Vehicle radar protection method and device and vehicle

Abstract

The invention provides a radar protection method and device for a vehicle and the vehicle. The method comprises the steps that the collision time of a first vehicle and a second vehicle, the first height of the first vehicle and the second height of the second vehicle are obtained; and controlling the motion position of the radar according to the first height, the second height and / or the collision time. The collision risk level between the vehicles is judged according to the first height, the second height and / or the collision time, the corresponding radar protection level instruction is sent out according to the collision risk level, and then the movement position of the radar is controlled according to the instruction, so that collision protection of the laser radar is realized; the damage risk of the laser radar, the maintenance cost and the time cost of waiting for maintenance of a user are reduced, and the vehicle use experience of the user is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular to a radar protection method for a vehicle, a radar protection device for a vehicle, and a vehicle. Background Art

[0002] LiDAR is extremely important for the safe driving of vehicles. In related technologies, traditional LiDAR is usually fixed on the top of the vehicle to assist in the driving of the vehicle, for example, autonomously planning the driving route, controlling the vehicle to reach the predetermined target, and analyzing in real time whether the vehicle needs to turn on the active safety system in advance.

[0003] However, when a vehicle collides, the laser radar on the top of the vehicle has no protection strategy and is easily damaged, which in turn causes higher maintenance costs and the time users have to wait for maintenance, reducing the user's car experience. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0005] To this end, the first purpose of the present invention is to propose a vehicle radar protection method, which provides collision protection for the laser radar, reduces the damage risk of the laser radar, the maintenance cost and the time users have to wait for maintenance, and improves the user's vehicle experience.

[0006] To this end, a second object of the present invention is to provide a radar protection device for a vehicle.

[0007] To this end, a third object of the present invention is to provide a vehicle.

[0008] In order to achieve the above-mentioned purpose, an embodiment of the first aspect of the present invention proposes a vehicle radar protection method, the method comprising: obtaining the collision time of a first vehicle and a second vehicle, a first height of the first vehicle and a second height of the second vehicle; controlling the movement position of the radar according to the first height, the second height and / or the collision time.

[0009] According to the vehicle radar protection method of an embodiment of the present invention, by obtaining the collision time between the first vehicle and the second vehicle, the first height of the first vehicle and the second height of the second vehicle, the movement position of the radar is controlled according to the first height, the second height and / or the collision time, so as to realize collision protection of the laser radar, reduce the damage risk of the laser radar, the maintenance cost and the cost of the user waiting time for maintenance, and improve the user's car experience.

[0010] In some embodiments, the movement position of the radar is controlled according to the first height, the second height and / or the collision time, including: when the collision time is greater than or equal to a first preset time threshold and less than or equal to a second preset time threshold, the motor controls the radar to move to a first position of the vehicle, wherein the first preset time threshold is less than the second preset time threshold, so that when the collision time of the vehicle is greater than or equal to the first preset time threshold and less than or equal to the second preset time threshold, it is determined that there is a low-level collision risk between the vehicle and the vehicle in front, and the radar is controlled to move to the first position of the vehicle to increase the distance between the vehicle in front and the laser radar on the vehicle, thereby avoiding damage to the laser radar after a vehicle collision.

[0011] In some embodiments, the movement position of the radar is controlled according to the first height, the second height and / or the collision time, including: when the collision time is less than a first preset time threshold and the first height is less than the second height, the motor controls the radar to move to the second position of the vehicle, so that when the collision time of the vehicle is less than the first preset time threshold and the first height is less than the second height, it is judged that there is a medium collision risk between the vehicle and the vehicle in front, and the distance between the vehicle in front and the on-board laser radar of the vehicle is increased by controlling the radar to move to the first position of the vehicle, thereby avoiding damage to the laser radar after a vehicle collision.

[0012] In some embodiments, the movement position of the radar is controlled according to the first height, the second height and / or the collision time, including: when the collision time is less than a first preset time threshold and the first height is greater than or equal to the second height, the motor controls the radar to move to the second position of the vehicle and then controls the radar to move into the cockpit of the vehicle, so that when the collision time of the vehicle is less than the first preset time threshold and the first height is greater than or equal to the second height, it is judged that there is a high-level collision risk between the vehicle and the vehicle in front, and the radar is controlled to move to the second position to increase the distance between the vehicle in front and the on-board laser radar of the vehicle, and then moves to the cockpit, which is safer than the outside of the vehicle, thereby avoiding damage to the laser radar after a vehicle collision.

[0013] In some embodiments, the movement position of the radar is controlled according to the first altitude, the second altitude and / or the collision time, including: when the collision time is greater than a second preset time threshold, the radar is controlled to remain in the initial position to achieve control of the radar without collision risk.

[0014] In some embodiments, before controlling the movement position of the radar according to the first height, the second height and / or the collision time, it also includes: determining the collision risk level of the first vehicle and the second vehicle according to the first height, the second height and / or the collision time, so as to issue corresponding protection instructions according to different collision risk levels; receiving the radar protection level instruction sent by the cloud platform according to the collision risk level, so as to execute corresponding on-board laser radar protection control according to the radar protection level instruction to avoid damage to the radar due to vehicle collision.

[0015] In some embodiments, the vehicle includes a first slide rail, and the motor controls the radar to move along the first slide rail to a first position or a second position, so as to control the vehicle-mounted laser radar to move to a safe position after receiving an instruction to move to the first position or the second position, thereby preventing the laser radar from being damaged due to collision.

[0016] In some embodiments, the vehicle includes a second slide rail, and the motor controls the radar to move along the second slide rail into the cockpit, so as to avoid damage to the laser radar when a violent collision occurs in the vehicle.

[0017] In order to achieve the above-mentioned purpose, an embodiment of the second aspect of the present invention proposes a radar protection device for a vehicle, comprising: an acquisition module, used to obtain the collision time of a first vehicle and a second vehicle, a first height of the first vehicle and a second height of the second vehicle; a control module, used to control the movement position of the radar according to the first height, the second height and / or the collision time. According to the radar protection device of a vehicle in an embodiment of the present invention, the radar protection method of the vehicle as described in the above embodiment is used on the device. By obtaining the collision time between the first vehicle and the second vehicle, the first height of the first vehicle and the second height of the second vehicle, the movement position of the radar is controlled according to the first height, the second height and / or the collision time, so as to realize collision protection of the laser radar, reduce the damage risk of the laser radar, the maintenance cost and the cost of the user waiting time for maintenance, and improve the user's car experience.

[0018] In order to achieve the above-mentioned object, an embodiment of a third aspect of the present invention provides a vehicle, comprising: a radar protection device for the vehicle as described in the above-mentioned embodiment.

[0019] According to the vehicle according to the embodiment of the present invention, the vehicle is equipped with a radar protection device for the vehicle as described in the above embodiment. By obtaining the collision time between the first vehicle and the second vehicle, the first height of the first vehicle and the second height of the second vehicle, the movement position of the radar is controlled according to the first height, the second height and / or the collision time, so as to realize collision protection of the laser radar, reduce the damage risk of the laser radar, the maintenance cost and the cost of the user waiting time for maintenance, and improve the user's car experience.

[0020] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which: Figure 1 is a block diagram of a radar protection system for a vehicle according to an embodiment of the present invention; Figure 2 is a flow chart of a radar protection method for a vehicle according to an embodiment of the present invention; Figure 3 is a schematic diagram of a laser radar protection system according to an embodiment of the present invention; Figure 4 is a schematic diagram of a vehicle not issuing a protection instruction according to an embodiment of the present invention; Figure 5 is a schematic diagram of a vehicle issuing a first-level protection instruction according to an embodiment of the present invention; Figure 6 is a schematic diagram of a vehicle issuing a secondary protection instruction according to an embodiment of the present invention; Figure 7 is a schematic diagram of a vehicle issuing a three-level protection instruction according to an embodiment of the present invention; Figure 8 is a flow chart of a radar protection method for a vehicle according to another embodiment of the present invention; Fig. 9 is a block diagram of a radar protection device for a vehicle according to an embodiment of the present invention; Fig.10 is a block diagram of a vehicle according to one embodiment of the present invention.

[0022] Reference numerals: Roadside camera 11; roadside millimeter wave radar 12; edge computing unit 13; cloud platform 14; roadside unit 15; vehicle-mounted laser radar 16; vehicle-mounted unit 17; vehicle controller 18; motor 19; transverse slide rail 20; longitudinal slide rail 21; Collision time 25; Roof cover 30; Acquisition module 105; Control module 106; Radar protection device for vehicle 101; Vehicle 100. DETAILED DESCRIPTION

[0023] Embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. Embodiments of the present invention are described in detail below.

[0024] In the related technology, the laser radar fixed on the top of the vehicle has a high risk of being damaged when the vehicle collides because there is no protection strategy. Once the laser radar is damaged, it will face high maintenance costs and the user's time cost of waiting for maintenance, which reduces the user's car experience.

[0025] Therefore, the vehicle radar protection method of the embodiment of the present invention obtains the collision time between the first vehicle and the second vehicle, the first height of the first vehicle and the second height of the second vehicle, and controls the movement position of the radar according to the first height, the second height and / or the collision time to achieve collision protection for the laser radar, thereby reducing the damage risk of the laser radar, the maintenance cost and the cost of the user waiting for maintenance, and improving the user's car experience.

[0026] The above-mentioned vehicle lighting control method is implemented based on the vehicle's radar protection system. The vehicle's radar protection system is illustrated below by way of example.

[0027] First, if Figure 1 , which is a block diagram of a radar protection system for a vehicle according to an embodiment of the present invention. The radar protection system for a vehicle includes: a roadside camera 11, a roadside millimeter-wave radar 12, an edge computing unit 13, a cloud platform 14, a roadside unit 15, a vehicle-mounted laser radar 16, a vehicle-mounted unit 17, a vehicle controller 18, a motor 19, a transverse slide rail 20, and a longitudinal slide rail 21.

[0028] The components of the radar protection system for a vehicle according to an embodiment of the present invention are explained below.

[0029] Roadside camera 11: uses a sensing element of a high-definition chip, can detect the movement of vehicles within a certain distance from the road end, is suitable for image acquisition in various light scenes, collects the movement speed, movement direction and distance of the first vehicle and the second vehicle, collects the relative height of the first vehicle and the second vehicle, and transmits the collected information to the edge computing unit; wherein the first vehicle is, for example, a front vehicle in the driving direction of the vehicle, and the second vehicle is, for example, the vehicle itself; The roadside millimeter-wave radar 12 collects the motion information of the first vehicle and the second vehicle on the roadside, including speed, angle and distance, and transmits the information to the edge computing unit 13 to make up for the insufficient perception information of the camera in dark conditions; The edge computing unit 13 receives information from the roadside camera 11 and the roadside millimeter-wave radar 12, and performs visual information fusion to compensate for perception defects, perform modeling processing, determine the collision time between the first vehicle and the second vehicle, and transmit the information to the cloud platform 14, and perform redundant processing with the laser radar information received by the cloud platform 14 for comprehensive processing and judgment by the cloud platform; wherein the collision time is calculated as follows: the relative distance between the first vehicle and the second vehicle divided by the relative speed between the first vehicle and the second vehicle; The cloud platform 14 receives the fusion information transmitted by the edge computing unit 13 and the laser radar information transmitted by the vehicle end, builds a redundant model, and arbitrates and determines the collision risk between the first vehicle and the second vehicle; Roadside unit 15: uploads vehicle speed, height, angle and other information collected by the vehicle-mounted laser radar 16 transmitted by the vehicle-mounted unit 17, and receives the laser radar protection instruction information issued by the cloud platform 14 and transmits it to the vehicle-mounted unit 17; The vehicle-mounted laser radar 16 is arranged on the top of the vehicle, collects the movement information of the second vehicle including the speed, angle, relative speed and relative distance between the first vehicle and the second vehicle, height information between the first vehicle and the second vehicle, etc., and transmits the information to the vehicle-mounted unit 17, which is then transmitted to the roadside unit 15 through the vehicle-mounted unit 17, and then sent to the cloud platform 14 to judge the safety protection mechanism of the vehicle-mounted laser radar 16; On-board unit 17: arranged inside the vehicle cockpit, collects and receives protection instructions sent by the cloud platform 14 transmitted by the roadside unit 15, and uploads on-board laser radar information at the same time; The vehicle controller 18 is arranged inside the vehicle cockpit, connected to the vehicle-mounted unit 17, receives the laser radar transmission protection instruction information sent by the cloud platform 14 and transmitted by the vehicle-mounted unit 17, and controls the motor 19 to drive the vehicle-mounted laser radar 16 to move horizontally and vertically along the horizontal and vertical slide rails according to the instruction; Motor 19: one end is connected to the vehicle controller 18, and can be started after receiving the command information sent by the vehicle controller 18, so as to drive the vehicle-mounted laser radar 16 to move horizontally and vertically along the horizontal and vertical slide rails; Horizontal slide rail 20: arranged on the top of the vehicle, the vehicle-mounted laser radar 16 can move forward and backward along the horizontal slide rail under the action of the motor 19; Longitudinal slide rail 21: arranged at the rear of the top of the vehicle. After receiving the third-level protection instruction issued by the cloud platform 14, the roof cover slides backward under the action of the motor, the roof opens, and the on-board laser radar 16 slides from the roof to the cockpit to avoid damage to the laser radar when the first vehicle collides with the second vehicle.

[0030] Based on the above, the following Figure 1-Figure 8 A radar protection method for a vehicle according to an embodiment of the present invention is described.

[0031] like Figure 2 FIG. 1 is a flow chart of a radar protection method for a vehicle according to an embodiment of the present invention. The radar protection method for a vehicle according to the embodiment of the present invention at least includes step S1 and step S2.

[0032] Step S1, obtaining a collision time between a first vehicle and a second vehicle, a first height of the first vehicle, and a second height of the second vehicle.

[0033] In an embodiment, Figure 3 As shown, a schematic diagram of a laser radar protection system according to an embodiment of the present invention. The first vehicle is, for example, a vehicle in front of the vehicle in the direction of travel of the vehicle; the second vehicle is, for example, the vehicle itself; the current time is the initial time, the time when the first vehicle and the second vehicle collide is the end time, and the collision time 25 is the time difference between the end time and the end time; the first height is the vehicle height of the vehicle in front; the second height is the vehicle height of the vehicle itself.

[0034] Obtaining the collision time of the first vehicle and the second vehicle, the first height of the first vehicle, and the second height of the second vehicle. For example, the roadside camera 11 collects the relative height between the vehicle and the front vehicle, collects the movement speed, movement direction, and distance between the vehicle and the front vehicle, and transmits the collected information to the edge computing unit; the roadside millimeter-wave radar 12 collects the movement information of the vehicle and the front vehicle, including speed, angle, and distance, and transmits the information to the edge computing unit 13 to make up for the insufficient perception information of the camera in dark light conditions; the on-board laser radar 16 collects the movement information of the second vehicle, including vehicle speed, angle, relative speed and relative distance between the first vehicle and the second vehicle, height information of the first vehicle and the second vehicle, etc., and transmits the information to the on-board unit 17, which is then transmitted to the roadside unit 15 through the on-board unit 17 and then sent to the cloud platform 14; the edge computing unit 13 receives the information of the roadside camera 11 and the roadside millimeter-wave radar 12, and performs visual information fusion to compensate for the perception defects, perform modeling processing, and determine the collision time of the first vehicle and the second vehicle. The collision time is calculated as follows: the relative distance between the first vehicle and the second vehicle is divided by the relative speed between the first vehicle and the second vehicle. By acquiring the collision time between the first vehicle and the second vehicle, the first height of the first vehicle, and the second height of the second vehicle, data preparation is made for controlling the movement position of the radar.

[0035] Step S2, controlling the movement position of the radar according to the first altitude, the second altitude and / or the collision time.

[0036] In an embodiment, Figure 3 As shown, the first height is, for example, the height of the preceding vehicle, the second height is, for example, the height of the vehicle in front, and the collision time is, for example, the time value obtained by the edge computing unit 13 by dividing the relative distance between the vehicle in front and the vehicle in front by the relative speed between the vehicle in front and the vehicle in front; the cloud platform 14 determines the collision risk level between the vehicle in front and the vehicle in front according to the first height, the second height and / or the collision time, and issues a corresponding radar protection level instruction according to the risk level, and the instruction will be received by the roadside unit 15, and the roadside unit 15 will send the received radar protection level instruction to the vehicle-mounted unit 17, and the vehicle-mounted unit 17 will send it to the vehicle controller 18 after receiving the radar protection level instruction, and the vehicle controller 18 will control the motor 19 according to the instruction to drive the vehicle-mounted laser radar 16 to move horizontally and vertically along the horizontal and vertical slide rails to the movement position in the instruction, so as to judge the collision risk level between the vehicles by the first height, the second height and / or the collision time, issue a corresponding radar protection level instruction according to the collision risk level, and then control the movement position of the radar according to the instruction, so as to realize the collision protection of the laser radar, reduce the damage risk of the laser radar, the maintenance cost and the time cost of the user waiting for maintenance, and improve the user's car experience.

[0037] According to the vehicle radar protection method of an embodiment of the present invention, by obtaining the collision time between the first vehicle and the second vehicle, the first height of the first vehicle and the second height of the second vehicle, the movement position of the radar is controlled according to the first height, the second height and / or the collision time, so as to realize collision protection of the laser radar, reduce the damage risk of the laser radar, the maintenance cost and the cost of the user waiting time for maintenance, and improve the user's car experience.

[0038] In some embodiments, the movement position of the radar is controlled according to the first height, the second height and / or the collision time, including: when the collision time is greater than or equal to the first preset time threshold and less than or equal to the second preset time threshold, the motor controls the radar to move to the first position of the vehicle, wherein the first preset time threshold is less than the second preset time threshold.

[0039] In an embodiment, Figure 4 FIG. 1 is a schematic diagram of a vehicle that does not issue a protection instruction according to an embodiment of the present invention. Figure 5 As shown, Figure 5 FIG. 1 is a schematic diagram of a vehicle issuing a first-level protection instruction according to an embodiment of the present invention. Figure 4 and Figure 5The first preset time threshold is a critical value for judging whether there is a collision risk between the first vehicle and the second vehicle, and the second preset time threshold is a critical value for judging whether there is no collision risk between the first vehicle and the second vehicle, and the first preset time threshold is less than the second preset time threshold, and the time thresholds are values ​​comprehensively obtained based on requirements, vehicle models, and experiments; the first position is when the collision time is greater than or equal to the first preset time threshold and less than or equal to the second preset time threshold, after the vehicle collides, the front vehicle collides with the critical position of the laser radar 16 of the vehicle, and the laser radar 16 will not be collided when it is in the critical position; the movement position of the radar is controlled according to the first height, the second height and / or the collision time For example, assuming that the first preset time threshold is 1.4s, the second preset time threshold is 2.6s, and assuming that the first position is the center position of the roof, the cloud platform 14 receives the fusion information transmitted by the edge computing unit 13 and the information collected by the vehicle-mounted laser radar 16 transmitted by the vehicle-mounted unit 17, and builds a redundant model to arbitrate and determine the collision risk between the first vehicle and the second vehicle. Specifically, the cloud platform 14 calculates the relative distance between the first vehicle and the second vehicle and divides it by the relative speed between the first vehicle and the second vehicle to obtain the collision time. If it is determined that the collision time is greater than or equal to 1.4s and less than or equal to 2.6s, the motor 19 controls the laser radar 16 to Figure 4 The position of the roof moves to the center position, and the movement process is as follows Figure 5 As shown in the vehicle-mounted laser radar 16, when the collision time of the vehicle is greater than or equal to the first preset time threshold and less than or equal to the second preset time threshold, it is judged that there is a low-level collision risk between the vehicle and the front vehicle. By controlling the radar to move to the first position of the vehicle, the distance between the front vehicle and the laser radar on the vehicle is increased to avoid damage to the laser radar 16 after a collision between the vehicles.

[0040] In some embodiments, the movement position of the radar is controlled according to the first height, the second height and / or the collision time, including: when the collision time is less than a first preset time threshold and the first height is less than the second height, the motor controls the radar to move to the second position of the vehicle.

[0041] In an embodiment, Figure 6 The figure is a schematic diagram of a vehicle issuing a secondary protection command according to an embodiment of the present invention. The second position is when the collision time is less than the first preset time threshold and the first height is less than the second height. After the vehicle collides, the front vehicle collides with the critical position of the laser radar 16 of the vehicle. The laser radar 16 will not be hit when it is in the critical position. Figure 4, when the movement position of the radar is controlled according to the first height, the second height and / or the collision time, for example, assuming that the first preset time threshold is 1.4s, and the second position is the rear end position of the roof, the cloud platform 14 receives the fusion information transmitted by the edge computing unit 13 and the information collected by the vehicle-mounted laser radar 16 transmitted by the vehicle-mounted unit 17, and builds a redundant model to arbitrate and determine the collision risk between the first vehicle and the second vehicle. Specifically, the cloud platform 14 calculates the relative distance between the first vehicle and the second vehicle and divides it by the relative speed between the first vehicle and the second vehicle to obtain the collision time. If it is determined that the collision time is less than 1.4s and the first height is less than the second height, the motor 19 controls the vehicle-mounted laser radar 16 to move from Figure 4 The movement process is as follows: Figure 6 As shown in the on-board laser radar 16, when the collision time of the vehicle is less than the first preset time threshold and the first height is less than the second height, it is judged that there is a medium collision risk between the vehicle and the vehicle in front. By controlling the radar to move to the first position of the vehicle, the distance between the vehicle in front and the on-board laser radar of the vehicle is increased to avoid damage to the laser radar 16 after a collision between the vehicles.

[0042] In some embodiments, the movement position of the radar is controlled according to the first height, the second height and / or the collision time, including: when the collision time is less than a first preset time threshold and the first height is greater than or equal to the second height, the motor controls the radar to move to the second position of the vehicle and then controls the radar to move into the cockpit of the vehicle.

[0043] In an embodiment, Figure 7 FIG. 1 is a schematic diagram of a vehicle issuing a three-level protection instruction according to an embodiment of the present invention. Figure 4 and Figure 6 When the movement position of the radar is controlled according to the first height, the second height and / or the collision time, for example, assuming that the first preset time threshold is 1.4s, and the second position is the rear end position of the roof, the cloud platform 14 receives the fusion information transmitted by the edge computing unit 13 and the information collected by the vehicle-mounted laser radar 16 transmitted by the vehicle-mounted unit 17, and builds a redundant model to arbitrate and determine the collision risk between the first vehicle and the second vehicle. Specifically, the cloud platform 14 calculates the relative distance between the first vehicle and the second vehicle and divides it by the relative speed between the first vehicle and the second vehicle to obtain the collision time. If it is determined that the collision time is less than 1.4s and the first height is greater than or equal to the second height, the motor 19 controls the vehicle-mounted laser radar 16 to move from Figure 4 Move to the position of Figure 6 After the rear end of the roof is in the position shown, there is a roof cover 30 at the rear of the roof that can move along the transverse slide rail 20. The motor 19 will drive the roof cover 30 to slide backward under the action of the motor 19, and the roof will open. The longitudinal motor will continue to control the vehicle-mounted laser radar 16 to move downward to Figure 7In the cockpit shown, when the collision time of the vehicle is less than the first preset time threshold and the first height is greater than or equal to the second height, it is judged that there is a high-level collision risk between the vehicle and the vehicle in front. By controlling the radar to move to the second position, the distance between the vehicle in front and the on-board laser radar of the vehicle is increased, and then the vehicle moves into the cockpit, which is safer than the outside of the vehicle, thereby avoiding damage to the laser radar 16 after a collision.

[0044] In some embodiments, controlling the movement position of the radar according to the first altitude, the second altitude and / or the collision time includes: when the collision time is greater than a second preset time threshold, controlling the radar to remain at the initial position.

[0045] In an embodiment, when the movement position of the radar is controlled according to the first height, the second height and / or the collision time, for example, assuming that the second preset time threshold is 2.6s, the cloud platform 14 obtains the collision time by calculating the relative distance between the first vehicle and the second vehicle and dividing it by the relative speed between the first vehicle and the second vehicle. If it is judged that the collision time is greater than 2.6s, it is considered that there is no collision risk between the first vehicle and the second vehicle, and the radar is controlled to remain in the initial position to achieve control of the radar without collision risk.

[0046] In some embodiments, before controlling the movement position of the radar according to the first height, the second height and / or the collision time, it also includes: determining the collision risk level of the first vehicle and the second vehicle according to the first height, the second height and / or the collision time; and receiving the radar protection level instruction sent by the cloud platform according to the collision risk level.

[0047] In an embodiment, in combination Figure 1 and Figure 3As shown, before controlling the movement position of the radar according to the first height, the second height and / or the collision time, the cloud platform 14 needs to determine the collision risk level of the first vehicle and the second vehicle according to the first height, the second height and / or the collision time. For example, the roadside camera 11 collects the relative height between the vehicle and the front vehicle, collects the movement speed, movement direction and distance between the vehicle and the front vehicle, and transmits the collected information to the edge computing unit; the roadside millimeter-wave radar 12 collects the movement information of the vehicle and the front vehicle, including speed, angle and distance, and transmits the information to the edge computing unit 13 to make up for the lack of perception information of the camera in dark light conditions; the edge computing unit 1 3 receives information from the roadside camera 11 and the roadside millimeter-wave radar 12, and performs visual information fusion to compensate for perception defects, perform modeling processing, and determine the collision time between the first vehicle and the second vehicle. The collision time is calculated as follows: the relative distance between the first vehicle and the second vehicle divided by the relative speed between the first vehicle and the second vehicle; the on-board laser radar 16 collects the motion information of the second vehicle including the vehicle speed, angle, relative speed and relative distance between the first vehicle and the second vehicle, height information between the first vehicle and the second vehicle, etc., and transmits the information to the on-board unit 17, which is then transmitted to the roadside unit 15 through the on-board unit 17, and then sent to the cloud platform 14.

[0048] The cloud platform 14 receives the fusion information and collision time information from the edge computing unit 13, as well as the first height and second height information collected by the vehicle-mounted laser radar 16 transmitted by the roadside unit 15, and builds a redundant model to arbitrate and determine the collision risk level between the first vehicle and the second vehicle, so as to issue corresponding protection instructions according to different collision risk levels. The four risk levels are divided into four risk levels as an example for explanation. The four risk levels include: Level 1 collision risk: as the low-level collision risk described in the above embodiment, when the collision time is greater than or equal to the first preset time threshold and less than or equal to the second preset time threshold, it is determined as a level 1 collision risk.

[0049] Level 2 collision risk: as the intermediate collision risk described in the above embodiment, when the collision time is less than the first preset time threshold and the first height is less than the second height, it is determined to be a level 2 collision risk.

[0050] Level 3 collision risk: as the advanced collision risk described in the above embodiment, when the collision time is less than the first preset time threshold and the first height is greater than or equal to the second height, it is determined to be a level 3 collision risk.

[0051] Zero-level collision risk: as described in the above embodiment, there is no collision risk. When the collision time is greater than the second preset time threshold, it is determined to be a zero-level collision risk.

[0052] After the cloud platform 14 determines the risk level, it will issue a corresponding radar protection level instruction. The first-level collision risk corresponds to the first-level radar protection level instruction, and the instruction is, for example, that the motor controls the radar to move to the first position of the vehicle; the second-level collision risk corresponds to the second-level radar protection level instruction, and the instruction is, for example, that the motor controls the radar to move to the second position of the vehicle; the third-level collision risk corresponds to the third-level radar protection level instruction, and the instruction is, for example, that the motor controls the radar to move to the second position of the vehicle and then controls the radar to move into the cockpit of the vehicle; no radar protection level instruction is issued for zero-level collision risk; the radar protection level instruction of the cloud platform 14 will be received by the roadside unit 15, and the roadside unit 15 will send the received radar protection level instruction to the vehicle-mounted unit 17. After receiving the radar protection level instruction, the vehicle-mounted unit 17 will send it to the vehicle controller 18, and the vehicle controller 18 will control the motor 19 according to the instruction to drive the vehicle-mounted laser radar 16 to move horizontally and vertically along the horizontal and vertical slide rails, so as to implement the corresponding vehicle-mounted laser radar protection control according to the radar protection level instruction to avoid damage to the radar due to vehicle collision.

[0053] In some embodiments, the vehicle includes a first slide rail, and the motor controls the radar to move along the first slide rail to the first position or the second position.

[0054] In an embodiment, Figure 7 As shown, the vehicle includes a first slide rail, such as a transverse slide rail 20, which is arranged on the top of the vehicle. The vehicle-mounted laser radar 16 can move forward and backward along the transverse slide rail under the action of the motor 19 to move to the first position or the second position, so as to control the vehicle-mounted laser radar 16 to move to a safe position after receiving the instruction to move to the first position or the second position, so as to avoid damage to the laser radar due to collision.

[0055] In some embodiments, the vehicle includes a second slide rail, and the motor controls the radar to move along the second slide rail into the cockpit.

[0056] In an embodiment, Figure 7 As shown, the second slide rail, for example, the longitudinal slide rail 21, is arranged at the rear of the top of the vehicle. After receiving the third-level protection instruction issued by the cloud platform 14, the roof cover slides backward under the action of the motor, the roof opens, and the on-board laser radar 16 will slide from the roof to the cockpit to avoid damage to the laser radar when the first vehicle collides with the second vehicle.

[0057] Reference below Figure 7 The radar protection method for a vehicle according to an embodiment of the present invention is described in detail.

[0058] like Figure 7FIG. 1 is a flow chart of a radar protection method for a vehicle according to an embodiment of the present invention. The radar protection method for a vehicle according to an embodiment of the present invention at least includes steps S50 to S59.

[0059] Step S50, obtaining the collision time between the first vehicle and the second vehicle, the first height of the first vehicle, and the second height of the second vehicle.

[0060] Step S51, determining a collision risk level between the first vehicle and the second vehicle according to the first height, the second height and / or the collision time.

[0061] Step S52: receiving a radar protection level instruction sent by the cloud platform according to the collision risk level.

[0062] Step S53, determine whether the collision time is greater than or equal to the first preset time threshold and whether the collision time is less than or equal to the second preset time threshold. If so, execute step S54; otherwise, execute step S55 or S58; Step S54: the motor controls the radar to move to the first position of the vehicle.

[0063] Step S55, determining whether the collision time is less than the first preset time and the first height is less than the second height. If so, executing step S57; otherwise, executing step S56.

[0064] Step S56, the motor controls the radar to move to the second position of the vehicle and then controls the radar to move into the cockpit of the vehicle.

[0065] Step S57: the motor controls the radar to move to a second position of the vehicle.

[0066] Step S58: The collision time is greater than a second preset time threshold.

[0067] Step S59, controlling the radar to remain at the initial position.

[0068] According to the vehicle radar protection method of an embodiment of the present invention, by obtaining the collision time between the first vehicle and the second vehicle, the first height of the first vehicle and the second height of the second vehicle, the movement position of the radar is controlled according to the first height, the second height and / or the collision time, so as to realize collision protection of the laser radar, reduce the damage risk of the laser radar, the maintenance cost and the cost of the user waiting time for maintenance, and improve the user's car experience.

[0069] Reference below Figure 8 A radar protection device for a vehicle according to an embodiment of the present invention is described.

[0070] like Figure 8FIG. 1 is a block diagram of a radar protection device for a vehicle according to an embodiment of the present invention. The radar protection device 101 for a vehicle according to the embodiment of the present invention comprises an acquisition module 105 and a control module 106 .

[0071] Among them, the acquisition module 101 is used to obtain the collision time of the first vehicle and the second vehicle, the first height of the first vehicle and the second height of the second vehicle; the control module 102 is used to control the movement position of the radar according to the first height, the second height and / or the collision time.

[0072] According to the vehicle radar protection device 101 according to the embodiment of the present invention, the vehicle radar protection method as in the above-mentioned embodiment is used on the device, by obtaining the collision time between the first vehicle and the second vehicle, the first height of the first vehicle and the second height of the second vehicle, and controlling the movement position of the radar according to the first height, the second height and / or the collision time, so as to realize collision protection of the laser radar, reduce the damage risk of the laser radar, the maintenance cost and the cost of the user waiting time for maintenance, and improve the user's car experience.

[0073] In some embodiments, the control module 102 controls the movement position of the radar according to the first height, the second height and / or the collision time, including: when the collision time is greater than or equal to the first preset time threshold and less than or equal to the second preset time threshold, the motor controls the radar to move to the first position of the vehicle, wherein the first preset time threshold is less than the second preset time threshold.

[0074] In some embodiments, the control module 102 controls the movement position of the radar according to the first height, the second height and / or the collision time, including: when the collision time is less than a first preset time threshold and the first height is less than the second height, the motor controls the radar to move to the second position of the vehicle.

[0075] In some embodiments, the control module 102 controls the movement position of the radar according to the first height, the second height and / or the collision time, including: when the collision time is less than a first preset time threshold and the first height is greater than or equal to the second height, the motor controls the radar to move to the second position of the vehicle and then controls the radar to move into the cockpit of the vehicle.

[0076] In some embodiments, the control module 102 controls the movement position of the radar according to the first altitude, the second altitude and / or the collision time, including: when the collision time is greater than a second preset time threshold, controlling the radar to remain at the initial position.

[0077] In some embodiments, before the control module 102 controls the movement position of the radar according to the first height, the second height and / or the collision time, it also includes: determining the collision risk level of the first vehicle and the second vehicle according to the first height, the second height and / or the collision time; and receiving the radar protection level instruction sent by the cloud platform according to the collision risk level.

[0078] In some embodiments, the vehicle includes a first slide rail, and the control module 102 controls the motor to thereby control the radar to move along the first slide rail to the first position or the second position.

[0079] In some embodiments, the vehicle includes a second slide rail, and the control module 102 controls the motor to thereby control the radar to move along the second slide rail into the cockpit.

[0080] According to the vehicle radar protection device 101 according to the embodiment of the present invention, the vehicle radar protection method as in the above-mentioned embodiment is used on the device, by obtaining the collision time between the first vehicle and the second vehicle, the first height of the first vehicle and the second height of the second vehicle, and controlling the movement position of the radar according to the first height, the second height and / or the collision time, so as to realize collision protection of the laser radar, reduce the damage risk of the laser radar, the maintenance cost and the cost of the user waiting time for maintenance, and improve the user's car experience.

[0081] Reference below Fig. 9 A vehicle according to an embodiment of the present invention is described.

[0082] like Fig. 9 FIG. 1 is a block diagram of a vehicle according to an embodiment of the present invention. A vehicle 100 according to the embodiment of the present invention comprises: a radar protection device 101 of the vehicle according to the above embodiment.

[0083] According to the vehicle 100 of the embodiment of the present invention, the vehicle 100 is configured with a radar protection device 101 of the vehicle as in the above-mentioned embodiment. By obtaining the collision time between the first vehicle and the second vehicle, the first height of the first vehicle and the second height of the second vehicle, the movement position of the radar is controlled according to the first height, the second height and / or the collision time, so as to realize collision protection of the laser radar, reduce the damage risk of the laser radar, the maintenance cost and the cost of the user waiting time for maintenance, and improve the user's car experience.

[0084] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0085] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A vehicle radar protection method, characterized in that: include: Acquire a collision time between a first vehicle and a second vehicle, a first height of the first vehicle, and a second height of the second vehicle; The movement position of the radar is controlled according to the first altitude, the second altitude and / or the collision time.

2. The vehicle radar protection method according to claim 1, characterized in that: Controlling the movement position of the radar according to the first altitude, the second altitude and / or the collision time includes: When the collision time is greater than or equal to a first preset time threshold and less than or equal to a second preset time threshold, the motor controls the radar to move to a first position of the vehicle, wherein the first preset time threshold is less than the second preset time threshold.

3. The vehicle radar protection method according to claim 1, characterized in that: Controlling the movement position of the radar according to the first altitude, the second altitude and / or the collision time includes: When the collision time is less than a first preset time threshold and the first height is less than the second height, the motor controls the radar to move to a second position of the vehicle.

4. The vehicle radar protection method according to claim 1, characterized in that: Controlling the movement position of the radar according to the first altitude, the second altitude and / or the collision time includes: When the collision time is less than a first preset time threshold and the first height is greater than or equal to the second height, the motor controls the radar to move to a second position of the vehicle and then controls the radar to move into a cockpit of the vehicle.

5. The vehicle radar protection method according to claim 1, characterized in that: Controlling the movement position of the radar according to the first altitude, the second altitude and / or the collision time includes: When the collision time is greater than a second preset time threshold, the radar is controlled to remain at an initial position.

6. The radar protection method for a vehicle according to any one of claims 2 to 4, characterized in that: Before controlling the movement position of the radar according to the first altitude, the second altitude and / or the collision time, the method further includes: determining a collision risk level between the first vehicle and the second vehicle according to the first height, the second height and / or the collision time; A radar protection level instruction sent by a cloud platform is received according to the collision risk level.

7. The vehicle radar protection method according to claim 2 or 3, characterized in that: The vehicle includes a first slide rail, and the motor controls the radar to move along the first slide rail to a first position or a second position.

8. The vehicle radar protection method according to claim 4, characterized in that: The vehicle includes a second slide rail, and the motor controls the radar to move along the second slide rail into the cockpit.

9. A radar protection device for a vehicle, characterized in that: include: An acquisition module, configured to acquire a collision time between a first vehicle and a second vehicle, a first height of the first vehicle, and a second height of the second vehicle; A control module is used to control the movement position of the radar according to the first altitude, the second altitude and / or the collision time.

10. A vehicle comprising: The radar protection device for a vehicle as claimed in claim 9.

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