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 technical field of vehicles.The method comprises the following steps: in the case that it is determined that a vehicle has collided, the collision position of the vehicle is determined; a target radar is determined according to the collision position and the layout of the radar carried by the vehicle; and the target radar is turned off.The application can avoid the laser beams emitted by the target radar from damaging the eyes of a user by turning off the target radar located at the collision position after the vehicle has collided.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more specifically, to a radar control method, apparatus, vehicle, and computer-readable storage medium in the field of vehicle technology. 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. Research shows 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 collision occurs while the vehicle is using intelligent driving functions and the lidar is damaged, the abnormal power consumption may cause the emitted laser beam to cause unpredictable damage to the human eye. Summary of the Invention

[0004] This application provides a radar control method, apparatus, vehicle, and computer-readable storage medium, which can prevent laser beams emitted by vehicle-mounted radar from causing damage to human eyes after a vehicle collision.

[0005] In a first aspect, a radar control method for radar control is provided, the radar control method comprising: determining the collision position of the vehicle when a collision is determined; determining a target radar based on the collision position and the layout of the radars mounted on the vehicle; and turning off the target radar.

[0006] In conjunction with the first aspect, in some possible implementations, the radar mounted on the vehicle is arranged as a single radar mounted on the roof of the vehicle; the step of determining the target radar based on the collision location and the arrangement of the radar mounted on the vehicle includes: if the collision location is located on the roof, determining the radar as the target radar.

[0007] In conjunction with the first aspect, in some possible implementations, the radar layout of the vehicle is as follows: a first radar and a second radar symmetrically arranged on both sides of the front bumper of the vehicle; the step of determining the target radar based on the collision location and the layout of the radar of the vehicle includes: if the collision location is located on the side of the front bumper, determining the radar located on the side from the first radar and the second radar to obtain a candidate radar; and determining the candidate radar as the target radar.

[0008] In conjunction with the first aspect, in some possible implementations, the radar configuration of the vehicle is as follows: a first radar is positioned at the target location of the vehicle, and a second and a third radar are symmetrically positioned on both sides of the front bumper of the vehicle, wherein the target location includes the roof and / or the front bumper; the step of determining the target radar based on the collision location and the radar configuration of the vehicle includes: if the collision location is at the target location, determining the first radar as the target radar; or, if the collision location is on the side of the front bumper, determining the radar positioned on the side from the second and third radars to obtain a candidate radar; and determining the candidate radar as the target radar.

[0009] In conjunction with the first aspect, in some possible implementations, the radar configuration of the vehicle is as follows: a first radar located at the target position of the vehicle, second and third radars symmetrically arranged on both sides of the front bumper of the vehicle, and a fourth radar located on the rear bumper of the vehicle, wherein the target position includes the roof and / or the front bumper; the step of determining the target radar based on the collision position and the radar configuration of the vehicle includes: if the collision position is located at the target position, determining the first radar as the target radar; or, if the collision position is located on the side of the front bumper, determining the radar located on the side from the second and third radars to obtain a candidate radar; and determining the candidate radar as the target radar; or, if the collision position is located at the rear bumper, determining the fourth radar as the target radar.

[0010] In conjunction with the first aspect, in some possible implementations, the radar control method further includes: upon receiving collision information, obtaining the acceleration value of the vehicle from the collision information; and if the acceleration value is greater than a set threshold, determining that the vehicle has collided.

[0011] In combination with the first aspect and the above implementation methods, in some possible implementation methods, the step of determining the collision location of the vehicle includes: obtaining the acceleration direction of the vehicle from the collision information; determining the direction of the collision based on the acceleration direction; determining the collision location based on the direction; or, obtaining the identification information carried in the collision information; determining the collision detection module that sent the collision information based on the identification information; and determining the collision location based on the installation location of the collision detection module on the vehicle.

[0012] Secondly, a radar control device is provided, the radar control device comprising:

[0013] The location determination module is used to determine the collision location of the vehicles when a collision is determined to have occurred.

[0014] The radar selection module is used to determine the target radar based on the collision location and the layout of the radars mounted on the vehicle.

[0015] The radar control module is used to shut down the aforementioned target radar.

[0016] In conjunction with the second aspect, in some possible implementations, the radar mounted on the aforementioned vehicle is arranged as follows: a single radar is mounted on the roof of the vehicle, and the radar selection module includes:

[0017] The first selection unit is used to identify the radar as the target radar when the collision location is at the roof of the vehicle.

[0018] In conjunction with the second aspect, in some possible implementations, the radar layout of the aforementioned vehicle is as follows: a first radar and a second radar symmetrically arranged on both sides of the front bumper of the vehicle, and the radar selection module further includes:

[0019] The second selection unit is used to determine, when the collision location is located on the side of the front bumper, the radar located on the side from the first radar and the second radar, to obtain a candidate radar, and to determine the candidate radar as the target radar.

[0020] In conjunction with the second aspect, in some possible implementations, the radar configuration of the vehicle is as follows: a first radar positioned at the target location of the vehicle, and a second and third radar symmetrically positioned on both sides of the front bumper of the vehicle. The target location includes the roof and / or the front bumper. The radar selection module further includes:

[0021] The third selection unit is used to identify the first radar as the target radar when the collision location is located at the target location.

[0022] The fourth selection unit is used to determine, when the collision location is located on the side of the front bumper, the radar located on the side from the second radar and the third radar, to obtain a candidate radar, and to determine the candidate radar as the target radar.

[0023] In conjunction with the second aspect, in some possible implementations, the radar layout of the aforementioned vehicle is as follows: a first radar located at the target position of the vehicle; second and third radars symmetrically arranged on both sides of the front bumper of the vehicle; and a fourth radar located on the rear bumper of the vehicle. The target position includes the roof and / or the front bumper. The radar selection module further includes:

[0024] The fifth selection unit is used to identify the first radar as the target radar when the collision location is located at the target location.

[0025] The sixth selection unit is used to determine, from the second radar and the third radar, the radar located at the side when the collision position is located on the side of the front bumper, to obtain a candidate radar and to determine the candidate radar as the target radar.

[0026] The seventh selection unit is used to identify the fourth radar as the target radar when the collision location is at the rear bumper.

[0027] In conjunction with the second aspect, in some possible implementations, the aforementioned radar control device further includes:

[0028] The information receiving unit is used to obtain the acceleration value of the vehicle from the collision information when the collision information is received.

[0029] The collision recognition unit is used to determine that the vehicle has collided when the acceleration value is greater than a set threshold.

[0030] Combining the second aspect and the above implementation methods, in some possible implementations, the aforementioned location determination module includes:

[0031] The direction acquisition unit is used to acquire the acceleration direction of the vehicle from the collision information.

[0032] The orientation determination unit is used to determine the orientation of the vehicle collision based on the aforementioned acceleration direction.

[0033] The first position determination unit is used to determine the collision position based on the aforementioned orientation.

[0034] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the above location determination module further includes:

[0035] The identifier acquisition unit is used to acquire the identifier information carried by the above-mentioned collision information;

[0036] The module determination unit is used to determine the collision detection module that sends the collision information based on the above-mentioned identification information.

[0037] The second position determination unit is used to determine the collision position based on the installation position of the collision detection module on the vehicle.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] The radar control method, apparatus, vehicle, and computer-readable storage medium provided in the embodiments of this application have the following technical effects:

[0042] This application employs a technical solution that, upon confirming a vehicle collision, determines the collision location, identifies the target radar based on the collision location and the layout of the vehicle's radar systems, and then disables the target radar. After a collision, based on the collision location and the layout of the vehicle's radar systems, the target radar located at the collision location can be identified from the radars installed on the vehicle. The target radar is then disabled, meaning it no longer emits laser beams, thus preventing the laser beams emitted by the target radar from harming the user's eyes and protecting their vision. For example, when the driver inspects or repairs the collision location, the radar at the collision location is already disabled, and the driver's eyes will not be harmed by the laser beams. Attached Figure Description

[0043] Figure 1 A schematic flowchart of a radar control method provided in an embodiment of this application is shown;

[0044] Figure 2An exemplary schematic diagram of the layout of a vehicle equipped with radar is shown;

[0045] Figure 3 Another exemplary schematic diagram of the layout of a vehicle equipped with radar is shown;

[0046] Figure 4 This is yet another exemplary schematic diagram showing the layout of a vehicle equipped with radar;

[0047] Figure 5 Another exemplary schematic diagram of the layout of a vehicle equipped with radar is shown;

[0048] Figure 6 An exemplary schematic diagram of the collision detection module layout is shown;

[0049] Figure 7 A schematic diagram of the structure of a radar control device provided in an embodiment of this application is shown;

[0050] Figure 8 A schematic diagram of the structure of a vehicle provided in an embodiment of this application is shown. Detailed Implementation

[0051] 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.

[0052] 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.

[0053] 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:

[0054] 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.

[0055] Laser receiving system: The receiving optical system and photodetector receive the laser light reflected back from the target object and generate a received signal;

[0056] 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.

[0057] The scanning system rotates at a stable speed to scan the plane it is on and generate real-time planar image information.

[0058] Studies have shown that different wavelengths of laser light emitted by lidar have different penetration levels, resulting in different locations of eye damage, as detailed in Table 1.

[0059] Table 1

[0060] Wavelength range (nanometers: nm) Main injury site 180～400 cornea, lens 400～700 retina, choroid 700～1400 retina, choroid, lens 1400～10600 cornea

[0061] 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.

[0062] 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, if a collision occurs, the radar located at the collision site may still be emitting laser beams. When the user inspects the collision site, the laser beams emitted by the vehicle's radar are highly likely to enter the user's eyes, causing eye damage and injury.

[0063] In view of the above problems, this application provides a radar control method, device, vehicle and computer-readable storage medium, so as to effectively utilize radar and avoid or reduce the damage to human eyes caused by radar laser beams after a vehicle collision, thereby protecting human eyes.

[0064] The following is an embodiment of a radar control method provided in this application.

[0065] 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) mounted externally on the vehicle body. When the intelligent driving function is activated, the radar continuously emits laser beams at a preset field of view, such as the maximum field of view, which improves the accuracy of obstacle avoidance and other vehicle control operations.

[0066] The vehicle controller can connect to a high-precision positioning module, an intelligent driving map module, and an intelligent driving sensor module. The controller receives information from the high-precision positioning module, the intelligent driving map module, and the intelligent driving sensor module, and performs reasonable control of the vehicle based on the received information to realize the intelligent driving function of the vehicle. Among them, the intelligent driving sensor module includes LiDAR, camera, millimeter-wave radar, ultrasonic sensor, etc.

[0067] The vehicle is equipped with a radar control system, which includes the vehicle controller, airbag module, switch module, radar, and radar power supply. In the event of a collision, the airbag module protects the occupants. This airbag module includes a collision detection module, electronic control unit, airbag module (including gas generator, airbag, and igniter), monitoring device, and reserve power supply. Multiple collision detection modules are installed externally on the vehicle body. Depending on the requirements of intelligent driving, at least one radar is included, also installed externally on the vehicle body. The radar's installation location is either the same as or very close to the collision detection module's location. The radar is connected to its power supply via a switching module. The vehicle's airbag module uses a collision detection module to monitor collision information in real time. If a collision occurs, the collision detection module sends the information to the vehicle's controller. If the controller determines that a radar is installed at the collision location based on the collision information, it switches the switching module to the off state, cutting off the connection between the radar power supply and the radar. The radar power supply no longer supplies power to the radar, and the radar stops operating and emitting laser beams. The switching module can be understood as an electronically controlled switch, such as an electromagnetic relay.

[0068] like Figure 1 As shown, Figure 1 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:

[0069] S110: If a vehicle collision is determined, determine the collision location of the aforementioned vehicles.

[0070] When the vehicle's intelligent driving function is activated, it will detect whether the vehicle has been involved in a collision in real time. If a collision occurs, the collision location will be determined. The collision location refers to the part of the vehicle body that collides with the object.

[0071] S120: Based on the collision location and the layout of the radar on the vehicle, determine the target radar.

[0072] The layout of a vehicle's radar can be understood as the location where the radar is installed on the exterior of the vehicle. For example, the radar may be mounted on the roof, or on the front bumper, and so on. The layout of the radar can be designed according to the actual needs of intelligent driving. Vehicles of the same brand may have the same or different radar layouts, and vehicles of different brands may have different or the same radar layouts.

[0073] After determining the collision location of the vehicle, based on the collision location and the layout of the radar installed on the vehicle, the radar located at the collision location is identified from the radars installed on the vehicle, and the radar located at the collision location is designated as the target radar.

[0074] S130: Turn off the aforementioned target radar.

[0075] Considering that after a vehicle collision, on the one hand, the target radar at the collision location may be undamaged and continue emitting laser beams at normal power; on the other hand, the target radar at the collision location may be damaged by the collision, but still emitting laser beams, albeit with excessively high power due to the damage. In both scenarios, the radar continues to emit laser beams even after a collision. When a user inspects or repairs the collision site, the emitted laser beams are highly likely to enter the user's eyes, causing eye damage. Therefore, after identifying the target radar based on the collision location and the layout of the vehicle's radar systems, disconnecting the radar from its power supply and shutting it down will prevent the target radar at the collision location from continuing to emit laser beams, thus avoiding eye damage.

[0076] The technical solution provided in this application, by determining the collision location of a vehicle after a collision, identifying the target radar based on the collision location and the layout of the vehicle's radar, and then shutting down the target radar, allows for the identification of the target radar located at the collision location from the radars installed on the vehicle after a collision, based on the collision location and the layout of the vehicle's radar. By shutting down the target radar, it ceases to emit laser beams, thus preventing the target radar from harming the user's eyes and protecting their vision. For example, when the driver inspects or repairs the collision location, the radar at the collision location is already off, and the driver's eyes will not be harmed by the laser beams.

[0077] The following are Figure 1 The specific implementation methods of each step in the illustrated embodiment will be explained below:

[0078] In one possible implementation, the radar mounted on the vehicle is arranged as a single radar mounted on the roof of the vehicle, and S120 includes the following schemes:

[0079] If the collision location is at the roof of the vehicle, the aforementioned radar will be identified as the target radar.

[0080] like Figure 2 As shown, Figure 2 An exemplary schematic diagram of the layout of a vehicle equipped with radar is shown. Figure 1 In this diagram, A represents the vehicle, and B represents the radar. Radar B is located on the roof, for example, in the center of the roof. If the collision location is determined to be on the roof, the radar located on the roof may not be damaged or completely damaged, and may still be emitting laser beams. When a user inspects or repairs the collision location, there is a possibility that the laser beams may shine into their eyes. Therefore, the radar located on the roof is identified as the target radar. Scenarios corresponding to a collision location on the roof include: vehicle rollover, with the roof contacting the ground (roof-to-ground collision); and collisions between the roof and objects above the vehicle while the vehicle is in normal driving, such as a collision between the roof and a height restriction barrier.

[0081] In one possible implementation, the radar on the vehicle is arranged as follows: a first radar and a second radar are symmetrically arranged on both sides of the front bumper of the vehicle, and S120 includes the following scheme:

[0082] When the collision location is located on the side of the front bumper, the radar located on the side is determined from the first radar and the second radar to obtain the candidate radar;

[0083] The aforementioned candidate radars were selected as the target radars.

[0084] like Figure 3 As shown, Figure 3 Another exemplary schematic diagram of a vehicle-mounted radar layout is shown. Figure 3 In the diagram, A represents the vehicle, B1 represents the first radar, and B2 represents the second radar. The first radar B1 and the second radar B2 are symmetrically positioned on both sides of the front bumper of the vehicle. For example, the first radar B1 is positioned on the left side of the front bumper, and the second radar B2 is positioned on the right side of the front bumper.

[0085] If the collision location of the vehicle is determined to be on the side of the front bumper, the radar located on the side of the front bumper may not be damaged or completely damaged and may still be emitting laser beams. When the user inspects or repairs the collision location, there is a possibility that the laser beams may shine into the user's eyes. Therefore, the radar located on the side of the front bumper is selected from the first radar B1 and the second radar B2, and the radar located on the side of the front bumper is determined as the candidate radar, thus obtaining the target radar.

[0086] The collision location of the vehicle is located on the side of the front bumper, including: the left side of the front bumper, the right side of the front bumper, and both the left and right sides of the front bumper. When the collision location is on the left side of the front bumper, if the first radar B1 is located on the left side of the front bumper, then the first radar B1 is designated as the target radar. When the collision location is on the right side of the front bumper, if the second radar B2 is located on the left side of the front bumper, then the second radar B2 is designated as the target radar. When the collision location is on both the left and right sides of the front bumper, with the first radar B1 located on the left side and the second radar B2 located on the right side, then both the first radar B1 and the second radar B2 are designated as target radars.

[0087] In one possible implementation, the radar on the vehicle is arranged as follows: a first radar is located at the target position of the vehicle, and a second and third radar are symmetrically arranged on both sides of the front bumper of the vehicle. The target position includes the roof and / or the front bumper. S120 includes the following scheme:

[0088] If the collision location is at the target location, the first radar is identified as the target radar; or,

[0089] When the collision location is located on the side of the front bumper, the radar located on the side is determined from the second radar and the third radar to obtain the candidate radar.

[0090] The aforementioned candidate radars were selected as the target radars.

[0091] like Figure 4 As shown, Figure 4 This diagram illustrates yet another exemplary layout of a vehicle equipped with radar. Figure 4 In this diagram, A represents the vehicle, B1 represents the first radar, B2 represents the second radar, and B3 represents the third radar. The first radar B1 is positioned at the target location on the vehicle. The second radar B2 and the third radar B3 are symmetrically positioned on either side of the vehicle's front bumper; for example, the second radar B2 is positioned on the left side of the front bumper, and the third radar B3 is positioned on the right side. The target location includes the vehicle's roof and / or front bumper. Figure 4 The first radar, B1, is located on the roof, for example, in the center of the roof. Additionally, see reference... Figure 4 The first radar B1 can also be installed on the front bumper, located between the second radar B2 and the third radar B3.

[0092] If the collision location is at the target location of the vehicle, the first radar B1 located at the target location may not be damaged or not completely damaged, and may still be emitting laser beams. When the user inspects or repairs the collision location, there is a possibility that the laser beams may shine into the user's eyes. Therefore, the first radar B1 is identified as the target radar.

[0093] If the collision location of the vehicle is determined to be on the side of the front bumper, the radar located on the side of the front bumper may not be damaged or completely damaged and may still be emitting laser beams. When the user inspects or repairs the collision location, there is a possibility that the laser beams may shine into the user's eyes. Therefore, the radar located on the side of the front bumper is selected from the second radar B2 and the third radar B3, and the radar located on the side of the front bumper is determined as the candidate radar, thus obtaining the target radar.

[0094] The collision location of the vehicle is located on the side of the front bumper, including: the left side of the front bumper, the right side of the front bumper, and both the left and right sides of the front bumper. When the collision location is on the left side of the front bumper, if the second radar B2 is located on the left side of the front bumper, then the second radar B2 is designated as the target radar. When the collision location is on the right side of the front bumper, if the third radar B3 is located on the left side of the front bumper, then the third radar B3 is designated as the target radar. When the collision location is on both the left and right sides of the front bumper, with the second radar B2 located on the left side and the third radar B3 located on the right side, then both the second radar B2 and the third radar B3 are designated as target radars.

[0095] In one possible implementation, the radar on the vehicle is arranged as follows: a first radar located at the target position of the vehicle; a second and a third radar symmetrically arranged on both sides of the front bumper of the vehicle; and a fourth radar located on the rear bumper of the vehicle. The target position includes the roof and / or the front bumper. The above-mentioned S120 includes the following scheme:

[0096] If the collision location is at the target location, the first radar is identified as the target radar; or,

[0097] When the collision location is located on the side of the front bumper, the radar located on the side is determined from the second radar and the third radar to obtain the candidate radar.

[0098] The aforementioned candidate radars are selected as the target radars; or...

[0099] If the collision location is at the rear bumper, the fourth radar will be identified as the target radar.

[0100] like Figure 5 As shown, Figure 5 This diagram illustrates yet another exemplary layout of a vehicle equipped with radar. Figure 5 In this diagram, A represents the vehicle, B1 represents the first radar, B2 represents the second radar, B3 represents the third radar, and B4 represents the fourth radar. The first radar B1 is positioned at the target location on the vehicle. The second and third radars B2 and B3 are symmetrically positioned on either side of the front bumper, for example, the second radar B2 is positioned on the left side of the front bumper and the third radar B3 is positioned on the right side. The fourth radar B4 is positioned on the rear bumper, for example, in the center of the rear bumper. The target location includes the vehicle's roof and / or front bumper. Figure 5 The first radar, B1, is located on the roof, for example, in the center of the roof. Additionally, see reference... Figure 5 The first radar B1 can also be installed on the front bumper, located between the second radar B2 and the third radar B3.

[0101] If the collision location is at the target location of the vehicle, the first radar B1 located at the target location may not be damaged or not completely damaged, and may still be emitting laser beams. When the user inspects or repairs the collision location, there is a possibility that the laser beams may shine into the user's eyes. Therefore, the first radar B1 is identified as the target radar.

[0102] If the collision location of the vehicle is determined to be on the side of the front bumper, the radar located on the side of the front bumper may not be damaged or completely damaged and may still be emitting laser beams. When the user inspects or repairs the collision location, there is a possibility that the laser beams may shine into the user's eyes. Therefore, the radar located on the side of the front bumper is selected from the second radar B2 and the third radar B3, and the radar located on the side of the front bumper is determined as the candidate radar, thus obtaining the target radar.

[0103] The collision location of the vehicle is located on the side of the front bumper, including: the left side of the front bumper, the right side of the front bumper, and both the left and right sides of the front bumper. When the collision location is on the left side of the front bumper, if the second radar B2 is located on the left side of the front bumper, then the second radar B2 is designated as the target radar. When the collision location is on the right side of the front bumper, if the third radar B3 is located on the left side of the front bumper, then the third radar B3 is designated as the target radar. When the collision location is on both the left and right sides of the front bumper, with the second radar B2 located on the left side and the third radar B3 located on the right side, then both the second radar B2 and the third radar B3 are designated as target radars.

[0104] If the collision occurs at the rear bumper of the vehicle, the fourth radar B4 mounted on the rear bumper may not be damaged or completely damaged and may still be emitting laser beams. When the user inspects or repairs the collision site, there is a possibility that the laser beams may shine into their eyes. Therefore, the fourth radar B4 is identified as the target radar.

[0105] One possible implementation for determining whether a vehicle collision has occurred includes the following methods:

[0106] Detect whether collision information has been received regarding a vehicle collision;

[0107] Upon receiving the aforementioned collision information, the acceleration value of the aforementioned vehicle is obtained from the aforementioned collision information;

[0108] If the acceleration value exceeds a set threshold, it is determined that a collision has occurred between the vehicles.

[0109] The collision information of a vehicle collision includes the vehicle's acceleration value and acceleration direction. The set threshold is the acceleration threshold that triggers the airbag deployment. If the vehicle's acceleration value exceeds the set threshold, it means that a collision has occurred, i.e., the airbags have deployed.

[0110] The system detects whether collision information is received in real time. If collision information is received, the system obtains the vehicle's acceleration value from the collision information and compares the vehicle's acceleration value with a set threshold. If the vehicle's acceleration value is greater than the set threshold, the system determines that a collision has occurred.

[0111] In one possible implementation, determining the collision location of the vehicle includes the following methods:

[0112] Obtain the acceleration direction of the aforementioned vehicles from the collision information above;

[0113] The location of the vehicle collision is determined based on the aforementioned acceleration direction;

[0114] The collision location was determined based on the aforementioned orientation.

[0115] After a vehicle collision is confirmed, the direction of the vehicle's acceleration is obtained from the collision information. This direction of acceleration is the direction of the vehicle's acceleration during the collision process. The location pointed to by this acceleration direction is the location of the vehicle collision. Then, the vehicle body part corresponding to the location of the vehicle collision is determined as the collision position of the vehicle.

[0116] In one possible implementation, determining the collision location of the vehicle includes the following methods:

[0117] Obtain the identification information carried by the above collision information;

[0118] The collision detection module that sends the above collision information is determined based on the above identification information;

[0119] The collision location is determined based on the installation location of the collision detection module on the vehicle.

[0120] The collision detection module detects collision information when a vehicle is involved in a collision and sends this information to the vehicle controller and the electronic control unit (ECU) in the vehicle's airbag module. The collision detection module can be, for example, a collision sensor. The layout of the collision detection module is consistent with that of the vehicle's radar systems; a collision detection module is installed at the location of each radar, and each module has its own device number and its corresponding location number. For example... Figure 6 As shown, Figure 6 An exemplary schematic diagram of the collision detection module layout is shown. Figure 6 The vehicle has a left front collision detection module G1 installed on the left side of the front bumper, a right front collision detection module G2 installed on the right side of the front bumper, a center collision detection module G3 installed on the roof, and a rear collision detection module G4 installed in the center of the rear bumper. Combined with... Figure 5A second radar B2 is installed at the mounting position of the left front collision detection module G1, a third radar B3 is installed at the mounting position of the right front collision detection module G2, a first radar B1 is installed at the mounting position of the center collision detection module G3, and a fourth radar B4 is installed between the mounting positions of the left rear collision detection module G4.

[0121] After a vehicle collision is confirmed, the identification information carried in the collision information is retrieved. This identification information includes the device number of the collision detection module that sent the collision information. The device number in the collision information then identifies which specific collision detection module sent the collision information. Since each collision detection module has its own device number and its installation location number, the location number can be obtained from the device number, and the installation location of the collision detection module can be determined from the location number. Furthermore, since the prerequisite for triggering a collision detection module to send a collision information is that an object collides with the installation location of the collision detection module, the installation location of the collision detection module is determined as the vehicle's collision location. By identifying the collision detection module that sent the collision information using the identification information carried in the collision information, and then determining the collision location using the installation location of the collision detection module that sent the collision information, the vehicle's collision location can be quickly pinpointed.

[0122] In one possible implementation, determining the collision location of the vehicle includes the following methods:

[0123] A vehicle body coordinate system is established. In the event of a collision, the position coordinates of the colliding object are obtained based on the vehicle body coordinate system. The coordinates of the pre-defined vehicle parts adjacent to these position coordinates are then determined. The pre-defined vehicle parts associated with these adjacent coordinates are identified as the collision location. The distance between the pre-defined vehicle parts and the initial position coordinates must be within a preset interval. For example, if the pre-defined vehicle part coordinates P1 are (x1, y1, z1), P2 are (x2, y2, z2), and the position coordinates of the colliding object are P0 (x0, y0, z0), and the distance between P1 and P0 is within the preset interval, then the pre-defined vehicle part adjacent to P0 is P1. If the pre-defined vehicle part corresponding to P1 is the roof, then the collision location is the roof.

[0124] One possible implementation method for determining whether a vehicle collision has occurred includes the following:

[0125] Obtain the status of the airbags in the aforementioned vehicles;

[0126] If the above-mentioned state is in the open state, it is determined that the above-mentioned vehicles have collided.

[0127] Considering the severity of traffic accidents, after a collision, when airbags deploy to protect occupants, users typically do not have time, or find it difficult, to get out of the vehicle to check the damage. Therefore, the status of the airbags can be used to determine whether a collision has occurred. Airbag status includes deployed and deactivated states. If the airbags are deployed, it confirms that a collision has taken place, allowing for quick identification.

[0128] 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.

[0129] 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:

[0130] The location determination module 710 is used to determine the collision location of the vehicles when a collision is determined to have occurred.

[0131] The radar selection module 720 is used to determine the target radar based on the collision location and the layout of the radars mounted on the vehicle.

[0132] Radar control module 730 is used to shut down the aforementioned target radar.

[0133] In one possible implementation, the radar mounted on the vehicle is arranged as follows: a single radar is mounted on the roof of the vehicle, and the radar selection module 720 includes:

[0134] The first selection unit is used to identify the radar as the target radar when the collision location is at the roof of the vehicle.

[0135] In one possible implementation, the radar on the vehicle is arranged as follows: a first radar and a second radar are symmetrically arranged on both sides of the front bumper of the vehicle, and the radar selection module 720 further includes:

[0136] The second selection unit is used to determine, when the collision location is located on the side of the front bumper, the radar located on the side from the first radar and the second radar, to obtain a candidate radar, and to determine the candidate radar as the target radar.

[0137] In one possible implementation, the radar on the vehicle is arranged as follows: a first radar is positioned at the target location of the vehicle; a second radar and a third radar are symmetrically positioned on both sides of the front bumper of the vehicle; the target location includes the roof and / or the front bumper; and the radar selection module further includes:

[0138] The third selection unit is used to identify the first radar as the target radar when the collision location is located at the target location.

[0139] The fourth selection unit is used to determine, when the collision location is located on the side of the front bumper, the radar located on the side from the second radar and the third radar, to obtain a candidate radar, and to determine the candidate radar as the target radar.

[0140] In one possible implementation, the radar on the vehicle is arranged as follows: a first radar located at the target position of the vehicle; second and third radars symmetrically arranged on both sides of the front bumper of the vehicle; and a fourth radar located on the rear bumper of the vehicle. The target position includes the roof and / or the front bumper. The radar selection module 720 further includes:

[0141] The fifth selection unit is used to identify the first radar as the target radar when the collision location is located at the target location.

[0142] The sixth selection unit is used to determine, from the second radar and the third radar, the radar located at the side when the collision position is located on the side of the front bumper, to obtain a candidate radar and to determine the candidate radar as the target radar.

[0143] The seventh selection unit is used to identify the fourth radar as the target radar when the collision location is at the rear bumper.

[0144] In one possible implementation, the radar control device 700 further includes:

[0145] The information receiving unit is used to obtain the acceleration value of the vehicle from the collision information when the collision information is received.

[0146] The collision recognition unit is used to determine that the vehicle has collided when the acceleration value is greater than a set threshold.

[0147] In one possible implementation, the location determination module 710 includes:

[0148] The direction acquisition unit is used to acquire the acceleration direction of the vehicle from the collision information.

[0149] The orientation determination unit is used to determine the orientation of the vehicle collision based on the aforementioned acceleration direction.

[0150] The first position determination unit is used to determine the collision position based on the aforementioned orientation.

[0151] In one possible implementation, the location determination module 710 further includes:

[0152] The identifier acquisition unit is used to acquire the identifier information carried by the above-mentioned collision information;

[0153] The module determination unit is used to determine the collision detection module that sends the collision information based on the above-mentioned identification information.

[0154] The second position determination unit is used to determine the collision position based on the installation position of the collision detection module on the vehicle.

[0155] 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.

[0156] 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.

[0157] Figure 8 A schematic diagram of the structure of a vehicle provided in an embodiment of this application is shown.

[0158] 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.

[0159] 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.

[0160] When each functional module is divided according to its corresponding function, the vehicle may include: a location determination module, a radar selection module, a radar control 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 functional modules, and will not be repeated here.

[0161] 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.

[0162] 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.

[0163] 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.

[0164] 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.

[0165] 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.

[0166] 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.

[0167] In this embodiment, the vehicle, computer-readable storage medium, computer program product, or chip are all used to execute the corresponding radar control method provided above. Therefore, the beneficial effects that can be achieved can be referred to the beneficial effects in the corresponding radar control method provided above, and will not be repeated here.

[0168] 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.

[0169] 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.

[0170] 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: If a vehicle collision is determined, the collision location of the vehicle is determined; Based on the collision location and the layout of the radar on the vehicle, the target radar is determined. The layout of the radar on the vehicle is as follows: a first radar is set at the target location of the vehicle, a second radar and a third radar are symmetrically set on both sides of the front bumper of the vehicle, and a fourth radar is set on the rear bumper of the vehicle. Turn off the target radar; Wherein, determining the collision location of the vehicle when a collision is determined to have occurred includes: Receive collision information and obtain the identification information carried by the collision information; The collision detection module that sends the collision information is determined based on the identification information, and the layout of the collision detection module is consistent with the layout of the radar installed in the vehicle; The collision location is determined based on the installation location of the collision detection module on the vehicle.

2. The radar control method according to claim 1, characterized in that, The radar on the vehicle is arranged as follows: a single radar is installed on the roof of the vehicle. The step of determining the target radar based on the collision location and the layout of the radar on the vehicle includes: If the collision location is at the roof of the vehicle, the radar is identified as the target radar.

3. The radar control method according to claim 1, characterized in that, The radar on the vehicle is arranged as follows: a first radar and a second radar are symmetrically arranged on both sides of the front bumper of the vehicle. The step of determining the target radar based on the collision location and the layout of the radar on the vehicle includes: When the collision location is located on the side of the front bumper, the radar located on the side is determined from the first radar and the second radar to obtain the candidate radar; The candidate radar is selected as the target radar.

4. The radar control method according to claim 1, characterized in that, The radar on the vehicle is arranged as follows: a first radar is set at the target position of the vehicle, and a second radar and a third radar are symmetrically arranged on both sides of the front bumper of the vehicle. The target position includes the roof and / or the front bumper. The step of determining the target radar based on the collision location and the layout of the radar on the vehicle includes: If the collision location is at the target location, the first radar is identified as the target radar; or, When the collision location is located on the side of the front bumper, the radar located on the side is determined from the second radar and the third radar to obtain the candidate radar; The candidate radar is selected as the target radar.

5. The radar control method according to claim 1, characterized in that, The target location includes the roof and / or the front bumper; The step of determining the target radar based on the collision location and the layout of the radar on the vehicle includes: If the collision location is at the target location, the first radar is identified as the target radar; or, When the collision location is located on the side of the front bumper, the radar located on the side is determined from the second radar and the third radar to obtain the candidate radar; The candidate radar is selected as the target radar; or... If the collision location is at the rear bumper, the fourth radar is identified as the target radar.

6. The radar control method according to any one of claims 1 to 5, characterized in that, The radar control method further includes: Upon receiving collision information, the acceleration value of the vehicle is obtained from the collision information; If the acceleration value is greater than a set threshold, it is determined that the vehicle has collided.

7. The radar control method according to claim 6, characterized in that, The step of determining the collision location of the vehicle includes: The acceleration direction of the vehicle is obtained from the collision information; The location of the vehicle collision is determined based on the direction of acceleration. The collision location is determined based on the stated orientation.

8. A radar control device, characterized in that, The radar control device includes: A location determination module is used to determine the collision location of the vehicle when a collision is determined to have occurred. The radar selection module is used to determine the target radar based on the collision location and the layout of the radar on the vehicle. The layout of the radar on the vehicle is as follows: a first radar is set at the target location of the vehicle, a second radar and a third radar are symmetrically set on both sides of the front bumper of the vehicle, and a fourth radar is set on the rear bumper of the vehicle. A radar control module is used to shut down the target radar. The location determination module is specifically used to receive collision information, obtain the identification information carried by the collision information; determine the collision detection module that sent the collision information based on the identification information, wherein the layout of the collision detection module is consistent with the layout of the radar mounted on the vehicle; and determine the collision location based on the installation position of the collision detection module on the vehicle.

9. 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 7.

10. 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 7.

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