Radar control method, apparatus, and vehicle

Abstract

The application provides a radar control method, device and vehicle. The method comprises the following steps: determining an automatic driving function scene in which a vehicle currently locates; in the case that the automatic driving function scene belongs to a preset function scene, detecting whether a pedestrian exists in a preset detection range of the vehicle; in the case that the pedestrian exists in the preset detection range, adjusting a field of view angle of a laser beam emitted by a radar of the vehicle, so that the laser beam avoids eyes of the pedestrian. The method can avoid the laser beam emitted by the radar from causing damage to the eyes.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicles, and more particularly, to a radar control method, device and vehicle in the field of vehicles. BACKGROUND

[0002] With the rapid development of intelligent driving technology, intelligent driving technology can completely liberate people, and people can do what they want in the car during the journey, without long manual driving, giving people a new life experience.

[0003] After the vehicle enables the intelligent driving function, the vehicle detects the surrounding environment information in real time by emitting laser beams through the radar, so as to realize the obstacle avoidance and other control operations during the vehicle travel. The wavelengths of the laser beams emitted by the radar are different, and the damage degrees to the human eyes are different. Research shows that the laser beams with wavelengths of 180nm-10600nm can penetrate the ocular fluid and cause damage to different parts of the eye, for example, the laser beams with wavelengths of 180nm-400nm can damage the cornea and lens of the eye; the laser beams with wavelengths of 400nm-700nm can damage the retina and choroid of the eye; the laser beams with wavelengths of 700nm-1400nm can damage the retina, choroid and lens of the eye; and the laser beams with wavelengths of 1400nm-10600nm can damage the cornea of the eye. At present, the commonly used wavelengths of the laser beams emitted by the vehicle-mounted radar are 905nm and 1550nm. When the vehicle enables the intelligent driving function, if the laser beams emitted by the vehicle-mounted radar enter the eyes of the pedestrians, the eyes of the pedestrians can be damaged, thereby causing harm to the bodies of the pedestrians. SUMMARY

[0004] The present application provides a radar control method, device and vehicle, which can avoid damage to the human eyes caused by the laser beams emitted by the radar.

[0005] In a first aspect, a radar control method is provided, which comprises: determining an automatic driving function scene in which a vehicle currently locates; detecting whether there is a pedestrian in a preset detection range of the vehicle in a case where the automatic driving function scene belongs to a preset function scene; and adjusting a field of view angle of a laser beam emitted by a radar of the vehicle to make the laser beam avoid the eyes of the pedestrian in a case where the pedestrian exists in the preset detection range.

[0006] In the above technical solution, in a case where the automatic driving function scene belongs to the preset function scene and the pedestrian exists in the preset detection range of the vehicle, the field of view angle of the laser beam emitted by the radar of the vehicle is adjusted to make the laser beam avoid the eyes of the pedestrian. By adjusting the field of view angle of the laser beam emitted by the radar, the laser beam emitted by the radar will not enter the eyes of the pedestrian, so that the automatic driving system can effectively utilize the radar while avoiding the laser beam from irradiating the human eyes, thereby playing a role in protecting the human eyes.

[0007] With reference to the first aspect, in some possible implementation manners, after determining the automatic driving function scene in which the vehicle currently locates, the method further includes: when the automatic driving function scene is a first type of scene, determining that the first type of scene is the preset function scene; wherein the first type of scene is a driving scene in which an automatic driving level belongs to a preset level, and the preset level is greater than or equal to L3; when the automatic driving function scene is a second type of scene, determining whether the second type of scene belongs to a complex scene; wherein the second type of scene is a cruise parking scene or a driving scene in which the automatic driving level is L2; in the cruise parking scene, a distance between the vehicle and a parking space is greater than or equal to a preset distance; and when the second type of scene belongs to the complex scene, determining that the second type of scene is the preset function scene.

[0008] In the technical solution, the driving scene in which the automatic driving level belongs to L3 and above, the complex cruise parking scene, and the complex driving scene in which the automatic driving level is L2 all belong to the preset function scene, and in the above scenes, it is further determined whether there is a pedestrian in a preset detection range of the vehicle. Considering that the driving scene in which the automatic driving level is L3 and above has a high degree of automation, the driver does not need to be on standby, and the vehicle can independently complete the operation driving in a specific environment, therefore, in the scene, it is further determined whether there is a pedestrian in the preset detection range of the vehicle, which is conducive to avoiding the safety hazard caused by the independent operation driving of the vehicle and is conducive to more targetedly avoiding the laser beam from irradiating the human eye. The complex cruise parking scene and the complex driving scene in which the automatic driving level is L2 have a certain complexity, and therefore, in the scene, it is further determined whether there is a pedestrian in the preset detection range of the vehicle, which is conducive to avoiding the influence of the complexity of the scene on the accurate control of the automatic driving system, thereby being conducive to more targetedly avoiding the laser beam from irradiating the human eye.

[0009] With reference to the first aspect and the above implementation manners, in some possible implementation manners, the determining whether the second type of scene belongs to the complex scene includes: identifying a moving target in the preset detection range of the vehicle, and determining a number of the moving targets; when the number of the moving targets is greater than a preset number, determining that the second type of scene belongs to the complex scene; and when the number of the moving targets is less than or equal to the preset number, determining that the second type of scene does not belong to the complex scene.

[0010] With reference to the first aspect and the above implementation manners, in some possible implementation manners, when the second type of scene does not belong to the complex scene, the method further includes: cutting off the power supply of the radar.

[0011] In the technical solution, when the second type of scene does not belong to a complex scene, it indicates that the radar-assisted driving may not be needed in the second type of scene, and cutting off the power supply of the radar will not affect the automatic driving, which is conducive to the effective use of the radar.

[0012] With reference to the first aspect and the above implementation manners, in some possible implementation manners, the adjusting the field of view angle of the laser beam emitted by the radar comprises: determining the position of the pedestrian; and in a case where the position of the pedestrian is located in the front region of the vehicle, reducing the vertical field of view angle of the laser beam emitted by the radar.

[0013] In the technical solution, the field of view angle of the laser beam emitted by the radar is directed towards the front of the vehicle, that is, the laser beam emitted by the radar is directed towards the front region of the vehicle, and therefore, in a case where the position of the pedestrian is located in the front region of the vehicle, the vertical field of view angle of the laser beam emitted by the radar is reduced, which is conducive to the targeted protection of the eyes of the pedestrian that the laser beam may be directed towards. Reducing the vertical field of view angle of the laser beam emitted by the radar is equivalent to reducing the height of the laser beam emitted by the radar, which is conducive to avoiding the laser beam from the eyes of the pedestrian.

[0014] With reference to the first aspect and the above implementation manners, in some possible implementation manners, the reducing the vertical field of view angle of the laser beam emitted by the radar comprises: determining the number of the pedestrians; in a case where the number is single, reducing the vertical field of view angle of the laser beam emitted by the radar according to a first distance between the eyes of the pedestrian and the ground; and in a case where the number is multiple, determining a target pedestrian from the multiple pedestrians, the target pedestrian being the pedestrian with the lowest height among the multiple pedestrians; and reducing the vertical field of view angle of the laser beam emitted by the radar according to a second distance between the eyes of the target pedestrian and the ground.

[0015] In the technical solution, when the number of the pedestrians in the front region of the vehicle is single, the vertical field of view height corresponding to the reduced vertical field of view angle is less than the first distance between the eyes of the pedestrian and the ground, and when the number of the pedestrians in the front region of the vehicle is multiple, the vertical field of view height corresponding to the reduced vertical field of view angle is less than the second distance between the eyes of the pedestrian with the lowest height and the ground, and therefore, whether the number of the pedestrians in the front region of the vehicle is single or multiple, the eyes of the pedestrians in the front region of the vehicle can be protected.

[0016] With reference to the first aspect and the above implementation manners, in some possible implementation manners, after the determining the automatic driving function scene in which the vehicle is currently located, the method further comprises: when the automatic driving function scene is an automatic parking scene, cutting off the power supply of the radar; wherein in the automatic parking scene, the distance between the vehicle and the parking space is less than a preset distance.

[0017] In the technical solution, in the automatic parking scenario, the distance between the vehicle and the parking space is less than the preset distance, that is, the vehicle is close to the parking space, the environment around the vehicle is generally simple, the vehicle speed is slow, and the possibility of the presence of pedestrians is small, so the radar is not needed to assist driving, and the power supply of the radar is cut off without affecting the automatic driving, thereby facilitating the effective use of the radar.

[0018] With reference to the first aspect and the above implementation, in some possible implementation, after detecting whether there is a pedestrian in the preset detection range of the vehicle, the method further includes: in the case that there is no pedestrian in the preset detection range, controlling the radar to emit the laser beam at a preset field of view angle.

[0019] The second aspect provides a radar control device, which includes a determination module, a detection module and an adjustment module; the determination module is configured to determine an automatic driving function scenario in which a vehicle currently locates; the detection module is configured to detect whether there is a pedestrian in a preset detection range of the vehicle in the case that the automatic driving function scenario belongs to a preset function scenario; and the adjustment module is configured to adjust a field of view angle of a laser beam emitted by a radar of the vehicle to make the laser beam avoid eyes of the pedestrian in the case that there is the pedestrian in the preset detection range.

[0020] With reference to the second aspect, in some possible implementation, after determining the automatic driving function scenario in which the vehicle currently locates, the determination module is further configured to determine that a first type of scenario is the preset function scenario when the automatic driving function scenario is the first type of scenario; the first type of scenario is a driving scenario in which an automatic driving level belongs to a preset level, and the preset level is greater than or equal to L3; determine whether a second type of scenario belongs to a complex scenario when the automatic driving function scenario is the second type of scenario; the second type of scenario is a cruise parking scenario or a driving scenario in which the automatic driving level is L2; in the cruise parking scenario, the distance between the vehicle and a parking space is greater than or equal to a preset distance; and determine that the second type of scenario is the preset function scenario when the second type of scenario belongs to the complex scenario.

[0021] With reference to the second aspect, in some possible implementation, the determination module is further configured to identify a moving target in the preset detection range of the vehicle and determine a number of the moving targets; determine that the second type of scenario belongs to the complex scenario when the number of the moving targets is greater than a preset number; and determine that the second type of scenario does not belong to the complex scenario when the number of the moving targets is less than or equal to the preset number.

[0022] With reference to the second aspect, in some possible implementation manners, the apparatus further includes a power control module, configured to cut off power supply of the radar when the second type of scenario is not a complex scenario.

[0023] With reference to the second aspect, in some possible implementation manners, the adjusting module is specifically configured to: determine the position of the pedestrian; and reduce the vertical field of view angle of the laser beam emitted by the radar when the position of the pedestrian is located in the front area of the vehicle.

[0024] With reference to the second aspect, in some possible implementation manners, the adjusting module is specifically configured to: determine the number of the pedestrians; reduce the vertical field of view angle of the laser beam emitted by the radar according to a first distance between the eyes of the pedestrian and the ground when the number is one; and reduce the vertical field of view angle of the laser beam emitted by the radar according to a second distance between the eyes of the target pedestrian and the ground when the number is more than one, wherein the vertical field of view height corresponding to the reduced vertical field of view angle is less than the first distance, and the target pedestrian is the pedestrian with the lowest height among the pedestrians.

[0025] With reference to the second aspect, in some possible implementation manners, the apparatus further includes a power control module, configured to cut off power supply of the radar when the automatic driving function scenario is an automatic parking scenario, wherein the distance between the vehicle and the parking space is less than a preset distance in the automatic parking scenario.

[0026] With reference to the second aspect, in some possible implementation manners, the apparatus further includes a control module, configured to control the radar to emit the laser beam at a preset field of view angle when the preset detection range is free of the pedestrian.

[0027] The third aspect provides a vehicle including a memory and a processor. The memory is configured to store executable program code, and the processor is configured to invoke and run the executable program code from the memory, so that the vehicle executes the method in the first aspect or any possible implementation manner of the first aspect.

[0028] The fourth aspect provides a computer program product, which includes computer program code. When the computer program code runs on a computer, the computer program code causes the computer to execute the method in the first aspect or any possible implementation manner of the first aspect.

[0029] In a fifth aspect, a computer-readable storage medium is provided, which stores computer program codes, when the computer program codes are run on a computer, the computer is caused to execute the method in the first aspect or any possible implementation manner of the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 is a schematic diagram of a vehicle provided by an embodiment of the present application;

[0031] Figure 2 is a schematic flow chart of a radar control method provided by an embodiment of the present application;

[0032] Figure 3 is a schematic diagram of a preset detection range provided by an embodiment of the present application;

[0033] Figure 4 is a schematic diagram of a field of view angle of a laser beam emitted by a radar provided by an embodiment of the present application;

[0034] Figure 5 is a schematic diagram of a position relationship between a pedestrian and a vehicle provided by an embodiment of the present application;

[0035] Figure 6 is a schematic diagram of a structure of a radar control device provided by an embodiment of the present application;

[0036] Figure 7 is a schematic diagram of a structure of a vehicle provided by an embodiment of the present application. DETAILED DESCRIPTION

[0037] The technical solutions in the present application will be described clearly and exhaustively below with reference to the drawings. In the description of the embodiments of the present application, unless otherwise specified, “ / ” represents or, for example, A / B can represent A or B: “and / or” in the text is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which means that there are three cases of A alone, A and B together, and B alone. In addition, in the description of the embodiments of the present application, “multiple” means two or more than two.

[0038] Hereinafter, the terms “first” and “second” are only used for description purposes, and cannot be understood as implying or suggesting relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with “first” and “second” can explicitly or implicitly include one or more features.

[0039] With the rapid development of laser radar technology, the application field of laser radar is expanding, for example, laser radar is applied to the field of vehicle automatic driving, industrial field, unmanned aerial vehicle field, robot field, three-dimensional mapping field and the like. The composition and working principle of the laser radar are as follows:

[0040] Laser emission system: the excitation source periodically drives the laser to emit laser pulses, and the laser modulator controls the direction and line number of the emitted laser through the beam controller, and finally the laser is emitted to the target object through the emission optical system.

[0041] Laser receiving system: the photoelectric detector receives the laser reflected by the target object through the receiving optical system, and generates a receiving signal.

[0042] Information processing system: the receiving signal is amplified and processed and converted into digital signals, and the object model of the target object is finally established through the information processing module.

[0043] The scanning system rotates at a stable speed to realize scanning of the plane and generate real-time plane information.

[0044] Research shows that the wavelength of the laser emitted by the laser radar is different, the penetration of the laser is different, and the damage to the human eye is also different, as shown in Table 1:

[0045] Table 1

[0046] Wavelength range (nanometers: nm) Main damage site 180～400 Cornea, lens 400～700 Retina, choroid 700～1400 Retina, choroid, lens 1400～10600 Cornea

[0047] The ocular fluid in the eyeball can prevent the laser from reaching the retina in the back of the eye. The ocular fluid is basically transparent in the visible wavelength range (390-780 nm), and according to research, the laser below 1400 nm can penetrate the ocular fluid and cause damage to the retina. The laser with a wavelength exceeding 1550 nm cannot penetrate the ocular fluid, but if the high-power laser with a wavelength exceeding 1550 nm is directly viewed for a long time, it is still possible to burn the cornea in the front of the eye.

[0048] The laser radar applied to the field of vehicle automatic driving is mainly responsible for detecting the environmental information around the vehicle to perform obstacle avoidance and other vehicle control operations during the vehicle driving. During the use of the intelligent driving function of the vehicle, the laser radar continuously emits laser, and if the laser emitted by the laser radar enters the eyes of the pedestrians around the vehicle, the eyes of the pedestrians may be damaged, causing harm to the body of the pedestrians.

[0049] Based on the above problems, the embodiment of the present application provides a radar control method and device, vehicle and computer readable storage medium, to avoid the laser beam emitted by the radar from causing damage to the human eye and play a role in protecting the human eye.

[0050] The radar control method provided in the embodiments of the present application is applied to a vehicle, and specifically can be applied to a controller in the vehicle. The vehicle has an intelligent driving function, which can also be referred to as an automatic driving function.

[0051] For example, the automatic driving function has a corresponding automatic driving level, and the automatic driving level is divided into six levels according to different degrees from zero to full automation. They are L0 level, L1 level, L2 level, L3 level, L4 level and L5 level. The following will be specifically introduced.

[0052] L0 level: completely operated by the driver, including steering, braking, throttle, etc. The driver makes the judgment by himself, and the vehicle only executes the command.

[0053] L1 level: can assist the driver to complete some driving tasks. Within the applicable design range, the driving automation system can continuously perform a certain sub-task of horizontal or vertical vehicle motion control (not at the same time), and the driver performs other dynamic driving tasks.

[0054] L2 level: partial driving automation, can automatically complete some driving tasks. Within the applicable design range, the driving automation system can continuously perform horizontal or vertical vehicle motion control tasks (not at the same time), and the driver is responsible for performing OEDR tasks and supervising the driving automation system.

[0055] L3 level: conditional driving automation. Within the applicable design range, the automated driving system (ADS) can continuously perform complete dynamic driving tasks, and the driver needs to respond to the system's intervention request in time when the system fails.

[0056] L4 level: high driving automation. Within the applicable design range, the ADS can continuously perform complete dynamic driving tasks, and the driver does not need to respond to the system.

[0057] L5 level: complete driving automation. The ADS performs complete dynamic driving tasks and dynamic driving task assistance in all road environments, and the driver does not need to intervene.

[0058] For example, the radar in the embodiments of the present application can be a laser radar, and the radar is arranged on the top of the vehicle or at the bumper of the vehicle head. The field of view angle of the laser beam emitted by the radar is directed to the front of the vehicle, that is, the laser beam emitted by the radar is shot to the front region of the vehicle, and the front region includes the front region and the side front region of the vehicle. Figure 1 As shown in Figure 1 A schematic diagram of a vehicle provided by the embodiments of the present application is shown, Figure 1A represents a vehicle, B represents a radar, and FOV represents a field of view of a laser beam emitted by the radar. A controller of the vehicle is connected with a high-precision positioning module, an intelligent driving map module, and a sensor module. The controller can receive information transmitted by the high-precision positioning module, the intelligent driving map module, and the sensor module, and reasonably control the vehicle according to the received information, so as to realize an intelligent driving function of the vehicle.

[0059] As shown in the example, Figure 2 As shown in the example, Figure 2 A schematic flowchart of a radar control method provided by an embodiment of the application is shown, which includes the following steps:

[0060] Step 201: Determine an automatic driving function scenario in which the vehicle currently locates.

[0061] Step 202: In a case where the automatic driving function scenario belongs to a preset function scenario, detect whether there is a pedestrian in a preset detection range of the vehicle.

[0062] Step 203: In a case where there is a pedestrian in the preset detection range, adjust a field of view of a laser beam emitted by a radar of the vehicle, so as to make the laser beam avoid eyes of the pedestrian.

[0063] In the embodiment, Figure 2 In the embodiment, in a case where the automatic driving function scenario belongs to a preset function scenario and there is a pedestrian in a preset detection range of the vehicle, a field of view of a laser beam emitted by a radar of the vehicle is adjusted, so as to make the laser beam avoid eyes of the pedestrian. By adjusting the field of view of the laser beam emitted by the radar, the laser beam emitted by the radar will not enter the eyes of the pedestrian, so that the automatic driving system can effectively utilize the radar while avoiding the laser beam from irradiating the eyes of the pedestrian, thereby playing a role in protecting the eyes of the pedestrian.

[0064] The specific implementation of each step in the embodiment shown in Figure 2

[0065] In step 201, different automatic driving functions correspond to different automatic driving function scenarios. For example, an automatic driving function a corresponds to an automatic driving function scenario a, and an automatic driving function b corresponds to an automatic driving function scenario b. In a specific implementation, a user-selected automatic driving function can be determined first, and based on the user-selected automatic driving function, an automatic driving function scenario in which the vehicle currently locates can be determined. For example, if a user-selected automatic driving function is a highway driving assistance function (HWA), it can be determined that an automatic driving function scenario in which the vehicle currently locates is an HWA scenario.

[0066] ​For example, different autonomous driving functions can correspond to different function buttons. The vehicle's controller can detect the function button selected by the user and thus determine the autonomous driving function selected by the user. Then, the vehicle's controller can determine the scene in which the user selected the autonomous driving function as the current autonomous driving function scene of the vehicle.

[0067] For example, a user can issue a voice command to select the desired autonomous driving function. The vehicle's controller can receive the user's voice command, recognize keywords in the voice command, determine the selected autonomous driving function based on the recognized keywords, and then determine the current autonomous driving scenario of the vehicle based on the selected autonomous driving function.

[0068] In step 202, the vehicle's controller can store identification information of preset functional scenarios, such as scenario names, so that it can determine whether the current autonomous driving scenario of the vehicle belongs to a preset functional scenario based on the stored identification information of preset functional scenarios. The preset functional scenarios can be pre-set functional scenarios that require pedestrian detection.

[0069] In an exemplary embodiment, the method for determining whether the current autonomous driving scenario of the vehicle belongs to a preset scenario can be as follows:

[0070] For example, when the autonomous driving function scenario is a Class I scenario, the Class I scenario is determined as a preset function scenario. Specifically, the Class I scenario refers to driving scenarios where the autonomous driving level is a preset level, and the preset level is greater than or equal to L3. In other words, driving scenarios with an autonomous driving level of L3 or higher can be considered preset function scenarios. For instance, the Traffic Jam Pilot (TJP) and Highway Pilot (HWP) scenarios correspond to an autonomous driving level of L3, while the High Driving Automation (HDA) scenario corresponds to an autonomous driving level of L4. Therefore, the TJP, HWP, and HDA scenarios can be considered preset function scenarios.

[0071] For example, when the autonomous driving function scenario is a second type of scenario, it is determined whether the second type of scenario belongs to a complex scenario. If the second type of scenario belongs to a complex scenario, it is determined that the second type of scenario is a preset function scenario. Among them, the second type of scenario is a cruise parking scenario or a driving scenario with an autonomous driving level of L2; in the cruise parking scenario, the distance between the vehicle and the parking space is greater than or equal to a preset distance.

[0072] For example, the automatic driving level corresponding to a traffic jam assistance (TJA) function scenario is L2 level. When the TJA function scenario currently belongs to a complex scenario, it can be determined that the TJA function scenario at this time belongs to a preset function scenario. When the TJA function scenario currently does not belong to a complex scenario, it can be determined that the TJA function scenario at this time does not belong to a preset function scenario.

[0073] In the cruise parking scenario, the distance between the vehicle and the parking space is greater than or equal to a preset distance. The preset distance can be set according to actual needs, which is intended to indicate that the distance between the vehicle and the parking space is large. For example, in the cruise parking scenario, the vehicle is usually at the entrance of the parking lot or the entrance of the company, which is far away from the garage parking space, and needs a cruise process to drive to the parking space. When the cruise parking scenario currently belongs to a complex scenario, it can be determined that the cruise parking scenario at this time belongs to a preset function scenario. When the cruise parking scenario currently does not belong to a complex scenario, it can be determined that the cruise parking scenario at this time does not belong to a preset function scenario.

[0074] In this embodiment, the driving scenarios corresponding to the automatic driving level belonging to L3 level and above, the complex cruise parking scenarios, and the complex L2 level driving scenarios belong to the preset function scenarios. In the above several preset function scenarios, it is further detected whether there is a pedestrian in the preset detection range of the vehicle. Considering that the L3 level and above driving scenarios have high automation degree, the driver does not need to be on standby, and the vehicle can independently complete the operation driving in a specific environment, therefore, in this scenario, it is further detected whether there is a pedestrian in the preset detection range of the vehicle, which is beneficial to a certain extent to avoid the safety hazards caused by the independent operation of the vehicle, and is beneficial to more targetedly avoiding the laser beam from irradiating the human eye. The complex cruise parking scenarios and the complex L2 level driving scenarios have a certain complexity, therefore, in this scenario, it is further detected whether there is a pedestrian in the preset detection range of the vehicle, which is beneficial to avoiding the influence of the complexity of the scenario on the accurate control of the automatic driving system, thereby being beneficial to more targetedly avoiding the laser beam from irradiating the human eye.

[0075] In the exemplary embodiment, the determination of whether the second type of scenario belongs to a complex scenario includes: identifying a moving target in the preset detection range of the vehicle, and determining the number of moving targets. When the number of moving targets is greater than a preset number, it is determined that the second type of scenario belongs to a complex scenario; when the number of moving targets is less than or equal to the preset number, it is determined that the second type of scenario does not belong to a complex scenario. The preset number can be set according to actual needs, for example, the preset number can be set to 3, however, this embodiment does not make a specific limitation thereto.

[0076] Exemplarily, the preset detection range can be understood as a detection range of a sensor module arranged on the vehicle for detecting the environmental information outside the vehicle. The field of view angle of the laser beam emitted by the radar can be included in the preset detection range, i.e., the preset detection range can be greater than the field of view angle of the laser beam emitted by the radar. The sensor module includes a laser radar, a camera, a millimeter radar, an ultrasonic sensor, etc. Correspondingly, the preset detection range can include a shooting range of the camera for shooting images, a field of view angle of the laser beam emitted by the laser radar, a detection range of the millimeter radar, and a detection range of the ultrasonic sensor for emitting ultrasonic signals, etc. For example, the union of the shooting range of the camera for shooting images, the field of view angle of the laser beam emitted by the laser radar, the detection range of the millimeter radar, and the detection range of the ultrasonic sensor for emitting ultrasonic signals constitutes the preset detection range. For example, refer to Figure 3 , Figure 3 The FOV in the above-mentioned Figure 3 and Figure 3 corresponds to the field of view range of the laser beam emitted by the laser radar, and Y corresponds to the above-mentioned preset detection range.

[0077] Exemplarily, the moving target can be detected by the above-mentioned sensor module. For example, an environmental image containing the moving target is shot by the camera, and the number of the moving target is determined through the environmental image. For another example, the laser point cloud data of the moving target is detected by the laser radar, and the number of the moving target is determined through the laser point cloud data. The moving target is a moving target object, which can include a moving pedestrian, a moving vehicle, etc.

[0078] Exemplarily, the implementation manner of detecting whether there is a pedestrian in the preset detection range of the vehicle can be that whether there is a pedestrian in the preset detection range of the vehicle is detected by the above-mentioned sensor module. For example, the environmental image in the preset detection range shot by the camera is recognized, and whether there is a pedestrian in the shot environmental image is recognized.

[0079] In step 203, the controller of the vehicle can adjust the field of view angle of the laser beam emitted by the radar to avoid the eyes of the pedestrian when there is a pedestrian in the preset detection range, so that the laser beam avoids the eyes of the pedestrian. When there is a pedestrian in the preset detection range, the laser beam emitted by the radar is likely to enter the eyes of the pedestrian, causing damage to the eyes of the pedestrian. Therefore, the field of view angle of the laser beam emitted by the radar is adjusted so that the laser beam emitted by the radar avoids the eyes of the pedestrian, i.e., the laser beam emitted by the radar does not enter the eyes of the pedestrian, thereby avoiding the irradiation of the laser beam to the eyes and playing a role in protecting the eyes.

[0080] In an exemplary embodiment, the above-mentioned adjustment of the field of view angle of the laser beam emitted by the radar includes: determining the position of the pedestrian; and reducing the vertical field of view angle of the laser beam emitted by the radar when the position of the pedestrian is located in the front area of the vehicle.

[0081] Exemplarily, the position of the pedestrian can be determined based on the data detected by the sensor module. For example, an environmental image containing the pedestrian is captured by the camera, and the position of the pedestrian is determined based on the pixel point of the image of the pedestrian in the environmental image. For another example, the laser point cloud data of the pedestrian is detected by the laser radar, and the position of the pedestrian is calculated based on the laser point cloud data.

[0082] Since the field of view angle of the radar is directed to the front region of the vehicle, after the position of the pedestrian is obtained, it can be determined whether the position of the pedestrian is located in the front region of the vehicle. If the position of the pedestrian is located in the front region of the vehicle, it means that the pedestrian is located in the field of view angle of the radar, or the pedestrian will be located in the field of view angle of the radar after the vehicle continues to travel for a distance. Once the pedestrian is located in the field of view angle of the radar, the laser beam emitted by the radar will irradiate on the pedestrian, and even will enter the eyes of the pedestrian, which will cause harm to the eyes of the pedestrian. Therefore, the field of view angle of the laser beam emitted by the radar is adjusted, specifically, the vertical field of view angle of the laser beam emitted by the radar is reduced, so that the emission height of the laser beam emitted by the radar is lower than the eye height, and the eye height is the distance between the eyes of the pedestrian and the ground.

[0083] The field of view angle of the radar includes a horizontal field of view angle and a vertical field of view angle. The vertical field of view angle can determine the emission height of the laser beam emitted by the radar, and the horizontal field of view angle can determine the horizontal scanning range of the laser beam emitted by the radar. The larger the horizontal field of view angle, the wider the horizontal scanning range of the laser beam emitted by the radar; on the contrary, the narrower the horizontal scanning range of the laser beam emitted by the radar. The larger the vertical field of view angle, the higher the emission height of the laser beam emitted by the radar, and on the contrary, the lower the emission height of the laser beam emitted by the radar. Figure 4 A schematic diagram of the field of view angle of the laser beam emitted by the radar is shown, Figure 4 wherein IOJ represents the vertical field of view angle of the laser beam emitted by the radar, and HOI represents the horizontal field of view angle of the laser beam emitted by the radar.

[0084] In this embodiment, by reducing the vertical field of view angle of the laser beam emitted by the radar on the premise that the position of the pedestrian is located in the front region of the vehicle, the accurate adjustment of the field of view angle of the laser beam emitted by the radar is realized, which can avoid the premature reduction of the vertical field of view angle, is conducive to ensuring the accuracy of the obstacle avoidance control operation of the vehicle during automatic driving, improves the safety of driving, and also protects the eyes of the pedestrian.

[0085] Exemplarily, the front region of the vehicle includes a front region and a side front region of the vehicle, and the determination of whether the position of the pedestrian is located in the front region of the vehicle includes the following schemes:

[0086] When the first angle between the line connecting the pedestrian's position and the target point and the straight line in the direction of the vehicle's travel is within a first preset range, the pedestrian's position is determined to be in the area directly in front of the vehicle; where the target point is the center point of the vehicle's front.

[0087] When the second angle between the line connecting the pedestrian's position and the target point and the straight line in the vehicle's direction of travel is within a second preset range, the pedestrian's position is determined to be in the area to the side and in front of the vehicle.

[0088] Among them, the upper limit of the first preset interval is less than the lower limit of the second preset interval, the upper limit of the second preset interval is less than or equal to 90°, and the second included angle is greater than the first included angle.

[0089] like Figure 5 As shown, Figure 5 A schematic diagram showing the positional relationship between pedestrians and vehicles is provided. Figure 5 In 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.

[0090] In an exemplary embodiment, the reduction of the vertical field of view of the radar-emitted laser beam includes: determining the number of pedestrians. If the number is single, the vertical field of view of the radar-emitted laser beam is reduced based on a first distance between the pedestrian's eyes and the ground; wherein the vertical field of view height corresponding to the reduced vertical field of view is less than the first distance. If the number is multiple, a target pedestrian is identified from the multiple pedestrians, the target pedestrian being the shortest pedestrian among the multiple pedestrians. The vertical field of view of the radar-emitted laser beam is reduced based on a second distance between the target pedestrian's eyes and the ground; wherein the vertical field of view height corresponding to the reduced vertical field of view is less than the second distance.

[0091] For example, the sensor module can detect the environment around the vehicle in real time. After detecting a pedestrian, it can output the following information: pedestrian height, pedestrian position, pedestrian identification (1, 2, 3, etc.). The number of pedestrians can be obtained through the pedestrian identification.

[0092] After the pedestrian is detected by the sensor module, the number of pedestrians can be counted. If the pedestrian located in the front area of the vehicle is one person, a first distance between the eyes of the pedestrian and the ground is calculated, and then a vertical field of view angle of the laser beam emitted by the radar is reduced according to the first distance, and the vertical field of view height corresponding to the reduced vertical field of view angle is less than the first distance, that is, the emission height of the laser beam emitted by the radar is lower than the first distance, and the laser beam emitted by the radar will not irradiate the eyes of the pedestrian. Optionally, the emission height of the laser beam emitted by the radar can be 2 / 3 of the first distance, so that the laser beam emitted by the radar will not irradiate the eyes of the pedestrian, and there is a maximum emission height as much as possible to assist autonomous driving.

[0093] If the pedestrian located in the front area of the vehicle is a plurality of persons, the person with the lowest height among the plurality of pedestrians is determined as a target pedestrian, and then a second distance between the eyes of the target pedestrian and the ground is calculated, and a vertical field of view angle of the laser beam emitted by the radar is reduced according to the second distance, and the vertical field of view height corresponding to the reduced vertical field of view angle is less than the second distance, that is, the emission height of the laser beam emitted by the radar is lower than the second distance, and the laser beam emitted by the radar will not irradiate the eyes of all pedestrians, avoiding the laser beam emitted by the radar from injuring the eyes of all pedestrians. Optionally, the emission height of the laser beam emitted by the radar can be 2 / 3 of the second distance, so that the laser beam emitted by the radar will not irradiate the eyes of the pedestrian, and there is a maximum emission height as much as possible to assist autonomous driving.

[0094] In an exemplary embodiment, when the second type of scenario does not belong to a complex scenario, the power supply of the radar is cut off. That is, when the second type of scenario does not belong to a complex scenario, the radar is not used.

[0095] When the second type of scenario does not belong to a complex scenario, it indicates that the radar may not be needed for autonomous driving in the second type of scenario, and cutting off the power supply of the radar will not affect autonomous driving, which is beneficial to realize the effective use of the radar.

[0096] In an exemplary embodiment, when the automatic driving function scenario is an automatic parking scenario, the power supply of the radar is cut off; wherein in the automatic parking scenario, the distance between the vehicle and the parking space is less than a preset distance. That is, when the automatic driving function scenario is an automatic parking scenario, the radar is not used. The preset distance can be set according to actual needs, which is intended to indicate that the vehicle is currently close to the parking space.

[0097] Since in the automatic parking scene, the distance between the vehicle and the parking space is less than the preset distance, that is, the vehicle is already close to the parking space, the environment around the vehicle is usually simple at this time, the vehicle speed is slow, and the possibility of pedestrians is also small, so it is not necessary to use radar to assist driving, and cutting off the power supply of the radar will not affect the automatic driving, which is conducive to the effective use of the radar.

[0098] In an exemplary embodiment, in the case where the preset detection range does not exist the pedestrian, the radar is controlled to emit the laser beam at a preset field of view angle. If there is no pedestrian in the preset detection range, the probability of the laser beam emitted by the radar entering the eyes of the pedestrian is small, and the field of view angle of the laser beam emitted by the radar is not adjusted, that is, the radar is controlled to emit the laser signal at the preset field of view angle. Wherein, the preset field of view angle is, for example, the maximum field of view angle, or close to the maximum field of view angle of the radar, which is conducive to realizing accurate obstacle avoidance of the vehicle during intelligent driving of the vehicle and improving the safety of intelligent driving of the vehicle.

[0099] For the convenience of understanding the embodiments of the present application, the corresponding radar control strategy in different automatic driving function scenes can be referred to Table 2 as follows:

[0100] In Table 2, strategy one is to cut off the power supply of the radar, that is, not to use the radar. Strategy two is to adjust the field of view angle of the laser beam emitted by the radar, such as reducing the vertical field of view angle of the laser beam emitted by the radar. Strategy three is to emit the laser beam at a preset field of view angle, such as emitting the laser beam at the maximum field of view angle of the radar. The L2 level assisted driving scene is the above-mentioned driving scene with an automatic driving level of L2 level, and the L3 level and above assisted driving scene is the above-mentioned first type of scene.

[0101] Table 2

[0102]

[0103] From Table 2, the following control scheme can be obtained:

[0104] When the vehicle is in the automatic parking scene, the radar is controlled using strategy one.

[0105] When the vehicle is in the cruise parking scene, it is further determined whether the cruise parking scene is a complex scene. When the cruise parking scene is a complex scene, it is further determined whether there is a pedestrian in the preset detection range of the vehicle. If there is a pedestrian, the radar is controlled using strategy two, and if there is no pedestrian, the radar is controlled using strategy three. When the cruise parking scene does not belong to the complex scene, that is, it belongs to the non-complex scene, it is not necessary to determine whether there is a pedestrian, and the radar is controlled using strategy one.

[0106] When the vehicle is in an L2-level assisted driving scene, it is further determined whether the L2-level assisted driving scene is a complex scene. If the L2-level assisted driving scene is a complex scene, it is further determined whether there is a pedestrian in the preset detection range of the vehicle, if there is a pedestrian, the radar is controlled using strategy two, and if there is no pedestrian, the radar is controlled using strategy three. If the L2-level assisted driving scene is a non-complex scene, it is not necessary to determine whether there is a pedestrian, and the radar is controlled using strategy one.

[0107] When the vehicle is in an L3-level and above assisted driving scene, it is not necessary to determine whether the L3-level and above assisted driving scene is a complex scene, and it is directly determined whether there is a pedestrian in the preset detection range of the vehicle, if there is a pedestrian, the radar is controlled using strategy two, and if there is no pedestrian, the radar is controlled using strategy three.

[0108] In this embodiment, different radar control strategies are proposed for different automatic driving function scenes, in combination with whether it is a complex scene and whether there is a pedestrian in the preset detection range, which can realize the effective use of radar by the automatic driving system while avoiding or reducing the eye injury to pedestrians, and plays a role in protecting the eyes.

[0109] Figure 6 FIG. 1 is a structural schematic diagram of a radar control device provided by an embodiment of the present application.

[0110] For example, as shown in FIG. 2, the device includes a determination module 201, a detection module 202, and an adjustment module 203. Figure 6

[0111] The determination module 201 is configured to determine an automatic driving function scene in which a vehicle currently is.

[0112] The detection module 202 is configured to, in a case where the automatic driving function scene belongs to a preset function scene, detect whether there is a pedestrian in a preset detection range of the vehicle.

[0113] The adjustment module 203 is configured to, in a case where there is the pedestrian in the preset detection range, adjust a field of view angle of a laser beam emitted by a radar of the vehicle, so as to make the laser beam avoid eyes of the pedestrian.

[0114] ​In a possible implementation, the determining module 601 is further configured to: after determining the automatic driving function scene currently where the vehicle is located, determine that the first type of scene is the preset function scene when the automatic driving function scene is the first type of scene; the first type of scene is a driving scene where an automatic driving level belongs to a preset level, and the preset level is greater than or equal to L3; when the automatic driving function scene is a second type of scene, determine whether the second type of scene belongs to a complex scene; the second type of scene is a cruise parking scene or a driving scene where the automatic driving level is L2; in the cruise parking scene, a distance between the vehicle and a parking space is greater than or equal to a preset distance; and when the second type of scene belongs to the complex scene, determine that the second type of scene is the preset function scene.

[0115] In a possible implementation, the determining module 601 is further configured to: identify a moving target in a preset detection range of the vehicle, and determine a quantity of the moving target; when the quantity of the moving target is greater than a preset quantity, determine that the second type of scene belongs to the complex scene; and when the quantity of the moving target is less than or equal to the preset quantity, determine that the second type of scene does not belong to the complex scene.

[0116] In a possible implementation, the apparatus further includes a power control module, configured to: when the second type of scene does not belong to the complex scene, cut off power supply of the radar.

[0117] In a possible implementation, the adjusting module 603 is specifically configured to: determine a position of the pedestrian; and when the position of the pedestrian is located in a front area of the vehicle, reduce a vertical field of view angle of the laser beam emitted by the radar.

[0118] In a possible implementation, the adjusting module 603 is specifically configured to: determine a quantity of the pedestrians; when the quantity is single, reduce a vertical field of view angle of the laser beam emitted by the radar according to a first distance between eyes of the pedestrian and the ground; the vertical field of view height corresponding to the reduced vertical field of view angle is less than the first distance; when the quantity is multiple, determine a target pedestrian from the multiple pedestrians, the target pedestrian being a pedestrian with the lowest height among the multiple pedestrians; and reduce a vertical field of view angle of the laser beam emitted by the radar according to a second distance between eyes of the target pedestrian and the ground; the vertical field of view height corresponding to the reduced vertical field of view angle is less than the second distance.

[0119] In a possible implementation, the apparatus further includes a power control module, configured to: when the automatic driving function scene is an automatic parking scene, cut off power supply of the radar; in the automatic parking scene, a distance between the vehicle and a parking space is less than a preset distance.

[0120] In a possible implementation, the apparatus further includes a control module, configured to control the radar to emit the laser beam at a preset field of view angle when the pedestrian is not present in the preset detection range.

[0121] Figure 7 FIG. 1 is a structural schematic diagram of a vehicle provided by an embodiment of the present application.

[0122] For example, as shown in FIG. 7, the vehicle includes a memory 701 and a processor 702, wherein the memory 701 stores executable program code, and the processor 702 is configured to invoke and execute the executable program code to perform a radar control method. Figure 7

[0123] The embodiment can divide the functional modules of the vehicle according to the method examples described above, for example, each functional module can be provided, or two or more functions can be integrated in one processing module, and the integrated module can be implemented in the form of hardware. It should be noted that the division of the modules in the embodiment is illustrative, and is only a logical function division, and another division mode can be used in actual implementation.

[0124] In the case of dividing each functional module according to each function, the vehicle can include a determination module, a detection module, an adjustment module, and the like. It should be noted that all related content of each step involved in the method embodiment can be referred to the function description of the corresponding functional module, and will not be repeated here.

[0125] The vehicle provided by the embodiment is used to perform the radar control method described above, and thus the same effect as the implementation method described above can be achieved.

[0126] In the case of using an integrated unit, the vehicle can include a processing module and a storage module. The processing module can be used to control and manage the actions of the vehicle. The storage module can be used to support the vehicle to execute program codes and data, and the like.

[0127] The processing module can be a processor or a controller, which can implement or execute various exemplary logical blocks, modules and circuits described in combination with the disclosure of the present application. The processor can also be a combination of computing functions, such as one or more microprocessor combinations, a combination of digital signal processing (DSP) and microprocessor, and the like. The storage module can be a memory.

[0128] ​The embodiment also provides a computer readable storage medium, which stores computer program codes, and when the computer program codes are run on a computer, the computer is caused to execute the above related method steps to implement the radar control method in the above embodiment.

[0129] The embodiment also provides a computer program product, which, when run on a computer, causes the computer to execute the above related steps to implement the radar control method in the above embodiment.

[0130] In addition, the vehicle provided by the embodiment of the application can be a chip, a component or a module, and the vehicle can include a connected processor and a memory; the memory is used to store instructions, and the processor can invoke and execute the instructions when the vehicle is running, so that the chip executes the radar control method in the above embodiment.

[0131] The vehicle, the computer readable storage medium, the computer program product or the chip provided by the embodiment can be used to execute the corresponding method provided above, and thus the beneficial effects achieved by the vehicle, the computer readable storage medium, the computer program product or the chip can refer to the beneficial effects of the corresponding method provided above, which will not be described here again.

[0132] Through the above description of the implementation mode, those skilled in the art can understand that, for the convenience and brevity of description, only the above division of functional modules is taken as an example for illustration, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0133] In the embodiments provided by the present application, it should be understood that the disclosed device and method can be implemented by other ways. For example, the device embodiments described above are only schematic, and for the convenience of description, the division of the modules or units is only a logical function division, and there can be another division way in actual implementation, for example, a plurality of units or components can be combined or integrated into another device, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between different units, can be indirect couplings or communication connections through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0134] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited to this, and any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A radar control method, characterized by, The method comprises the following steps: determining an automatic driving function scene in which a vehicle currently locates; when the automatic driving function scene is a first type of scene, determining that the first type of scene is a preset function scene; wherein the first type of scene is a driving scene in which an automatic driving level belongs to a preset level, and the preset level is greater than or equal to L3; when the automatic driving function scene is a second type of scene, determining whether the second type of scene belongs to a complex scene; wherein the second type of scene is a cruise parking scene or a driving scene in which the automatic driving level is L2, and in the cruise parking scene, a distance between the vehicle and a parking space is greater than or equal to a preset distance; when the second type of scene belongs to the complex scene, determining that the second type of scene is the preset function scene; when the automatic driving function scene belongs to the preset function scene, detecting whether there is a pedestrian in a preset detection range of the vehicle; when there is the pedestrian in the preset detection range, reducing a vertical field of view angle of a laser beam emitted by a radar of the vehicle, so that the laser beam avoids eyes of the pedestrian.

2. The method of claim 1, wherein, The determination of whether the second type of scene belongs to the complex scene comprises: identifying a moving target in the preset detection range of the vehicle, and determining a number of the moving target; when the number of the moving target is greater than a preset number, determining that the second type of scene belongs to the complex scene; when the number of the moving target is less than or equal to the preset number, determining that the second type of scene does not belong to the complex scene.

3. The method of claim 1, wherein, When the second type of scene does not belong to the complex scene, the method further comprises: cutting off a power supply of the radar.

4. The method of claim 1, wherein, The reduction of the vertical field of view angle of the laser beam emitted by the radar of the vehicle comprises: determining a position of the pedestrian; when the position of the pedestrian is in a front area of the vehicle, reducing the vertical field of view angle of the laser beam emitted by the radar.

5. The method of claim 4, wherein, The reduction of the vertical field of view angle of the laser beam emitted by the radar comprises: determining a number of the pedestrians; when the number is single, reducing the vertical field of view angle of the laser beam emitted by the radar according to a first distance between eyes of the pedestrian and the ground; when the number is multiple, determining a target pedestrian from the multiple pedestrians, the target pedestrian being a pedestrian with the lowest height among the multiple pedestrians; reducing the vertical field of view angle of the laser beam emitted by the radar according to a second distance between eyes of the target pedestrian and the ground.

6. The method according to any one of claims 1 to 5, characterized in that, After the determination of the automatic driving function scene in which the vehicle currently locates, the method further comprises: when the automatic driving function scene is an automatic parking scene, cutting off the power supply of the radar; wherein in the automatic parking scene, a distance between the vehicle and a parking space is less than a preset distance.

7. The method according to any one of claims 1 to 5, characterized in that, After the detection of whether there is the pedestrian in the preset detection range of the vehicle, the method further comprises: when there is no pedestrian in the preset detection range, controlling the radar to emit the laser beam at a preset field of view angle.

8. A radar control device, characterized by comprising: The method comprises the following steps: determining a module, a detecting module and an adjusting module; The determining module is configured to determine an automatic driving function scenario in which the vehicle currently locates; when the automatic driving function scenario is a first type of scenario, determine that the first type of scenario is a preset function scenario; wherein the first type of scenario is a driving scenario in which an automatic driving level belongs to a preset level, and the preset level is greater than or equal to L3; when the automatic driving function scenario is a second type of scenario, determine whether the second type of scenario belongs to a complex scenario; wherein the second type of scenario is a cruise parking scenario or a driving scenario in which the automatic driving level is L2; in the cruise parking scenario, a distance between the vehicle and a parking space is greater than or equal to a preset distance; when the second type of scenario belongs to the complex scenario, determine that the second type of scenario is the preset function scenario; The detecting module is configured to, when the automatic driving function scenario belongs to the preset function scenario, detect whether a pedestrian exists in a preset detection range of the vehicle; The adjusting module is configured to, when the pedestrian exists in the preset detection range, reduce a vertical field of view angle of a radar laser beam of the vehicle, so that the laser beam avoids eyes of the pedestrian.

9. A vehicle characterized by comprising: The vehicle comprises: a memory configured to store executable program codes; a processor configured to call and run the executable program codes from the memory, so that the vehicle performs the method according to any one of claims 1 to 7.

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