments.

[0119] In the present invention, unless otherwise clearly specified or limited in the embodiments, the terms "installed", "connected", "connected" and "fixed" etc. in the embodiments should be understood in a broad sense. For example, the connection can be a fixed connection, a detachable connection, or an integrated connection. It can be understood that it can also be a mechanical connection, an electrical connection, etc.; of course, it can also be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal connection of two elements, or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific implementation situation.

[0120] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A ranging method based on a vehicle radar system, characterized in that: The method comprises: The number of vehicle-mounted radars used to determine the target's location; When the number of vehicle-mounted radars at the target position is less than a preset value, all the vehicle-mounted radars at the target position are controlled to perform transceiver work, and a clustering algorithm with a fixed window threshold is used to determine the distance between the vehicle-mounted radar and the obstacle, and the distance between the vehicle-mounted radar and the obstacle is used as the distance between the vehicle and the obstacle; When the number of vehicle-mounted radars at the target location is greater than or equal to a preset value, any one of the vehicle-mounted radars at the target location is controlled to perform sending work and all of them are controlled to perform receiving work, and a clustering algorithm with a fixed window threshold is used to determine the distance between the vehicle-mounted radar and the obstacle, and a triangulation positioning algorithm is used according to the distance between the vehicle-mounted radar and the obstacle to obtain the distance between the vehicle and the obstacle.

2. The ranging method based on the vehicle radar system according to claim 1, characterized in that: Before all the vehicle-mounted radars controlling the target position perform the sending and receiving operations, or before any one of the vehicle-mounted radars controlling the target position performs the sending operation and all perform the receiving operation, the method further includes: The vehicle-mounted radars corresponding to the vehicle corners among the vehicle-mounted radars at the target position are controlled to perform reception-only operation without transmitting, and it is determined whether all the vehicle-mounted radars corresponding to the vehicle corners have received echo data.

3. The ranging method based on the vehicle radar system according to claim 1, characterized in that: The distance between the vehicle-mounted radar and the obstacle is determined by using a clustering algorithm with a fixed window threshold, including: Determining the fixed window threshold, and determining the center point according to the received echo data; Determine the effective distance within the fixed window according to the fixed window threshold and the center point; The distance between the vehicle-mounted radar and the obstacle is determined according to the effective distance within the fixed window.

4. The ranging method based on the vehicle radar system according to claim 3 is characterized in that: Determining the distance between the vehicle-mounted radar and the obstacle according to the effective distance within the fixed window includes: Obtaining multiple groups of effective distances within the fixed windows; Calculating the average value of the effective distances within each group of the fixed windows to obtain multiple average distances; An average value of the multiple average distances is calculated as the distance between the vehicle-mounted radar and the obstacle.

5. The ranging method based on the vehicle radar system according to claim 1, characterized in that: The distance between the vehicle and the obstacle is obtained by using a triangulation algorithm according to the distance between the vehicle-mounted radar and the obstacle, including: Determining the distance between the vehicle-mounted radars at the target location; According to the distance between the vehicle-mounted radar and the obstacle, the spacing between the vehicle-mounted radars at the target position and the Pythagorean theorem, the vertical distance of the line connecting the obstacle and the vehicle-mounted radar at the target position is calculated, and the calculation result is used as the distance between the vehicle and the obstacle.

6. The ranging method based on a vehicle radar system according to any one of claims 1 to 5, characterized in that: The target position includes the head of the vehicle or the tail of the vehicle.

7. A computer-readable storage medium storing a ranging program based on a vehicle radar system, characterized in that: When the program is executed by a processor, the ranging method based on a vehicle radar system as described in any one of claims 1 to 6 is implemented.

8. A vehicle radar system, characterized in that: The vehicle radar system includes one or more processors and a memory, wherein the memory stores a ranging program based on the vehicle radar system. When the ranging program based on the vehicle radar system is executed by the processor, the ranging method based on the vehicle radar system according to any one of claims 1 to 6 is implemented.

9. A vehicle, characterized in that: The vehicle includes one or more processors and a memory, wherein the memory stores a ranging program based on a vehicle radar system. When the ranging program based on a vehicle radar system is executed by the processor, the ranging method based on a vehicle radar system according to any one of claims 1 to 6 is implemented.

10. A distance measuring device based on a vehicle radar system, characterized in that: include: A determination module, used for determining the number of vehicle-mounted radars at the target location; A first control module is used for controlling all the vehicle-mounted radars at the target position to perform transceiver work when the number of the vehicle-mounted radars at the target position is less than a preset value, and using a clustering algorithm with a fixed window threshold to determine the distance between the vehicle-mounted radar and the obstacle, and using the distance between the vehicle-mounted radar and the obstacle as the distance between the vehicle and the obstacle; The second control module is used to control any one of the vehicle-mounted radars at the target position to perform sending work and all of them to perform receiving work when the number of the vehicle-mounted radars at the target position is greater than or equal to a preset value, and use a clustering algorithm with a fixed window threshold to determine the distance between the vehicle-mounted radar and the obstacle, and use a triangulation positioning algorithm based on the distance between the vehicle-mounted radar and the obstacle to obtain the distance between the vehicle and the obstacle.

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