Radar control method, apparatus, vehicle, and computer-readable storage medium

Abstract

The application provides a radar control method and device, a vehicle and a computer readable storage medium, and relates to the field of vehicle control. The method comprises the following steps: determining whether a designated road used by pedestrians is arranged in a preset detection range of a vehicle; in the case that the designated road is arranged in the preset detection range, determining whether a target object exists on the designated road; and in the case that the target object exists on the designated road, adjusting a field of view angle of a laser beam emitted by the radar, so that the laser beam avoids the eyes of the pedestrians. The application can avoid the laser beam emitted by the radar from irradiating the eyes of the pedestrians during the use of the intelligent driving function of the vehicle, and plays a role in protecting the eyes of the pedestrians.

Description

Technical Field

[0001] This application relates to the field of vehicle control, and more specifically, to a radar control method, apparatus, vehicle, and computer-readable storage medium in the field of vehicle control. Background Technology

[0002] With the rapid development of intelligent driving technology, people can be completely liberated. During the journey, people can do whatever they want in the car without having to drive manually for long periods of time, giving people a brand new life experience.

[0003] After a vehicle activates its intelligent driving function, it uses radar to emit laser beams to detect the surrounding environment in real time, enabling obstacle avoidance and other vehicle control operations. Different wavelengths of the radar-emitted laser beams cause varying degrees of damage to the human eye. Studies show that laser beams with wavelengths between 180nm and 10600nm can penetrate the eye fluid and cause damage to different parts of the eye. For example, laser beams between 180nm and 400nm can damage the cornea and lens; those between 400nm and 700nm can damage the retina and choroid; those between 700nm and 1400nm can damage the retina, choroid, and lens; and those between 1400nm and 10600nm can damage the cornea. Currently, the commonly used wavelengths for laser beams emitted by vehicle-mounted radar are 905nm and 1550nm. If a laser beam emitted by the vehicle's radar enters a pedestrian's eye while the vehicle's intelligent driving function is activated, it will damage the pedestrian's eyes and thus injure them. Summary of the Invention

[0004] This application provides a radar control method, apparatus, vehicle, and computer-readable storage medium, which can avoid or mitigate damage to the human eye caused by radar-emitted laser beams.

[0005] In a first aspect, a radar control method is provided, comprising: determining whether a designated road used by pedestrians is located within a preset detection range of a vehicle; if the designated road is located within the preset detection range, determining whether a target object exists on the designated road; and if the target object exists on the designated road, adjusting the field of view of the radar-emitted laser beam so that the laser beam avoids the eyes of pedestrians.

[0006] In conjunction with the first aspect, in some possible implementations, the designated road includes a pedestrian crossing. When the designated road is the pedestrian crossing and the target object is a pedestrian, the step of adjusting the field of view of the radar-emitted laser beam includes: reducing the vertical field of view in the field of view so that the emission height of the laser beam is lower than the distance between the pedestrian's eyes and the ground.

[0007] In combination with the first aspect and the above implementation, in some possible implementations, the step of reducing the vertical field of view in the field of view includes: determining the position of the target object; and reducing the vertical field of view in the field of view when the position of the target object is located in the area in front of the vehicle.

[0008] In combination with the first aspect and the above implementation, in some possible implementations, the step of reducing the vertical field of view in the field of view includes: determining the position of the target object; and reducing the vertical field of view in the field of view when the position of the target object is located in the area in front of the vehicle.

[0009] In combination with the first aspect and the above implementation, in some possible implementations, the radar control method further includes: controlling the radar to emit the laser beam at a preset field of view when the target object does not exist on the designated road.

[0010] In conjunction with the first aspect, in some possible implementations, the designated road also includes a non-motorized vehicle lane. When the designated road is the non-motorized vehicle lane and the target object is a physical barrier, the step of adjusting the field of view of the radar-emitted laser beam includes: reducing the horizontal field of view in the field of view so that the laser beam does not cross the physical barrier.

[0011] In combination with the first aspect and the above implementation, in some possible implementations, the step of reducing the horizontal field of view in the field of view includes: determining the distance between the physical partition and the vehicle; determining an adjustment value for the horizontal field of view based on the distance; and using the adjustment value to reduce the horizontal field of view.

[0012] In conjunction with the first aspect and the above implementation, in some possible implementations, the radar control method further includes: detecting whether there is a pedestrian on the designated road when the target object is not present on the designated road; reducing the vertical field of view in the field of view when there is a pedestrian on the designated road so that the emission height of the laser beam is lower than the distance between the pedestrian's eyes and the ground; and controlling the radar to emit the laser beam at a preset field of view when there is no pedestrian on the designated road.

[0013] In conjunction with the first aspect, in some possible implementations, after the step of determining whether there is a designated road for pedestrian use within the preset detection range of the vehicle, the radar control method further includes: if there is no designated road within the preset detection range, controlling the radar to emit the laser beam at a preset field of view.

[0014] In conjunction with the first aspect, in some possible implementations, the radar control method further includes: obtaining the driving position of the vehicle; querying a navigation map based on the driving position to obtain the location scenario of the vehicle; and, if the location scenario is an urban scenario, performing the step of determining whether there is a designated road used by pedestrians within the preset detection range of the vehicle.

[0015] Secondly, a radar control device is provided, the radar control device comprising:

[0016] The channel detection module is used to determine whether there is a designated road for pedestrians within the vehicle's preset detection range;

[0017] The target detection module is used to determine whether a target object exists on the specified road when the specified road is located within the preset range.

[0018] The field of view adjustment module is used to adjust the field of view of the radar-emitted laser beam when the target object is present on the designated road, so that the laser beam avoids the eyes of pedestrians.

[0019] In conjunction with the second aspect, in some possible implementations, the designated road includes a pedestrian crossing. When the designated road is the pedestrian crossing and the target object is a pedestrian, the field of view adjustment module includes:

[0020] The first adjustment unit is used to reduce the vertical field of view in the aforementioned field of view so that the emission height of the laser beam is lower than the distance between the pedestrian's eyes and the ground.

[0021] In combination with the second aspect and the above implementation methods, in some possible implementation methods, the first adjustment unit includes:

[0022] The location determination subunit is used to determine the location of the aforementioned target object;

[0023] The first adjustment subunit is used to reduce the vertical field of view in the field of view when the target object is located in the area in front of the vehicle.

[0024] In conjunction with the second aspect and the above-described implementations, in some possible implementations, the radar control device further includes:

[0025] The first control unit is used to control the radar to emit the laser beam at a preset field of view when the target object does not exist on the specified road.

[0026] In conjunction with the second aspect, in some possible implementations, the designated road also includes a non-motorized vehicle lane. When the designated road is the non-motorized vehicle lane and the target object is a physical barrier, the field-of-view adjustment module further includes:

[0027] The second adjustment unit is used to reduce the horizontal field of view in the aforementioned field of view so that the laser beam does not cross the aforementioned physical barrier.

[0028] In combination with the second aspect and the above-described implementation, in some possible implementations, the second adjustment unit includes:

[0029] The distance determination subunit is used to determine the distance between the aforementioned physical partition and the aforementioned vehicle;

[0030] The numerical subunit is used to determine the adjustment value of the horizontal field of view based on the distance mentioned above.

[0031] The second adjustment subunit is used to reduce the horizontal field of view using the aforementioned adjustment value.

[0032] In conjunction with the second aspect and the above-described implementations, in some possible implementations, the radar control device further includes:

[0033] The pedestrian detection unit is used to detect whether there is a pedestrian on the specified road when the target object is not present on the specified road.

[0034] The first determination unit is used to reduce the vertical field of view in the field of view when there is a pedestrian on the designated road, so that the emission height of the laser beam is lower than the distance between the pedestrian's eyes and the ground.

[0035] The second determination unit is used to control the radar to emit the laser beam at a preset field of view when there are no pedestrians on the designated road.

[0036] In conjunction with the second aspect, in some possible implementations, the aforementioned radar control device further includes:

[0037] The second control unit is used to control the radar to emit the laser beam at a preset field of view when the specified road is not located within the preset detection range.

[0038] In conjunction with the second aspect, in some possible implementations, the aforementioned radar control device further includes:

[0039] The location acquisition unit is used to acquire the driving location of the aforementioned vehicles;

[0040] The map query unit is used to query the navigation map based on the above driving location to obtain the location scenario of the above vehicle.

[0041] The strategy activation unit is used to perform the steps of determining whether there is a designated road used by pedestrians within the preset detection range of the vehicle when the above-mentioned location scenario is an urban scenario.

[0042] Thirdly, a vehicle is provided, including a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, causing the vehicle to perform the radar control method of the first aspect or any possible implementation thereof.

[0043] Fourthly, a computer program product is provided, comprising: computer program code, which, when executed on a computer, causes the computer to perform the radar control method described in the first aspect or any possible implementation thereof.

[0044] Fifthly, a computer-readable storage medium is provided, which stores computer program code that, when executed on a computer, causes the computer to perform the radar control method described in the first aspect or any possible implementation thereof.

[0045] The radar control method, apparatus, vehicle, and computer-readable storage medium provided in the embodiments of this application have the following technical effects:

[0046] This application determines whether there are frequently used pedestrian roads around the vehicle's current driving route by detecting whether there are designated roads used by pedestrians within a preset detection range. If a designated road is detected within the preset detection range, it can be determined that there are frequently used pedestrian roads around the vehicle's current driving route. Furthermore, it detects whether there are target objects on the designated roads. By detecting whether there are target objects on the designated roads, it determines whether the strategy of controlling the radar-emitted laser beam to avoid human eyes is met when the vehicle's intelligent driving function is activated. If a target object is detected on the designated road, it indicates that the above strategy condition is met, and the strategy of controlling the radar-emitted laser beam to avoid human eyes is executed, that is, adjusting the field of view angle of the radar-emitted laser beam so that the laser beam avoids the pedestrian's eyes. Thus, by adopting the above technical solution, this application can prevent the radar-emitted laser beam from entering the pedestrian's eyes during the vehicle's intelligent driving function by adjusting the field of view angle, thereby avoiding laser beam irradiation and protecting the eyes. Attached Figure Description

[0047] Figure 1 A schematic diagram of a vehicle provided in an embodiment of this application is shown;

[0048] Figure 2 A schematic flowchart of a radar control method provided in an embodiment of this application is shown;

[0049] Figure 3 A schematic diagram of pedestrian crossings and vehicles is shown;

[0050] Figure 4 A schematic diagram showing the field of view of the radar-emitted laser beam is shown;

[0051] Figure 5 A schematic diagram showing the positional relationship between pedestrians and vehicles is provided.

[0052] Figure 6 A schematic diagram of non-motorized vehicle lanes and vehicles is shown;

[0053] Figure 7 This is a schematic diagram of the structure of a radar control device provided in an embodiment of this application;

[0054] Figure 8 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application. Detailed Implementation

[0055] The technical solutions in this application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0056] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0057] With the rapid development of LiDAR technology, its application areas are constantly expanding. For example, LiDAR is used in autonomous driving, industry, drones, robotics, and 3D mapping. The composition and working principle of LiDAR are as follows:

[0058] Laser emission system: The excitation source periodically drives the laser to emit laser pulses. The laser modulator controls the direction and number of emitted laser pulses through the beam controller. Finally, the laser is emitted to the target object through the emission optical system.

[0059] Laser receiving system: The receiving optical system and photodetector receive the laser light reflected back from the target object and generate a received signal;

[0060] Information processing system: The received signal is amplified and converted from digital to analog. The information processing module calculates and obtains the surface morphology, physical properties and other characteristics of the target object, and finally establishes the object model of the target object.

[0061] The scanning system rotates at a stable speed to scan the plane it is on and generate real-time planar image information.

[0062] Studies have shown that different wavelengths of laser light emitted by lidar have different penetration levels, resulting in different sites of damage to the human eye, as detailed in Table 1.

[0063] Table 1

[0064] Wavelength range (nanometers: nm) Main injury site 180～400 cornea, lens 400～700 retina, choroid 700～1400 retina, choroid, lens 1400～10600 cornea

[0065] The fluid inside the eye prevents laser light from reaching the retina at the back of the eye. This fluid is essentially transparent within the visible wavelength range (390–780 nm). Studies have shown that lasers below 1400 nm can penetrate this fluid and damage the retina. Lasers with wavelengths exceeding 1550 nm cannot penetrate the fluid, but prolonged direct exposure to a high-power laser with a wavelength exceeding 1550 nm can still potentially burn the cornea at the front of the eye.

[0066] LiDAR, used in the field of autonomous driving, is mainly responsible for detecting environmental information around the vehicle to perform obstacle avoidance and other vehicle control operations. When the vehicle's intelligent driving function is activated, the LiDAR continuously emits lasers. If these lasers enter the eyes of pedestrians near the vehicle, they may damage their eyes and cause injury.

[0067] To address the aforementioned issues, this application provides a radar control method, apparatus, vehicle, and computer-readable storage medium to prevent radar-emitted laser beams from causing harm to the human eye, thereby protecting the human eye.

[0068] The following is an embodiment of a radar control method provided in this application.

[0069] The radar control method provided in this application is applied to a vehicle controller. The vehicle has intelligent driving capabilities, and the radar can be a lidar (LiDAR). The radar is mounted on the top of the vehicle or on the front bumper. The field of view of the radar's emitted laser beam is directed towards the front of the vehicle, meaning the laser beam is aimed at the area in front of the vehicle, including both the directly front area and the side-front area. Figure 1 As shown, Figure 1A schematic diagram of a vehicle provided in an embodiment of this application is shown. Figure 1 In this diagram, A represents the vehicle, B represents the radar, and FOV represents the field of view (FOV) of the radar's emitted laser beam. The FOV includes the horizontal and vertical FOVs. The vertical FOV determines the emission height of the radar's laser beam, while the horizontal FOV determines its horizontal sweep range. Adjusting the vertical FOV is equivalent to adjusting the emission height of the radar's laser beam, and adjusting the horizontal FOV is equivalent to adjusting its horizontal sweep range. Specifically: a larger horizontal FOV results in a wider horizontal sweep range, and vice versa; reducing the horizontal FOV reduces the horizontal sweep range. Similarly, a larger vertical FOV results in a higher emission height, and vice versa; reducing the vertical FOV reduces the emission height. The vehicle's controller is connected to a high-precision positioning module, an intelligent driving map module, and a sensor module. The controller receives information from the high-precision positioning module, the intelligent driving map module, and the sensor module, and performs reasonable control of the vehicle based on the received information to realize the vehicle's intelligent driving function.

[0070] like Figure 2 As shown, Figure 2 A schematic flowchart of a radar control method provided in an embodiment of this application is shown. The radar control method includes the following scheme:

[0071] S110: Determine whether there is a designated road for pedestrian use within the vehicle's preset detection range.

[0072] The preset detection range refers to the detection range of the vehicle's external environment information detected by the sensor modules installed on the vehicle. The field of view of the radar's emitted laser beam is included within the preset detection range; that is, the preset detection range is larger than the field of view of the radar's emitted laser beam. Sensor modules include lidar, cameras, millimeter-scale radar, and ultrasonic sensors, etc. Correspondingly, the preset detection range includes: the image capture range of the camera, the field of view of the lidar's emitted laser beam, the detection range of the millimeter-scale radar, and the detection range of the ultrasonic signals emitted by the ultrasonic sensor. For example, the preset detection range is the union of the image capture range of the camera, the field of view of the lidar's emitted laser beam, the detection range of the millimeter-scale radar, and the detection range of the ultrasonic signals emitted by the ultrasonic sensor. Figure 1 As shown, Y represents the preset detection range.

[0073] Designated roads for pedestrians include crosswalks and non-motorized vehicle lanes. When the vehicle's intelligent driving function is activated, radar emits laser beams at a preset field of view to detect the surrounding environment and perform obstacle avoidance and other vehicle control maneuvers. Simultaneously, it detects whether designated roads exist within the vehicle's preset detection range. Since designated roads are used by pedestrians or pedestrians riding non-motorized vehicles (e.g., bicycles, electric bicycles), and pedestrians will frequently pass by, the purpose of detecting whether designated roads exist within the vehicle's preset detection range is to determine whether there are roads with frequent pedestrian traffic around the vehicle's current route. This can be achieved by using cameras to capture images of the vehicle's external environment and then using these images to identify whether designated roads exist within the vehicle's preset detection range.

[0074] S120: If the specified road is located within the preset detection range, determine whether a target object exists on the specified road.

[0075] If a designated road is detected within the preset detection range, it means that there are roads with frequent pedestrian traffic around the road the vehicle is currently traveling on. In other words, the designated road is a road with frequent pedestrian traffic, which also means that the conditions for executing the strategy of avoiding human eyes with the laser beam emitted by the control radar are met.

[0076] Under the premise that the strategy of controlling the laser beam emitted by the radar to avoid human eyes is met, the system continues to detect whether there is a target object on the designated road. By detecting whether there is a target object on the designated road, the system determines whether to execute the strategy of controlling the laser beam emitted by the radar to avoid human eyes.

[0077] The target objects include pedestrians and physical barriers (e.g., road railings, green belts, etc.). If the road is designated as a pedestrian passage, the target objects are pedestrians; if the road is designated as a non-motorized vehicle lane, the target objects are pedestrians or physical barriers.

[0078] The presence of target objects on a designated road can be detected using LiDAR and / or cameras. For example, a camera can capture regional images of the area where the designated road is located, and the presence of target objects on the designated road can be determined based on the regional images. Another example is using LiDAR to capture environmental laser point cloud data of the vehicle's exterior, and the presence of target objects on the designated road can be determined based on the environmental laser point cloud data.

[0079] S130: If the aforementioned target object exists on the designated road, adjust the field of view of the radar-emitted laser beam so that the laser beam avoids the eyes of pedestrians.

[0080] If a target object is present on the designated road, it means that during the period when the vehicle is in motion with the intelligent driving function enabled, the laser beam emitted by the radar may enter the eyes of pedestrians and cause damage. Therefore, the field of view of the radar laser beam is adjusted so that the entire laser beam emitted by the radar avoids the eyes of pedestrians, that is, the laser beam emitted by the radar will not enter the eyes of pedestrians, thereby avoiding the laser beam shining into people's eyes and protecting their eyes.

[0081] In one possible implementation, the designated road includes a pedestrian crossing. When the designated road is the pedestrian crossing and the target is a pedestrian, adjusting the field of view of the radar-emitted laser beam includes the following schemes:

[0082] The vertical field of view in the aforementioned field of view is reduced so that the emission height of the laser beam is lower than the distance between the pedestrian's eyes and the ground.

[0083] For cases where the designated road is a pedestrian crossing and the target is pedestrians, such as Figure 3 As shown, Figure 3 A schematic diagram of pedestrian crossings and vehicles is shown. Figure 3 In the diagram, H represents a crosswalk, and R represents a pedestrian. If a pedestrian is detected on the crosswalk, it indicates a high probability that the radar-emitted laser beam will enter the pedestrian's eyes. Therefore, the vertical field of view of the radar-emitted laser beam is reduced. Reducing the vertical field of view lowers the emission height of the laser beam; specifically, the emission height is lower than the distance between the pedestrian's eyes and the ground. Thus, even if the laser beam shines on the pedestrian's body, it will not enter their eyes, thereby preventing eye damage. Figure 4 As shown, Figure 4 A schematic diagram showing the field of view of the radar-embedded laser beam is provided. Figure 4 In the diagram, IOJ represents the vertical field of view of the radar-transmitted laser beam, and HOI represents the horizontal field of view of the radar-transmitted laser beam.

[0084] In one possible implementation, when there are pedestrians on the crosswalk, the reduction of the vertical field of view in the aforementioned field of view includes the following schemes:

[0085] Determine the location of the aforementioned target object;

[0086] When the target object is located in the area in front of the vehicle, the vertical field of view in the field of view is reduced.

[0087] The location of the pedestrian is determined, and if the pedestrian is located in the area in front of the vehicle, the vertical field of view of the radar-emitted laser beam is reduced.

[0088] For example, a camera can capture an image containing a crosswalk, and the pedestrian's position can be determined by analyzing the pixels of the pedestrian's image within the crosswalk image. Another example is using LiDAR to detect pedestrian point cloud data, and then calculating the pedestrian's position from that data.

[0089] Since the radar's field of view faces the area in front of the vehicle, after determining the pedestrian's position, it determines whether the pedestrian is located in front of the vehicle. If the pedestrian is in front of the vehicle, it means the pedestrian is within the radar's field of view, or the pedestrian will be within the radar's field of view after the vehicle continues to travel a certain distance. Once the pedestrian is within the radar's field of view, the radar's emitted laser beam will shine on the pedestrian, and may even enter the pedestrian's eyes, causing damage. Therefore, the vertical field of view of the radar's emitted laser beam is reduced so that the laser beam's emission height is lower than the distance between the pedestrian's eyes and the ground. By reducing the vertical field of view of the radar's emitted laser beam only after determining that the pedestrian's position is in front of the vehicle, precise adjustment of the radar's emitted laser beam's field of view is achieved. This avoids prematurely reducing the vertical field of view of the radar's emitted laser beam, which helps ensure the accuracy of obstacle avoidance and vehicle control operations during intelligent driving, thus improving driving safety.

[0090] The area in front of the vehicle includes the area directly in front of the vehicle and the area to the side front of the vehicle. Determining whether a pedestrian is located in the area in front of the vehicle includes the following methods:

[0091] Within a first preset range, the first angle between the line connecting the pedestrian's position and the target point and the straight line in the vehicle's direction of travel determines that the pedestrian's position is located in the area directly in front of the vehicle; where the target point is the center point of the vehicle's front.

[0092] Within a second preset range, the pedestrian's position is determined to be in the area to the side and front of the vehicle by the second angle between the line connecting the aforementioned location and the target point and the straight line in the direction of the vehicle's travel.

[0093] Among them, the maximum value of the first preset interval is less than the minimum value of the second preset interval, the maximum value of the second preset interval is less than or equal to 90°, and the second included angle is greater than the first included angle.

[0094] like Figure 5 As shown, Figure 5 A schematic diagram showing the positional relationship between pedestrians and vehicles is provided. Figure 5In this diagram, P0 represents pedestrian A, P1 represents pedestrian B, L represents the straight line along the vehicle's direction of travel, M represents the target point, a represents the first included angle, and b represents the second included angle. Assume the first preset interval is [0, 30] and the second preset interval is (30, 90). If pedestrian A (P0) is to the left of L, and the first included angle a is within the first preset interval, then pedestrian A (P0) is located directly in front of the vehicle. The same logic applies if pedestrian A (P0) is to the right of L or to the left of L. If pedestrian B (P1) is to the left of L, and the second included angle b is within the second preset interval, then pedestrian B (P1) is located to the side and front of the vehicle. The same logic applies if pedestrian B (P1) is to the right of L or to the left of L.

[0095] One possible implementation method for reducing the vertical field of view includes the following schemes:

[0096] Determine the number of pedestrians;

[0097] When there is only one pedestrian, the vertical field of view is reduced based on the initial distance between the pedestrian's eyes and the ground.

[0098] When there are multiple pedestrians, the target pedestrian is identified from among them. The target pedestrian is the shortest pedestrian among the multiple pedestrians.

[0099] Based on the second distance between the target pedestrian's eyes and the ground, the vertical field of view is narrowed.

[0100] After detecting pedestrians on the crosswalk, the system can count the number of pedestrians. If the pedestrian in front of the vehicle is a single person, a first distance between the pedestrian's eyes and the ground is calculated, and then the vertical field of view of the radar's emitted laser beam is reduced based on this first distance. After reducing the vertical field of view, the emission height of the radar's emitted laser beam is lower than the first distance, and the radar's emitted laser beam will not illuminate the pedestrian's eyes. If there are multiple pedestrians in front of the vehicle, the shortest pedestrian among them is identified as the target pedestrian. A second distance between the target pedestrian's eyes and the ground is calculated, and the vertical field of view of the radar's emitted laser beam is reduced based on this second distance. After reducing the vertical field of view, the emission height of the radar's emitted laser beam is lower than the second distance, and the radar's emitted laser beam will not illuminate the eyes of all pedestrians, thus avoiding damage to the eyes of all pedestrians.

[0101] In one possible implementation, when the designated road is a pedestrian crossing and the target is a pedestrian, the radar control method described above also includes the following scheme:

[0102] If the target object is not present on the designated road, control the radar to emit the laser beam at a preset field of view.

[0103] If no pedestrians are detected on the crosswalk, it means that the laser beam emitted by the radar will not cause harm to pedestrians. In this case, the field of view of the radar's laser beam will not be adjusted; that is, the radar will be controlled to emit the laser beam at a preset field of view. The preset field of view, for example, is the maximum field of view, which is beneficial for enabling precise obstacle avoidance of the vehicle during intelligent driving and improving the safety of intelligent driving.

[0104] In one possible implementation, the designated road further includes a non-motorized vehicle lane. When the designated road is the non-motorized vehicle lane and the target object is a physical barrier, the adjustment of the field of view of the radar-emitted laser beam includes the following schemes:

[0105] Reduce the horizontal field of view in the above-mentioned field of view so that the laser beam does not cross the above-mentioned physical barrier.

[0106] For cases where the designated road is a non-motorized vehicle lane and the target object is a physical barrier, such as Figure 6 As shown, Figure 6 A schematic diagram showing the non-motorized vehicle lane and vehicles is provided. Figure 6 In the diagram, F represents a non-motorized vehicle lane, and W represents a physical barrier, such as a railing. If a physical barrier exists on the non-motorized vehicle lane, it means that the non-motorized vehicle lane is separated from the motorized vehicle lane. Vehicles are restricted to the motorized vehicle lane due to the physical barrier. Therefore, the radar's laser beam only needs to be positioned within the motorized vehicle lane to perform obstacle avoidance and other vehicle control operations, without needing to consider whether there are pedestrians in the non-motorized vehicle lane. Thus, when a physical barrier exists on the non-motorized vehicle lane, the horizontal field of view of the radar's laser beam should be reduced. For example... Figure 4 As shown, assuming that the field of view of the radar-transmitted laser beam is closer to the physical barrier on the OI side, when reducing the horizontal field of view of the radar-transmitted laser beam, the OH side remains unchanged. It is only necessary to move the OI and OJ sides synchronously towards the OH side to reduce the horizontal field of view of the radar-transmitted laser beam.

[0107] After the horizontal field of view is reduced, the laser beam emitted by the radar will not cross the physical barrier, but will be projected into the motor vehicle lane. Even if there are pedestrians in the non-motor vehicle lane, the pedestrians are located outside the field of view of the radar's laser beam, so the laser beam will not harm the pedestrians' eyes and will play a role in protecting the eyes.

[0108] In one possible implementation, when there is a physical barrier on the non-motorized vehicle lane, reducing the horizontal field of view in the aforementioned field of view includes the following solutions:

[0109] Determine the distance between the aforementioned physical partition and the aforementioned vehicle;

[0110] The adjustment value of the horizontal field of view is determined based on the above distance;

[0111] The horizontal field of view is reduced by using the aforementioned width adjustment value.

[0112] The closer the vehicle is to the physical barrier, the closer the physical barrier is to the center of the radar's laser beam's field of view; that is, the larger the overlap area between the horizontal field of view and the non-motorized vehicle lane. Conversely, the farther the vehicle is from the physical barrier, the farther the physical barrier is from the center of the radar's laser beam's field of view; that is, the smaller the overlap area between the horizontal field of view and the non-motorized vehicle lane. Therefore, the distance between the vehicle and the physical barrier is measured beforehand. Then, by reducing the horizontal field of view of the radar's laser beam to prevent it from crossing the physical barrier, an adjustment value for reducing the horizontal field of view is obtained. This establishes a correlation between the measured distance and the adjustment value, resulting in multiple sets of distance-adjustment value correlations, which are then recorded and saved. A correlation table is generated from these recorded and saved correlations, with each correlation in the table including a distance and its corresponding adjustment value.

[0113] When there is a physical barrier on the non-motorized vehicle lane, the distance between the physical barrier and the vehicle is calculated. The corresponding adjustment value is obtained by querying the correlation table through the calculated distance. Then, the horizontal field of view of the radar laser beam is reduced according to the queried adjustment value, so that the radar laser beam does not cross the physical barrier, thus realizing the rapid adjustment of the horizontal field of view of the radar laser beam.

[0114] In one possible implementation, when the designated road is a non-motorized vehicle lane and the target object is a physical barrier, the radar control method described above also includes the following schemes:

[0115] If the target object is not present on the designated road, detect whether the pedestrian is present on the designated road.

[0116] When there are pedestrians on the designated road, the vertical field of view in the field of view is reduced so that the emission height of the laser beam is lower than the distance between the pedestrian's eyes and the ground.

[0117] If there are no pedestrians on the designated road, control the radar to emit the laser beam at a preset field of view.

[0118] In the absence of physical barriers in the non-motorized vehicle lane, the lack of physical barriers to obstruct vehicles necessitates that vehicles employing intelligent driving functions consider various real-time situations within the lane to achieve obstacle avoidance and other vehicle control operations. Therefore, in the absence of physical barriers in the non-motorized vehicle lane, the system detects the presence of pedestrians. If a pedestrian is detected, indicating a risk of the radar-emitted laser beam entering the pedestrian's eyes, the vertical field of view of the radar-emitted laser beam is reduced. This ensures that the laser beam's emission height is below the distance between the pedestrian's eyes and the ground, preventing the radar-emitted laser beam from entering the pedestrian's eyes and thus protecting their vision.

[0119] If there are no physical barriers on the non-motorized vehicle lane, and no pedestrians are detected on the non-motorized vehicle lane, it means that the laser beam emitted by the radar will not enter the eyes of pedestrians. Therefore, the field of view of the laser beam emitted by the radar will not be adjusted, that is, the radar will be controlled to emit the laser beam at a preset field of view.

[0120] In one possible implementation, after S110, the radar control method described above also includes the following schemes:

[0121] If the designated road is not located within the preset detection range, the radar is controlled to emit the laser beam at a preset field of view.

[0122] If there is no pedestrian crossing and / or non-motorized vehicle lane in the vehicle's preset detection range, it means that the road the vehicle is currently traveling on belongs to the motorized vehicle lane and pedestrians are not allowed to enter. In reality, pedestrians almost never enter the motorized vehicle lane, and the possibility of the radar-emitted laser beam hitting the pedestrian's eyes is very small. Therefore, the field of view of the radar-emitted laser beam is not adjusted, that is, the radar is controlled to emit the laser beam at the preset field of view.

[0123] In one possible implementation, after S110, the radar control method described above also includes the following schemes:

[0124] Obtain the driving location of the aforementioned vehicles;

[0125] Based on the above driving location, the navigation map can be consulted to obtain the location scenario of the above vehicle;

[0126] In the case of an urban scenario, the steps described above for determining whether there is a designated road used by pedestrians within the vehicle's preset detection range are performed.

[0127] The navigation map is provided by the intelligent driving map module. It assists users in end-to-end intelligent driving vehicle control. Users can obtain road information ahead of the vehicle's driving path in advance through the navigation map, including the location and conditions of the road corresponding to the driving path. The navigation map pre-marks several preset locations, and the location scenario of the path for each preset location is known; that is, each preset location is associated with a location scenario. After obtaining the vehicle's driving position, the navigation map is queried based on the driving position to obtain the preset location on the navigation map that matches the driving position. The location scenario associated with this preset location is then determined as the location scenario corresponding to the vehicle's driving position. By querying the navigation map using the driving position, the location scenario of the road the vehicle is currently traveling on can be quickly obtained. After obtaining the vehicle's location scenario, if the vehicle's location scenario is specifically an urban scenario, then step S110 is executed to determine whether there is a designated road for pedestrians within the vehicle's preset detection range. Therefore, the radar control method provided in this application is applicable to urban scenarios.

[0128] The technical solution provided in this application determines whether there are frequently used pedestrian roads around the vehicle's current driving road by detecting whether there are designated roads used by pedestrians within a preset detection range of the vehicle. If a designated road is detected within the preset detection range, it can be determined that there are frequently used pedestrian roads around the vehicle's current driving road. Furthermore, it detects whether there are target objects on the designated roads. By detecting whether there are target objects on the designated roads, it determines whether the strategy conditions for controlling the radar-emitted laser beam to avoid human eyes are met during the vehicle's intelligent driving function. If a target object is detected on the designated road, it indicates that the above strategy conditions are met, and the strategy of controlling the radar-emitted laser beam to avoid human eyes is executed, that is, adjusting the field of view angle of the radar-emitted laser beam so that the laser beam avoids the pedestrian's eyes. Thus, by adopting the above technical solution, this application can prevent the radar-emitted laser beam from entering the pedestrian's eyes during the vehicle's intelligent driving function by adjusting the field of view angle of the radar-emitted laser beam, thereby avoiding laser beam irradiation of the eyes and protecting the eyes.

[0129] The following are embodiments of the apparatus described in this application, which can be used to execute the embodiments of the method described in this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.

[0130] Figure 7 A schematic diagram of a radar control device according to an embodiment of this application is shown. For example,... Figure 7 As shown, the radar control device 700 includes:

[0131] The channel detection module 710 is used to determine whether there is a designated road for pedestrians within the preset detection range of the vehicle;

[0132] The target detection module 720 is used to determine whether a target object exists on the specified road when the specified road is provided within the preset range.

[0133] The field of view adjustment module 730 is used to adjust the field of view of the radar-emitted laser beam when the target object is present on the designated road, so that the laser beam avoids the eyes of pedestrians.

[0134] In one possible implementation, the designated road includes a pedestrian crossing. When the designated road is the pedestrian crossing and the target object is a pedestrian, the field of view adjustment module 730 includes:

[0135] The first adjustment unit is used to reduce the vertical field of view in the aforementioned field of view so that the emission height of the laser beam is lower than the distance between the pedestrian's eyes and the ground.

[0136] In one possible implementation, the first adjustment unit includes:

[0137] The location determination subunit is used to determine the location of the aforementioned target object;

[0138] The first adjustment subunit is used to reduce the vertical field of view in the field of view when the target object is located in the area in front of the vehicle.

[0139] In one possible implementation, the radar control device 700 further includes:

[0140] The first control unit is used to control the radar to emit the laser beam at a preset field of view when the target object does not exist on the specified road.

[0141] In one possible implementation, the designated road further includes a non-motorized vehicle lane. If the designated road is the non-motorized vehicle lane and the target object is a physical barrier, the field-of-view adjustment module 730 further includes:

[0142] The second adjustment unit is used to reduce the horizontal field of view in the aforementioned field of view so that the laser beam does not cross the aforementioned physical barrier.

[0143] In one possible implementation, the second adjustment unit includes:

[0144] The distance determination subunit is used to determine the distance between the aforementioned physical partition and the aforementioned vehicle;

[0145] The numerical subunit is used to determine the adjustment value of the horizontal field of view based on the distance mentioned above.

[0146] The second adjustment subunit is used to reduce the horizontal field of view using the aforementioned adjustment value.

[0147] In one possible implementation, the radar control device 700 further includes:

[0148] The pedestrian detection unit is used to detect whether there is a pedestrian on the specified road when the target object is not present on the specified road.

[0149] The first determination unit is used to reduce the vertical field of view in the field of view when there is a pedestrian on the designated road, so that the emission height of the laser beam is lower than the distance between the pedestrian's eyes and the ground.

[0150] The second determination unit is used to control the radar to emit the laser beam at a preset field of view when there are no pedestrians on the designated road.

[0151] In one possible implementation, the radar control device 700 further includes:

[0152] The second control unit is used to control the radar to emit the laser beam at a preset field of view when the specified road is not located within the preset detection range.

[0153] In one possible implementation, the radar control device 700 further includes:

[0154] The location acquisition unit is used to acquire the driving location of the aforementioned vehicles;

[0155] The map query unit is used to query the navigation map based on the above driving location to obtain the location scenario of the above vehicle.

[0156] The strategy activation unit is used to perform the steps of determining whether there is a designated road used by pedestrians within the preset detection range of the vehicle when the above-mentioned location scenario is an urban scenario.

[0157] It should be noted that the radar control device provided in the above embodiments is only illustrated by the division of the above functional modules when executing the radar control method. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the radar control device and radar control method embodiments provided in the above embodiments belong to the same concept. Therefore, for details not disclosed in the device embodiments of this application, please refer to the above-described embodiments of the radar control method of this application, which will not be repeated here.

[0158] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0159] Figure 8 A schematic diagram of the structure of a vehicle provided in an embodiment of this application is shown.

[0160] For example, such as Figure 8 As shown, the vehicle 800 includes a memory 801 and a processor 802. The memory 801 stores executable program code 8011, and the processor 802 is used to call and execute the executable program code 8011 to perform a radar control method.

[0161] This embodiment can divide the vehicle into functional modules according to the above method example. For example, each function can be assigned to a separate module, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0162] When each function is divided into modules corresponding to its specific function, the vehicle may include: a channel detection module, a target detection module, a field-of-view adjustment module, etc. It should be noted that all relevant content of each step involved in the above method embodiments can be referenced from the functional descriptions of the corresponding modules, and will not be repeated here.

[0163] The vehicle provided in this embodiment is used to execute the radar control method described above, and therefore can achieve the same effect as the above implementation method.

[0164] When using integrated units, the vehicle may include a processing module and a storage module. The processing module is used to control and manage the vehicle's actions. The storage module supports the vehicle in executing program code and data.

[0165] The processing module may be a processor or a controller, which can implement or execute various exemplary logic blocks, modules, and circuits as disclosed in this application. The processor may also be a combination of computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and microprocessors, etc., and the storage module may be a memory.

[0166] This embodiment also provides a computer-readable storage medium storing computer program code. When the computer program code is run on a computer, the computer executes the aforementioned related method steps to implement a radar control method in the above embodiment.

[0167] This embodiment also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned steps to implement a radar control method as described in the above embodiment.

[0168] In addition, the vehicle provided in the embodiments of this application may specifically be a chip, component or module. The vehicle may include a connected processor and a memory. The memory is used to store instructions. When the vehicle is running, the processor can call and execute the instructions to make the chip execute a radar control method in the above embodiments.

[0169] In this embodiment, the vehicle, computer-readable storage medium, computer program product, or chip are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can be referred to the beneficial effects of the corresponding methods provided above, and will not be repeated here.

[0170] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0171] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0172] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A radar control method, characterized in that, The radar control method includes: Determine whether there are designated roads for pedestrian use within the vehicle's preset detection range; If the designated road is located within the preset detection range, determine whether a target object exists on the designated road; If the target object is present on the designated road, adjust the field of view of the radar-emitted laser beam so that the laser beam avoids the eyes of pedestrians; When the designated road includes a non-motorized vehicle lane, and if the designated road is the non-motorized vehicle lane and the target object is a physical barrier, the step of adjusting the field of view of the radar-emitted laser beam includes: Determine the distance between the physical partition and the vehicle; The adjustment value of the horizontal field of view in the field of view is determined based on the distance; The horizontal field of view is reduced by the adjustment value so that the laser beam does not cross the physical barrier.

2. The radar control method according to claim 1, characterized in that, The designated road includes a pedestrian crossing. When the designated road is the pedestrian crossing and the target object is a pedestrian, the step of adjusting the field of view of the radar-emitted laser beam includes: The vertical field of view is reduced so that the emission height of the laser beam is lower than the distance between the pedestrian's eyes and the ground.

3. The radar control method according to claim 2, characterized in that, The step of reducing the vertical field of view in the field of view includes: Determine the location of the target object; When the target object is located in the area in front of the vehicle, the vertical field of view in the field of view is reduced.

4. The radar control method according to claim 1, characterized in that, The radar control method further includes: If the target object is not present on the designated road, detect whether there is a pedestrian on the designated road; When there are pedestrians on the designated road, the vertical field of view in the field of view is reduced so that the emission height of the laser beam is lower than the distance between the pedestrian's eyes and the ground; If there are no pedestrians on the designated road, control the radar to emit the laser beam at a preset field of view.

5. The radar control method according to any one of claims 1 to 4, characterized in that, The radar control method further includes: Obtain the driving location of the vehicle; The location of the vehicle is obtained by querying the navigation map based on the driving location. In the case where the location scenario is an urban scenario, the step of determining whether there is a designated road used by pedestrians within the preset detection range of the vehicle is performed.

6. A radar control device, characterized in that, The radar control device includes: The channel detection module is used to determine whether there is a designated road for pedestrians within the vehicle's preset detection range; The target detection module is used to determine whether a target object exists on the designated road when the designated road is located within the preset detection range. The field of view adjustment module is used to adjust the field of view of the radar-emitted laser beam when the target object is present on the designated road, so that the laser beam avoids the eyes of pedestrians; When the designated road includes a non-motorized vehicle lane, if the designated road is the non-motorized vehicle lane and the target object is a physical barrier, the step of adjusting the field of view of the radar-emitted laser beam includes: determining the distance between the physical barrier and the vehicle; determining an adjustment value for the horizontal field of view in the field of view based on the distance; and using the adjustment value to reduce the horizontal field of view so that the laser beam does not cross the physical barrier.

7. A vehicle, characterized in that, The vehicles include: Memory, used to store executable program code; A processor is configured to call and run the executable program code from the memory, causing the vehicle to perform the radar control method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed, implements the radar control method as described in any one of claims 1 to 5.

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