Control method and device for vehicle

Abstract

The present disclosure provides a vehicle control method and device, relates to the technical field of automatic driving, and in particular relates to vehicle radar control. The implementation scheme is as follows: acquiring driving parameter information of a vehicle in a preset time period; determining a driving track of the vehicle according to the driving parameter information, wherein the driving track comprises a first track of the vehicle in the preset time period and a second track of the vehicle after the preset time period; and adjusting a detection angle range of a radar according to the driving track of the vehicle.

Description

Technical Field

[0001] This disclosure relates to the field of autonomous driving technology, and in particular to vehicle radar control, specifically to a vehicle control method and apparatus, electronic equipment, computer-readable storage medium, and computer program product. Background Technology

[0002] Autonomous vehicles primarily rely on a millimeter-wave radar positioned at the center of the front of the vehicle to detect targets (vehicles, pedestrians, etc.) during operation. This radar is called the forward-facing radar, and because it has a relatively long detection range (usually no less than 200 meters), it is also called a long-range radar. Additionally, the vehicle detects surrounding vehicles using corner radars positioned at the front left, front right, rear left, and rear right. These are called medium / short-range radars based on their detection range.

[0003] Because millimeter-wave radar is installed in a relatively fixed manner with the vehicle frame, if the road is not straight, the vehicle's millimeter-wave radar may have a detection blind spot. This may cause a target vehicle that is not directly in front of the vehicle in the same lane to be detected by the vehicle's forward millimeter-wave radar earlier, resulting in a delay in the execution of the vehicle's relevant actions, which may lead to a driving accident.

[0004] The methods described in this section are not necessarily methods that had been previously conceived or adopted. Unless otherwise specified, no method described in this section should be assumed to be prior art simply because it is included in this section. Similarly, unless otherwise specified, the issues mentioned in this section should not be considered to be accepted in any prior art. Summary of the Invention

[0005] This disclosure provides a vehicle control method and apparatus, electronic device, computer-readable storage medium, and computer program product.

[0006] According to one aspect of this disclosure, a vehicle control method is provided, wherein the vehicle includes a radar with an adjustable detection angle range, and the control method includes: acquiring driving parameter information of the vehicle within a preset time period; determining the driving trajectory of the vehicle based on the driving parameter information, wherein the driving trajectory includes a first trajectory of the vehicle within the preset time period and a second trajectory after the preset time period; and adjusting the detection angle range of the radar based on the driving trajectory of the vehicle.

[0007] According to another aspect of this disclosure, a vehicle control device is provided, wherein the vehicle includes a radar with an adjustable detection angle range, and the control device includes: an acquisition unit configured to acquire driving parameter information of the vehicle within a preset time period; a determination unit configured to determine the driving trajectory of the vehicle based on the driving parameter information, wherein the driving trajectory includes a first trajectory of the vehicle within the preset time period and a second trajectory after the preset time period; and an adjustment unit configured to adjust the detection angle range of the radar based on the driving trajectory of the vehicle.

[0008] According to another aspect of this disclosure, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the control method described above.

[0009] According to another aspect of this disclosure, a non-transitory computer-readable storage medium is provided storing computer instructions, wherein the computer instructions are used to cause a computer to perform the control method described above.

[0010] According to another aspect of this disclosure, a computer program product is provided, including a computer program, wherein the control method described above is executed by a processor.

[0011] According to one or more embodiments of this disclosure, the detection angle range of the vehicle radar can be adjusted according to the vehicle's driving trajectory, thereby enabling the radar's detection direction to be aligned with the road ahead. The method of this disclosure can optimize the radar's identification of moving targets ahead of the vehicle during driving, reduce blind spots in the area ahead, and improve the driving safety of autonomous vehicles.

[0012] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0013] The accompanying drawings exemplify embodiments and form part of the specification, serving together with the textual description to explain exemplary implementations of the embodiments. The illustrated embodiments are for illustrative purposes only and do not limit the scope of the claims. Throughout the drawings, the same reference numerals refer to similar but not necessarily identical elements.

[0014] Figure 1 A schematic diagram illustrating the principle of a vehicle traveling in a turning area according to an embodiment of the present disclosure is shown;

[0015] Figure 2A flowchart of a vehicle control method according to an embodiment of the present disclosure is shown;

[0016] Figure 3 A flowchart of a method for determining a vehicle travel path according to an embodiment of the present disclosure is shown;

[0017] Figure 4 A schematic diagram illustrating the principle of adjusting the angle to determine the detection angle range of a radar according to an embodiment of the present disclosure is shown.

[0018] Figure 5 A flowchart is shown of a method for adjusting the angle to determine the detection angle range of a radar according to an embodiment of the present disclosure;

[0019] Figure 6 A flowchart illustrating a method for determining the rotation angle of a vehicle between a first moment and a second moment according to an embodiment of the present disclosure is shown.

[0020] Figure 7 A schematic diagram illustrating the principle of a vehicle traveling in a sloping area according to an embodiment of the present disclosure is shown.

[0021] Figure 8 A structural block diagram of a vehicle control device according to an embodiment of the present disclosure is shown;

[0022] Figure 9 A structural block diagram of an exemplary electronic device that can be used to implement embodiments of the present disclosure is shown. Detailed Implementation

[0023] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0024] In this disclosure, unless otherwise stated, the use of terms such as "first," "second," etc., to describe various elements is not intended to limit the positional, temporal, or importance relationships of these elements; such terms are merely used to distinguish one element from another. In some examples, the first element and the second element may refer to the same instance of that element, while in other cases, based on the context, they may refer to different instances.

[0025] The terminology used in the description of the various examples in this disclosure is for the purpose of describing particular examples only and is not intended to be limiting. Unless the context explicitly indicates otherwise, an element may be one or more unless the number of elements is specifically limited. Furthermore, the term "and / or" as used in this disclosure covers any one of the listed items and all possible combinations thereof.

[0026] The embodiments of this disclosure will now be described in detail with reference to the accompanying drawings.

[0027] Figure 1 A schematic diagram illustrating the principle of a vehicle traveling in a turning area 100 according to an embodiment of the present disclosure is shown. (See reference...) Figure 1 Motor vehicle 110 is a vehicle in an embodiment of this disclosure, and vehicle 120 is another vehicle traveling in front of vehicle 110 on the road. In some embodiments, vehicle 110 is an autonomous vehicle.

[0028] In embodiments of this disclosure, the motor vehicle 110 may include a computing device according to embodiments of this disclosure and / or be configured to perform a method according to embodiments of this disclosure.

[0029] Motor vehicle 110 may include sensors for sensing the surrounding environment. These sensors may include one or more of the following: visual cameras, infrared cameras, ultrasonic sensors, millimeter-wave radar, and lidar (LiDAR). Different sensors can provide different detection accuracy and range. Cameras may be mounted in front of, behind, or at other locations on the vehicle. Visual cameras can capture the situation inside and outside the vehicle in real time and present it to the driver and / or passengers. Furthermore, by analyzing the images captured by the visual cameras, information such as traffic light signals, intersection conditions, and the operating status of other vehicles can be obtained. Infrared cameras can capture objects in night vision conditions. Ultrasonic sensors may be mounted around the vehicle to measure the distance of objects outside the vehicle using the strong directionality of ultrasound. Millimeter-wave radar may be mounted in front of, behind, or at other locations on the vehicle to measure the distance of objects outside the vehicle using the characteristics of electromagnetic waves. LiDAR may be mounted in front of, behind, or at other locations on the vehicle to detect the edges and shape information of objects, thereby enabling object recognition and tracking. Due to the Doppler effect, the radar device can also measure changes in the speed of the vehicle and moving objects.

[0030] When vehicle 110 is traveling at a relatively high speed, the radar's real-time detection of vehicle 120 ahead ensures that the current vehicle has sufficient time to perform appropriate safety actions. The field of view of millimeter-wave radar narrows as the detection distance increases, especially when vehicle 110 is traveling on curved roads (such as...). Figure 1As shown), vehicle 120 in the same lane ahead of it is not in the same straight line as the currently traveling vehicle 110. Figure 1 In this context, the detection angle range 101 refers to the radar's detection angle range without adjustment. For example... Figure 1 As shown, when the millimeter-wave radar can only detect moving targets directly in front and has a narrow field of view, the target to the side (vehicle 120) may be in the blind spot of the current vehicle radar, preventing it from detecting the target in real time and thus failing to perform relevant safety actions in a timely manner. This disclosure provides a method and device for controlling the vehicle's millimeter-wave radar in response to vehicle steering. Specifically, the forward-facing millimeter-wave radar can rotate at a corresponding angle according to the vehicle's steering direction and angle, ensuring that the vehicle can detect and identify moving targets in the steering direction to the greatest extent possible.

[0031] According to one aspect of this disclosure, a method for controlling a vehicle is first provided. Figure 2 A flowchart of a vehicle control method 200 according to an embodiment of the present disclosure is shown. The vehicle includes a radar with an adjustable detection angle range, such as... Figure 2 As shown, the control method 200 includes:

[0032] Step 210: Obtain the vehicle's driving parameter information within a preset time period;

[0033] Step 220: Based on driving parameter information, determine the vehicle's driving trajectory, wherein the driving trajectory includes a first trajectory within a preset time period and a second trajectory after the preset time period; and

[0034] Step 230: Adjust the radar detection angle range according to the vehicle's driving trajectory.

[0035] The method disclosed herein can adjust the detection angle range of the vehicle's radar according to the vehicle's driving trajectory, thereby enabling the radar to focus its detection direction on the road ahead. This method optimizes the radar's identification of moving targets ahead of the vehicle during operation, reduces blind spots in the area ahead, and improves the driving safety of autonomous vehicles.

[0036] Before step 210, it can be determined that the vehicle has entered a specific driving scenario, such as a turning area or a slope area, which may cause the vehicle to travel along a curved path. After determining that the vehicle has entered the specific driving scenario, the vehicle radar's detection angle range adjustment function is activated, thereby starting to execute step 210.

[0037] In step 210, the preset time period can be a period of time after the vehicle's radar detection angle range adjustment function is activated. This preset time period can be, for example, 10 seconds, 20 seconds, or 1 minute. Driving parameter information refers to parameters related to the vehicle's driving process, including but not limited to: vehicle position, speed, acceleration, driving posture, orientation angle, and altitude. This driving parameter information can be obtained from vehicle-related sensors.

[0038] In step 220, the vehicle's relevant processor can determine the vehicle's driving trajectory based on the driving parameter information obtained in step 210. This driving trajectory includes not only a first trajectory within a preset time period but also a second trajectory after the preset time period. In some embodiments, the first trajectory can be calculated using driving parameters actually collected within the preset time period, while the second trajectory can be predicted from the first trajectory; this will be explained in detail below.

[0039] In step 230, the rotation angle of the vehicle at the end of the preset time period can be determined based on the vehicle's driving trajectory determined in step 220, and then the adjustment angle of the radar's detection angle range can be determined based on this angle value.

[0040] Specifically, the method in this embodiment is as follows: After detecting that a vehicle has entered a specific driving scenario, the vehicle radar's detection angle range adjustment function is activated. At this time, driving parameter information can be obtained from vehicle-related sensors, and this information collection process will continue for a preset time period. At the end of the preset time period (hereinafter also referred to as the "second moment"), the vehicle-related processor will determine the vehicle's driving path based on the driving parameter information collected within the preset time period. In some embodiments, the processor can calculate the average rotation angle of the vehicle per unit time on the driving path based on the driving path and the vehicle's driving time. Then, the radar can be controlled to rotate in the same direction with the same average rotation angle, so that the radar's detection direction is always facing the direction the vehicle is facing. In other embodiments, the vehicle's rotation angle within a period including the second moment can also be calculated, and then the radar can be controlled to rotate by the same angle so that the radar's rotation angle and the vehicle's rotation angle within that period are consistent.

[0041] Figure 3 A flowchart of a method 300 for determining a vehicle driving path according to an embodiment of the present disclosure is shown. In this embodiment, the driving parameter information includes driving parameters of the vehicle at multiple time points within a preset time period. For example... Figure 3 As shown, method 300 includes:

[0042] Step 310: Based on driving parameters at multiple time points, fit the first trajectory of the vehicle within a preset time period; and

[0043] Step 320: Based on the first trajectory, predict the second trajectory of the vehicle after a preset time period.

[0044] Once the vehicle enters a specific driving scenario, starting from time T = t0, the radar detection angle range adjustment function's execution program is initiated. At this point, the radar's detection range adjustment has not yet begun. The vehicle's relevant processor establishes a Cartesian coordinate system, setting the vehicle's position coordinates at time T = t0 as the origin of the coordinate system.

[0045] The vehicle's velocity and acceleration data are acquired at time T = t0 + Δt within a preset time period. Then, combined with the vehicle's position coordinates at time t0 and the time interval Δt, the vehicle's position coordinates at time T = t0 + Δt are calculated. The aforementioned time interval Δt can be a short time interval such as 0.1s, 0.2s, or 0.5s.

[0046] At time T = t0 + 2Δt within a preset time period, the vehicle's velocity and acceleration data are acquired. Then, combined with the vehicle's position coordinates at time T = t0 + Δt and the time interval Δt, the vehicle's position coordinates at time T = t0 + 2Δt are calculated. That is, the calculated position coordinates are...

[0047] Repeat the above process until the vehicle's velocity and acceleration data at time T = t0 + nΔt within the preset time period are obtained, and the vehicle's position coordinates at that time are calculated. The time T = t0 + nΔt marks the end of the preset time period, at which point the data collection required for determining the driving trajectory is complete. This data can be stored in vehicle-related memory for subsequent fitting calculations.

[0048] It is understood that, although in the above embodiments, the vehicle's position coordinates (a1,b1), (a2,b2), ..., (a... n ,b n The coordinates are calculated from the vehicle's speed and acceleration. However, in some other embodiments, the above-mentioned position coordinates can also be obtained directly, for example, through the vehicle's GPS positioning module.

[0049] In step 310, a polynomial trajectory curve fitting algorithm model can be used to fit the first trajectory in the driving trajectory (i.e., the trajectory of the vehicle within a preset time period). It can be assumed that the first trajectory has the following functional form:

[0050] f(x) = A0 + A1x + A2x 2 +…+Ai x i +…+A n x n

[0051] Where f(x) is the first trajectory, from A0 to A n These are coefficients to be determined.

[0052] Since the vehicle's starting position is set as the origin, the coordinates... Since A0 = 0, f(x) can be expressed as f(x) = A1x + A2x 2 +…+A i x i +…+A n x n Retrieve the stored location coordinates of the aforementioned vehicles at multiple time points (a1, b1), (a2, b2), ..., (a...). n ,b n Substitute the positional conditions into the fitted curve f(x) = A1x + A2x 2 +…+A i x i +…+A n x n The values ​​A1, A2, ..., A are calculated. n This determines the first fitted trajectory, which is then set as shown in the following equation (where A1'~A...). n (Given a known number):

[0053] f(x) = A1'x + A2'x 2 +…+A i 'x i +…+A n 'x n

[0054] In this embodiment, the vehicle's trajectory can be obtained through multi-data-point fitting. It is understood that the more time points selected, the more accurate the trajectory will be. Therefore, applying the method of this embodiment can yield a more accurate trajectory.

[0055] Figure 4 A schematic diagram illustrating the principle of adjusting the angle to determine the detection angle range of a radar according to an embodiment of this disclosure is shown. Figure 4 As shown, the position coordinates (a1, b1), (a2, b2), ..., (a...) of the above multiple time points are determined in the XY coordinate system. n ,b n ), and then fit the driving trajectory based on these coordinates. Among them, from the origin of the coordinate system to (a n ,b nThe curve 401 represents the vehicle's first trajectory within a preset time period, with the horizontal axis at point a. n The subsequent curves represent the vehicle's second trajectory, 402.

[0056] In step 320, as Figure 4 As shown, the second trajectory 402 can be defined as a continuation of the first trajectory 401; that is, the first trajectory 401 and the second trajectory 402 can be represented by the same functional form. In other embodiments, the second trajectory 402 can have a different functional form than the first trajectory 401. For example, the parameters A1' to A1' in the first trajectory 401 can be adjusted according to the actual situation. n The size of ' is used to obtain the functional expression for the second trajectory 402. For example, if a tendency for the vehicle to increase turning is detected at the end of a preset time period, then A1' to A... n The higher-order coefficients in ' are set to be larger to make the second trajectory 402 more curved; if a tendency for the vehicle to reduce its turning is detected, then A1' to A n The lower-order coefficients in ' are set to be larger so that the second trajectory 402 becomes flatter.

[0057] Figure 5 A flowchart of a method 500 for adjusting the angle to determine the detection angle range of a radar according to an embodiment of the present disclosure is shown. Figure 5 As shown, method 500 includes:

[0058] Step 510: Based on the driving trajectory, determine the first position of the vehicle at the first moment within the preset time period, the second position at the second moment at the end of the preset time period, and the third position at the third moment after the preset time period.

[0059] Step 520: Based on the first position, second position, and third position, determine the rotation angle of the vehicle between the first and second moments; and

[0060] Step 530: Determine the adjustment angle of the radar's detection angle range based on the rotation angle.

[0061] Return to reference Figure 4 As shown, (a1,b1)~(a n ,b n (a) refers to the real-time location information that changes over time, collected by relevant vehicle modules and transmitted to the vehicle processor after the vehicle enters a preset time period. n-1 ,b n-1 (a) represents the vehicle's position coordinates at the time preceding the end of the preset time period (i.e., the second time) (hereinafter also referred to as the first time), and (a) represents the vehicle's position coordinates at the time preceding the end of the preset time period (i.e., the second time). n+1 ,b n+1The first, second, and third moments are the vehicle position coordinates predicted by the fitting algorithm at the next moment after the second moment (hereinafter also referred to as the third moment). In some embodiments, the first, second, and third moments may have the same time interval, and the first moment may be one of the multiple time points determined in step 310 of method 300, i.e., the time interval is the aforementioned time interval Δt. In other embodiments, the first moment is not one of the multiple time points determined in step 310.

[0062] Set the vehicle to travel at its current location (a n ,b n If the rotation angle within a nearby time range is α or β (the angle is differentiated depending on whether the vehicle is in a turning area or a slope area), then α or β can be determined by the vehicle's position (a n-1 ,b n-1 ) and (a n ,b n ) and (a n ,b n ) and (a n+1 ,b n+1 Two position vectors and Calculated.

[0063] Figure 6 A flowchart illustrating a method for determining the rotation angle of a vehicle between a first time moment and a second time moment according to an embodiment of the present disclosure is shown, as follows: Figure 6 As shown, the method 600 includes:

[0064] Step 610: Determine the first vector based on the first position and the second position, and determine the second vector based on the second position and the third position; and

[0065] Step 620: Determine the rotation angle based on the first vector and the second vector.

[0066] Continue to refer to Figure 4 The rotation angle α or β of the aforementioned vehicle can be determined by the vehicle's first position (a n-1 ,b n-1 ) and the second position (a) n ,b n ) and second position (a n ,b n ) and the third position (a n+1 ,b n+1 vectors and The calculation yields the following formula:

[0067] First vector:

[0068] Second vector:

[0069] or

[0070] Furthermore,

[0071]

[0072]

[0073] In step 620, α or β can be calculated using the above formula:

[0074] or

[0075]

[0076] After calculating the vehicle's rotation angle α or β, in step 530 of method 500, the adjustment angle of the radar's detection angle range can be directly set to the aforementioned rotation angle α or β to ensure that the radar's detection direction and the vehicle's orientation are essentially consistent. In some other embodiments, α or β can be appropriately adjusted, and then the radar's detection angle range can be adjusted based on the adjusted α or β value. Figure 1 As shown, after the detection angle range is adjusted, the radar's detection angle range changes from range 101 to range 102. At this time, the radar can detect the vehicle 120 on the side of the curved road. During this process, the radar's horizontal detection angle (ε) remains unchanged.

[0077] In this embodiment, the vehicle's rotation angle can be obtained through vector calculation, thereby making the calculated rotation angle more accurate. This allows for the accurate determination of the radar's adjustment angle, ensuring that the radar's detection direction is consistent with the vehicle's orientation.

[0078] It is understandable that during continuous vehicle movement, the vehicle's trajectory will be continuously updated based on the vehicle's driving parameters. The vehicle's processors will update and optimize the coefficients of the functional expression of the trajectory obtained by the fitting algorithm in real time, making the accuracy of the vehicle's fitted and predicted trajectory curve increasingly higher.

[0079] Additionally, it should be noted that although the driving scenario described above is a turning area, in other embodiments, the driving scenario can also be a slope area. Figure 7 A schematic diagram illustrating the principle of a vehicle traveling on a slope of 700° according to an embodiment of the present disclosure is shown. Figure 7As shown, the implementation of radar detection angle range adjustment for vehicles on sloping roads can be considered as placing the vehicle in a two-dimensional Cartesian coordinate system perpendicular to the horizontal plane. The vehicle's driving posture, horizontal coordinates, and altitude coordinates are obtained through the vehicle's inertial motion sensor (IMU) unit to obtain the vehicle's real-time position. Then, based on the real-time position, the vehicle's driving trajectory is fitted or predicted, thereby achieving pre-control of the radar's detection angle range. Figure 7 As shown, after adjusting the detection angle range, the radar's detection angle range changes from range 103 to range 104. At this point, the radar can detect vehicles 130 ahead on the sloping road. During this process, the radar's vertical detection angle (θ) remains unchanged. The specific method for adjusting the detection angle range in sloping areas is similar to the method described above in conjunction with turning areas, and will not be repeated here.

[0080] The vehicle can first determine the driving scenario and then acquire parameter information related to the scenario. In some embodiments, the vehicle can determine whether it has entered a specific driving scenario based on the magnitude of certain relevant parameters. For example, when the vehicle detects that the steering wheel angle is greater than a preset angle, it can determine that the vehicle has entered a turning area; similarly, when the vehicle detects that the gravitational acceleration is greater than a preset acceleration, it can determine that the vehicle has entered a slope area. In other embodiments, the vehicle can also determine whether it has entered a specific driving scenario based on its position on an electronic map. In the method of this embodiment, the vehicle's relevant processor performs calculations related to the adjustment of the detection angle range after determining that the vehicle has entered a specific driving scenario. Therefore, the processor does not perform the above-mentioned calculation of the detection angle range at all times, which significantly reduces the computational load of the relevant processor.

[0081] In a turning driving scenario, the driving parameter information includes the vehicle's speed and acceleration. In this case, there is no need for the vehicle to acquire parameters such as driving posture or altitude. Similarly, in a sloping driving scenario, the driving parameter information includes the vehicle's driving posture and altitude. Again, there is no need for the vehicle to acquire parameters such as speed and acceleration. This embodiment's method only acquires parameter information relevant to subsequently determining the vehicle's driving path, eliminating the need to acquire other irrelevant parameter information, thereby further reducing the computational load on the relevant processors.

[0082] In some embodiments, the vehicle further includes at least one adjustment bracket, each bracket for mounting a corresponding radar to the vehicle body. Adjusting the radar's detection angle range according to the vehicle's driving trajectory includes adjusting the radar's detection angle range by setting the orientation angle of at least one adjustment bracket. The adjustment bracket can achieve angle adjustment of the radar in both horizontal and vertical directions. This angle adjustment can be achieved, for example, by a rotary motor mounted on the adjustment bracket. These rotary motors can be electrically connected to the vehicle's processor to receive adjustment commands from the processor, thereby adjusting the radar's detection angle range. Adjusting the radar's orientation angle using adjustment brackets simplifies the adjustment process.

[0083] According to another aspect of this disclosure, a vehicle control device is also provided. Figure 8 A structural block diagram of a vehicle control device 800 according to an embodiment of the present disclosure is shown. The vehicle includes a radar with an adjustable detection angle range. Figure 8 As shown, the control device 800 includes: an acquisition unit 810 configured to acquire driving parameter information of the vehicle within a preset time period; a determination unit 820 configured to determine the driving trajectory of the vehicle based on the driving parameter information, wherein the driving trajectory includes a first trajectory of the vehicle within the preset time period and a second trajectory after the preset time period; and an adjustment unit 830 configured to adjust the detection angle range of the radar based on the driving trajectory of the vehicle.

[0084] In some embodiments, the driving parameter information includes driving parameters of the vehicle at multiple time points within a preset time period. The determining unit 820 includes: a fitting module configured to fit a first trajectory of the vehicle within the preset time period based on the driving parameters at multiple time points; and a prediction module configured to predict a second trajectory of the vehicle after the preset time period based on the first trajectory.

[0085] In some embodiments, the adjustment unit 830 includes: a first determining module configured to determine, based on the driving trajectory, a first position of the vehicle at a first moment within a preset time period, a second position at a second moment at the end of the preset time period, and a third position at a third moment after the preset time period; a second determining module configured to determine, based on the first position, the second position, and the third position, a rotation angle of the vehicle between the first moment and the second moment; and a third determining module configured to determine, based on the rotation angle, an adjustment angle of the radar's detection angle range.

[0086] In some embodiments, the acquisition unit 810 includes: a fourth determining module configured to determine a vehicle driving scenario; and an acquisition module configured to acquire parameter information related to the scenario.

[0087] In some embodiments, the vehicle further includes at least one adjustment bracket, each adjustment bracket being used to mount a corresponding radar to the vehicle body, and the adjustment unit is further configured to adjust the detection angle range of the radar by setting the orientation angle of at least one adjustment bracket.

[0088] It should be understood that Figure 8 Each unit of the device 800 shown can be connected to a reference. Figure 2 The steps in method 200 described correspond to each other. The above modules can be compared with the reference... Figures 3 to 6 The steps described in methods 300-600 correspond to those steps. Therefore, the operations, features, and advantages described above for methods 300-600 also apply to the aforementioned modules. For the sake of brevity, some operations, features, and advantages will not be repeated here.

[0089] The acquisition, storage, and application of user personal information involved in the technical solution disclosed herein comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0090] According to embodiments of this disclosure, an electronic device, a readable storage medium, and a computer program product are also provided.

[0091] refer to Figure 9 The present invention describes a structural block diagram of an electronic device 900 that can serve as a server or client of the present disclosure, which is an example of a hardware device that can be applied to various aspects of the present disclosure. The electronic device is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0092] like Figure 9 As shown, the electronic device 900 includes a computing unit 901, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 902 or a computer program loaded into a random access memory (RAM) 903 from a storage unit 908. The RAM 903 may also store various programs and data required for the operation of the electronic device 900. The computing unit 901, ROM 902, and RAM 903 are interconnected via a bus 904. An input / output (I / O) interface 905 is also connected to the bus 904.

[0093] Multiple components in electronic device 900 are connected to I / O interface 905, including: input unit 906, output unit 907, storage unit 908, and communication unit 909. Input unit 906 can be any type of device capable of inputting information to electronic device 900. Input unit 906 can receive input digital or character information and generate key signal inputs related to user settings and / or function control of electronic device, and can include, but is not limited to, a mouse, keyboard, touchscreen, trackpad, trackball, joystick, microphone, and / or remote control. Output unit 907 can be any type of device capable of presenting information, and can include, but is not limited to, a monitor, speaker, video / audio output terminal, vibrator, and / or printer. Storage unit 908 can include, but is not limited to, hard disk and optical disk. Communication unit 909 allows electronic device 900 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks, and can include, but is not limited to, modems, network cards, infrared communication devices, wireless communication transceivers, and / or chipsets, such as Bluetooth devices, 802.11 devices, WiFi devices, WiMax devices, cellular communication devices, and / or the like.

[0094] The computing unit 901 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 901 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 901 performs the various methods and processes described above, such as vehicle control methods. For example, in some embodiments, the vehicle control method may be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 908. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 900 via ROM 902 and / or communication unit 909. When the computer program is loaded into RAM 903 and executed by the computing unit 901, one or more steps of the vehicle control method described above may be performed. Alternatively, in other embodiments, the computing unit 901 may be configured to perform vehicle control methods by any other suitable means (e.g., by means of firmware).

[0095] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0096] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0097] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0098] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0099] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), the Internet, and blockchain networks.

[0100] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact via communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other. Servers can be cloud servers, servers in distributed systems, or servers incorporating blockchain technology.

[0101] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be performed in parallel, sequentially, or in a different order, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0102] While embodiments or examples of this disclosure have been described with reference to the accompanying drawings, it should be understood that the methods, systems, and devices described above are merely exemplary embodiments or examples, and the scope of the invention is not limited by these embodiments or examples, but only by the granted claims and their equivalents. Various elements in the embodiments or examples may be omitted or replaced by their equivalents. Furthermore, the steps may be performed in a different order than that described in this disclosure. Further, various elements in the embodiments or examples may be combined in various ways.

Claims

1. A method for controlling a vehicle, wherein, The vehicle includes a radar with an adjustable detection angle range, and the control method includes: Obtain the driving parameter information of the vehicle within a preset time period; Based on the driving parameter information, the vehicle's driving trajectory is determined, wherein the driving trajectory includes a first trajectory of the vehicle within the preset time period and a second trajectory after the preset time period; and Adjusting the detection angle range of the radar based on the vehicle's driving trajectory includes: Based on the driving trajectory, determine the first position of the vehicle at a first moment within the preset time period, the second position at a second moment at the end of the preset time period, and the third position at a third moment after the preset time period. Based on the first position, the second position, and the third position, determine the rotation angle of the vehicle between the first and second moments; and The adjustment angle for the radar's detection angle range is determined based on the rotation angle.

2. The control method according to claim 1, wherein, The driving parameter information includes driving parameters of the vehicle at multiple time points within the preset time period, and determining the vehicle's driving trajectory based on the driving parameter information includes: Based on the driving parameters at the multiple time points, a first trajectory of the vehicle within the preset time period is obtained by fitting; and Based on the first trajectory, predict the second trajectory of the vehicle after the preset time period.

3. The control method according to claim 1, wherein, Determining the rotation angle of the vehicle between the first time moment and the second time moment based on the first position, the second position, and the third position includes: A first vector is determined based on the first position and the second position, and a second vector is determined based on the second position and the third position; and The rotation angle is determined based on the first vector and the second vector.

4. The control method according to any one of claims 1-3, wherein obtaining the driving parameter information of the vehicle within a preset time period includes: Determine the driving scenario of the vehicle; as well as Obtain driving parameter information related to the driving scenario.

5. The control method according to claim 4, wherein, The driving scenario is a turning area, and the driving parameter information includes the vehicle's speed and acceleration.

6. The control method according to claim 4, wherein, The driving scenario is a sloping area, and the driving parameter information includes the vehicle's driving posture and altitude.

7. The control method according to any one of claims 1-3, wherein, The vehicle also includes at least one adjustment bracket, each of which is used to mount a corresponding radar to the vehicle body. Adjusting the detection angle range of the radar according to the vehicle's driving trajectory includes: The detection angle range of the radar can be adjusted by setting the orientation angle of the at least one adjustment bracket.

8. A vehicle control device, wherein, The vehicle includes a radar with an adjustable detection angle range, and the control device includes: The acquisition unit is configured to acquire driving parameter information of the vehicle within a preset time period; The determining unit is configured to determine the vehicle's driving trajectory based on the driving parameter information, wherein the driving trajectory includes a first trajectory of the vehicle within a preset time period and a second trajectory after the preset time period; and An adjustment unit is configured to adjust the detection angle range of the radar according to the vehicle's driving trajectory, wherein the adjustment unit includes: The first determining module is configured to determine, based on the driving trajectory, the first position of the vehicle at a first moment within a preset time period, the second position at a second moment at the end of the preset time period, and the third position at a third moment after the preset time period. The second determining module is configured to determine the rotation angle of the vehicle between the first time moment and the second time moment based on the first position, the second position, and the third position; and The third determining module is configured to determine the adjustment angle of the radar's detection angle range based on the rotation angle.

9. The control device according to claim 8, wherein, The driving parameter information includes driving parameters of the vehicle at multiple time points within the preset time period, and the determining unit includes: The fitting module is configured to fit the driving parameters at the multiple time points to obtain the first trajectory of the vehicle within the preset time period; and The prediction module is configured to predict a second trajectory of the vehicle after the preset time period based on the first trajectory.

10. The control device according to any one of claims 8-9, wherein the acquisition unit comprises: The fourth module is configured to determine the vehicle's driving scenario; as well as The acquisition module is configured to acquire parameter information related to the driving scenario.

11. The control device according to any one of claims 8-9, wherein, The vehicle also includes at least one adjustment bracket, each of the adjustment brackets being used to mount a corresponding radar to the vehicle body, and the adjustment unit is further configured to: The detection angle range of the radar can be adjusted by setting the orientation angle of the at least one adjustment bracket.

12. An electronic device, comprising: At least one processor; as well as A memory that is communicatively connected to the at least one processor; in The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.

13. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to perform the method according to any one of claims 1-7.

14. A computer program product comprising a computer program, wherein, The computer program, when executed by a processor, implements the method of any one of claims 1-7.

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