Vehicle sensor control method and device and vehicle

Abstract

The invention relates to the technical field of vehicle control, and discloses a vehicle sensor control method and device, a vehicle and a medium. When the first sensor is started, obstacle coarse detection is carried out through the first sensor; judging whether to start a second sensor based on the obstacle coarse detection result of the first sensor; when the second sensor is started, obstacle fine detection is carried out based on the second sensor, or obstacle fine detection is carried out by combining the first sensor and the second sensor. According to the technical scheme provided by the invention, the sensors are opened and closed in a stepped manner, and only few sensors are opened when few sensors are used, so that the problem of high power consumption of the sensors is solved, and the use quantity of the sensors is gradually increased according to the increase of external risks, so that the vehicle body risk sensing capability is ensured.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle sensor control method, device and vehicle. Background Art

[0002] With the rapid development of science and technology, sensors on vehicles are widely used. From the previous application of reversing alarm to the current application of parking perception, after several years of accumulation, they have achieved very remarkable results in low-speed and close-range obstacle detection. They are also almost standard equipment for various types of cars, providing drivers with many functional experiences and assistance. However, during the driving process of the vehicle, each sensor is turned on throughout the whole process. Therefore, in some driving scenarios where the demand for sensors is not high, the sensors are still working, which affects the vehicle's endurance and the service life of various sensors. Some technologies determine the driving scene of the vehicle according to the vehicle's driving speed and driving mode, so that the use status of ultrasonic radar can be adjusted in some driving scenarios where ultrasonic radar is not required or the demand for ultrasonic radar is not high. For example, the use of sensors is cancelled in the cruise control mode, and sensors are used in the non-cruise control mode. Although this method reduces the power consumption of sensors to a certain extent, the use of sensors is cancelled based on the large driving mode as the judgment standard, which additionally leads to the problem that risks cannot be detected when unexpected risks occur. Therefore, while reducing the power consumption of sensors, the ability to perceive vehicle body risks must also be guaranteed. Summary of the invention

[0003] In view of this, the present invention provides a vehicle sensor control method, device and vehicle to solve the problem that the reduction of sensor power consumption and the improvement of vehicle body risk perception cannot be taken into account at the same time.

[0004] In a first aspect, the present invention provides a vehicle sensor control method, the method comprising: judging whether to turn on a first sensor according to a vehicle speed and a gear position, the first sensor being a part of all sensors capable of performing a current obstacle detection task; when the first sensor is turned on, performing a rough obstacle detection through the first sensor; judging whether to turn on a second sensor based on a rough obstacle detection result of the first sensor, the second sensor being the remaining unturned part of all sensors; when the second sensor is turned on, performing a precise obstacle detection based on the second sensor, or performing a precise obstacle detection in combination with the first sensor and the second sensor.

[0005] According to the above technical means, the present invention determines whether the vehicle is in a scene where there may be a risk of collision based on the vehicle speed and gear position, thereby deciding whether to turn on a more appropriate first sensor to perform rough obstacle detection on obstacles near the vehicle. If the rough obstacle detection result indicates that the obstacle is close to the vehicle, more second sensors are turned on for precise obstacle detection. Through the technical solution provided by the present invention, the sensors are turned on and off in a step-by-step manner. When the sensors are used less, only a few sensors are turned on, which solves the problem of high sensor power consumption. In addition, gradually increasing the number of sensors used according to the increase in external risks also ensures the ability to perceive vehicle body risks.

[0006] In some optional embodiments, whether to turn on the first sensor is determined based on the vehicle speed and gear, including: obtaining the current vehicle speed and the current gear; when the current vehicle speed is in a first preset low-speed range and the current gear is a forward gear, turning on the ultrasonic radar in front of the vehicle body, and the ultrasonic radar in front of the vehicle body is the first sensor.

[0007] In some optional embodiments, whether to turn on the second sensor is determined based on the rough obstacle detection result of the first sensor, including: when the ultrasonic radar in front of the vehicle body detects that the distance between the obstacle and the vehicle body is less than a first preset distance threshold, turning on the remaining sensors in front of the vehicle body, the remaining sensors in front of the vehicle body are the second sensors, and the remaining sensors in front of the vehicle body include at least one of a millimeter-wave radar and a camera.

[0008] In some optional implementations, the first sensor and the second sensor are combined to perform accurate obstacle detection, including: fusing obstacle distances detected by the ultrasonic radar in front of the vehicle body and the remaining sensors in front of the vehicle body to obtain an obstacle fusion distance.

[0009] According to the above technical means, the present invention only turns on the ultrasonic radar when the vehicle speed is low and the forward gear is in progress. The ultrasonic measurement distance is shorter and is more suitable for scenes with low vehicle speeds. Therefore, when the ultrasonic radar determines that the obstacle in front of the vehicle body and the vehicle sound are less than a first preset distance threshold, the remaining sensors in front of the vehicle body are further turned on, and then the obstacle distance is detected by using multiple sensor fusion, which takes into account both the obstacle detection accuracy and the vehicle's low power consumption requirements, and ensures the reliability of the vehicle parking mode when the vehicle is moving forward.

[0010] In some optional embodiments, whether to turn on the first sensor is determined based on the vehicle speed and gear, including: obtaining the current vehicle speed and the current gear; when the current vehicle speed is in a preset high-speed range and the current gear is a forward gear, turning on the millimeter-wave radar on the side of the vehicle body, and the millimeter-wave radar on the side of the vehicle body is the first sensor.

[0011] In some optional embodiments, whether to turn on the second sensor is determined based on the rough obstacle detection result of the first sensor, including: when the millimeter-wave radar on the side of the vehicle body detects that the distance between the obstacle and the vehicle body is less than a second preset distance threshold, turning on the remaining sensors on the side of the vehicle body, the remaining sensors on the side of the vehicle body are the second sensors, and the remaining sensors on the side of the vehicle body include at least one of an ultrasonic radar and a camera.

[0012] In some optional embodiments, accurate obstacle detection is performed based on the second sensor, including: detecting whether the distance between the obstacle and the vehicle body is less than a third preset distance threshold by an ultrasonic radar on the side of the vehicle body; when the distance between the obstacle and the vehicle body is less than the third preset distance threshold, detecting the movement trajectory of the obstacle by a camera on the side of the vehicle body; and analyzing whether there is a trend of the obstacle approaching the vehicle based on the movement trajectory of the obstacle and the movement trajectory of the vehicle.

[0013] According to the above technical means, the present invention only turns on the millimeter-wave radar when the vehicle speed is high and the forward gear is in progress. The millimeter-wave radar has a longer measurement distance. In high-speed scenarios, obstacles are often not too close to the vehicle, so starting the millimeter-wave radar alone is more suitable for scenarios with higher speeds. Furthermore, when the millimeter-wave radar determines that there are obstacles merging or cutting in on both sides of the vehicle body, the ultrasonic radar is used for close-range detection to improve detection accuracy. When the ultrasonic radar detects that the obstacles on both sides of the vehicle are very close, that is, less than the second preset distance threshold, the camera is used to analyze whether the obstacles on both sides of the vehicle body are continuing to approach the vehicle body, and then the vehicle can be controlled to avoid the obstacles in the opposite direction according to the camera analysis results. Through the technical solution provided by the present invention, different sensors are turned on step by step in the high-speed driving scenario of the vehicle, which also takes into account the accuracy of obstacle detection and the low power consumption requirements of the vehicle, ensuring the reliability of the high-speed driving mode of the vehicle when the vehicle is moving forward.

[0014] In some optional embodiments, the method further includes: obtaining the current vehicle speed and the current gear; when the current vehicle speed is in a second preset low-speed range and the current gear is a reverse gear, turning on all sensors of the vehicle body; and fusing the obstacle distances detected by all sensors of the vehicle body to obtain an obstacle fusion distance.

[0015] According to the above technical means, the present invention directly turns on all the sensors of the vehicle body when the vehicle is at a low speed and in reverse gear, thereby entering the parking mode. By fusing and analyzing obstacles near the vehicle body through all the sensors of the vehicle body, nearby obstacles can be accurately detected under conditions of poor reversing vision, thereby significantly improving the reliability of the parking mode when the vehicle is reversing.

[0016] In a second aspect, the present invention provides a vehicle sensor control device, which includes: a coarse detection start-up analysis module, which is used to determine whether to turn on a first sensor according to a vehicle speed and a gear position, wherein the first sensor is a part of all sensors that can perform a current obstacle detection task; a coarse detection module, which is used to perform coarse obstacle detection through the first sensor when the first sensor is turned on; a fine detection start-up analysis module, which is used to determine whether to turn on a second sensor based on a coarse obstacle detection result of the first sensor, wherein the second sensor is a part of all sensors that are not turned on; and a fine detection module, which is used to perform fine obstacle detection based on the second sensor when the second sensor is turned on, or to perform fine obstacle detection in combination with the first sensor and the second sensor.

[0017] In a third aspect, the present invention provides a vehicle, comprising: an ultrasonic radar, a camera, a millimeter-wave radar, a memory, a processor and a vehicle body; the memory and the processor are both installed inside the vehicle body, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method of any one of claims 1 to 8 by executing the computer instructions; the ultrasonic radar, the camera and the millimeter-wave radar are installed outside the vehicle body, and the ultrasonic radar, the camera and the millimeter-wave radar are all communicatively connected to the processor.

[0018] In a fourth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to cause a computer to execute the method of the first aspect or any corresponding embodiment thereof.

[0019] The technical solution provided by the present invention has the following advantages:

[0020] (1) According to the above technical means, the present invention determines whether the vehicle is in a scene where there may be a risk of collision based on the vehicle speed and gear position, thereby deciding whether to turn on a more appropriate first sensor to perform rough obstacle detection on obstacles near the vehicle. If the rough obstacle detection result indicates that the obstacle is close to the vehicle, more second sensors are turned on for precise obstacle detection. Through the technical solution provided by the present invention, the sensors are turned on and off in a step-by-step manner. When the sensors are used less, only a few sensors are turned on, which solves the problem of high sensor power consumption. In addition, the number of sensors used is gradually increased according to the increase in external risks, which also ensures the ability to perceive vehicle body risks.

[0021] (2) According to the above technical means, the present invention only turns on the ultrasonic radar when the vehicle speed is low and the forward gear is in progress. The ultrasonic measurement distance is shorter and is more suitable for scenes with low vehicle speeds. Therefore, when the ultrasonic radar determines that the obstacle in front of the vehicle body is less than a first preset distance threshold, the remaining sensors in front of the vehicle body are further turned on, and then the obstacle distance is detected by fusion of multiple sensors, thereby taking into account both the obstacle detection accuracy and the vehicle's low power consumption requirements, and ensuring the reliability of the vehicle parking mode when the vehicle is moving forward.

[0022] (3) According to the above technical means, the present invention only turns on the millimeter-wave radar when the vehicle speed is high and the forward gear is in progress. The millimeter-wave radar has a longer measurement distance. In high-speed scenarios, obstacles are often not too close to the vehicle, so starting the millimeter-wave radar alone is more suitable for high-speed scenarios. Furthermore, when the millimeter-wave radar determines that there are obstacles merging or cutting in on both sides of the vehicle body, the ultrasonic radar is used for close-range detection to improve the detection accuracy. When the ultrasonic radar detects that the obstacles on both sides of the vehicle are very close, that is, less than the second preset distance threshold, the camera is used to analyze whether the obstacles on both sides of the vehicle body are continuing to approach the vehicle body, and then the vehicle can be controlled to avoid the obstacles in the opposite direction according to the camera analysis results. Through the technical solution provided by the present invention, different sensors are turned on step by step in the high-speed driving scenario of the vehicle, which also takes into account the obstacle detection accuracy and the low power consumption requirements of the vehicle, ensuring the reliability of the high-speed driving mode of the vehicle when the vehicle is moving forward.

[0023] (4) According to the above technical means, the present invention directly turns on all the sensors of the vehicle body when the vehicle is at a low speed and in reverse gear, thereby entering the parking mode. By fusing and analyzing obstacles near the vehicle body through all the sensors of the vehicle body, nearby obstacles can be accurately detected under conditions of poor reversing vision, thereby significantly improving the reliability of the parking mode when the vehicle is reversing. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 is a flow chart of a vehicle sensor control method according to an embodiment of the present invention;

[0026] Figure 2 is another flow chart of a vehicle sensor control method according to an embodiment of the present invention;

[0027] Figure 3is another flow chart of a vehicle sensor control method according to an embodiment of the present invention;

[0028] Figure 4 is another flow chart of a vehicle sensor control method according to an embodiment of the present invention;

[0029] Figure 5 is a structural schematic diagram of a vehicle sensor control device according to an embodiment of the present invention;

[0030] Figure 6 Schematic diagram of the hardware structure of a vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0032] According to an embodiment of the present invention, a vehicle sensor control method embodiment is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0033] In this embodiment, a vehicle sensor control method is provided, which can be used in a vehicle. Figure 1 is a flow chart of a vehicle sensor control method according to an embodiment of the present invention, the flow chart includes the following steps:

[0034] Step S101, judging whether to turn on the first sensor according to the vehicle speed and gear position, where the first sensor is part of all sensors that can perform the current obstacle detection task;

[0035] Step S102, when the first sensor is turned on, rough obstacle detection is performed by the first sensor;

[0036] Step S103, judging whether to turn on the second sensor based on the rough obstacle detection result of the first sensor, where the second sensor is the remaining unturned part of all sensors;

[0037] Step S104: when the second sensor is turned on, accurate obstacle detection is performed based on the second sensor, or accurate obstacle detection is performed in combination with the first sensor and the second sensor.

[0038] Specifically, the vehicle provided by the embodiment of the present invention is equipped with multiple sensors, including but not limited to ultrasonic radar, millimeter wave radar, camera, etc. The number of each sensor can be one or more, which are used to comprehensively detect road direction, shape and nearby obstacles, etc.

[0039] In a specific embodiment, the vehicle structure to which the method provided in the embodiment of the present invention is applied may include an ultrasonic radar, a camera, a millimeter-wave radar, a memory, a processor, and a vehicle body. The memory and the processor are both installed inside the vehicle body, the memory is used to store the above method instructions, and the processor is used to execute the above method instructions to control the ultrasonic radar, the camera, and the millimeter-wave radar. Specifically, the sensor provided by the present invention includes 12 ultrasonic radars, 5 cameras, and 4 millimeter-wave radars outside the vehicle, of which 6 of the 12 ultrasonic radars are installed on the front bumper of the vehicle, and the other 6 are installed on the rear bumper of the vehicle. Two millimeter-wave radars are installed on each side of the vehicle body, respectively, near the front of the vehicle and the parking space. The cameras are installed at the center of the front of the vehicle, the center of the parking space, the rearview mirrors on both sides, and the roof. The embodiment of the present invention only takes the above vehicle architecture as an example, and is not specifically limited to this.

[0040] In the embodiment of the present invention, a variety of different sensor activation strategies are pre-established, wherein different vehicle speeds and gears form different driving modes, and in different driving modes, the part of sensors that are preferentially activated is also different. Based on this, the present invention determines whether the vehicle is in a scene where there may be a risk of collision based on the vehicle speed and gear, thereby deciding whether to activate a more appropriate first sensor to perform rough obstacle detection on obstacles near the vehicle. The first sensor is part of all sensors that can perform the current obstacle detection task. For example, if the vehicle speed is low and in the reverse gear, the user may be performing side entry, so the current mode can be set to the parking mode, and some appropriate sensors should be activated in the parking mode. If the rough obstacle detection result indicates that the obstacle is close to the vehicle, the embodiment of the present invention further activates more second sensors for precise obstacle detection. Through the technical solution provided by the present invention, the sensors are activated and deactivated in a step-by-step manner, and not all sensors are activated during driving. When the sensors are used less, only a few sensors are activated, which solves the problem of high sensor power consumption. A small number of sensors are used to determine whether the external risk increases, and the number of sensors used is gradually increased according to the increase in external risks, which also ensures the ability to perceive vehicle body risks.

[0041] In some optional implementations, the above step S101 includes:

[0042] Step a1, obtaining the current vehicle speed and current gear;

[0043] Step a2, when the current vehicle speed is in the first preset low-speed range and the current gear is the forward gear, turn on the ultrasonic radar in front of the vehicle body, and the ultrasonic radar in front of the vehicle body is the first sensor.

[0044] In some optional implementations, the above step S103 includes:

[0045] Step a3, when the ultrasonic radar in front of the vehicle body detects that the distance between the obstacle and the vehicle body is less than the first preset distance threshold, the remaining sensor in front of the vehicle body is activated, and the remaining sensor in front of the vehicle body is a second sensor, and the remaining sensor in front of the vehicle body includes at least one of a millimeter wave radar and a camera.

[0046] In some optional implementations, the above step S104 includes:

[0047] Step a4, fusing the obstacle distances detected by the ultrasonic radar in front of the vehicle body and the remaining sensors in front of the vehicle body to obtain an obstacle fusion distance.

[0048] Specifically, Figure 2 As shown, step a1, step a2, step S102, step a3 and step a4 provided in the embodiment of the present invention are a forward parking application scenario. In this scenario, it is detected whether the vehicle is in a forward gear and the vehicle speed is in a first preset low speed range, such as 0km / h<vehicle speed≤5km / h. This is only an example and is not limited to this. If the above conditions are met, the embodiment of the present invention determines that the vehicle is in the forward parking application scenario, and thus selects to turn on the ultrasonic radar in front of the vehicle body as the first sensor. For example, in a specific application embodiment, the ultrasonic radar includes 12 ultrasonic radars outside the vehicle, of which 6 ultrasonic radars are installed on the front bumper of the vehicle, and 6 ultrasonic radars are installed on the rear bumper of the vehicle. The number of ultrasonic radars on the front bumper of the vehicle to be turned on is not particularly limited in the embodiment of the present invention, and needs to be determined according to the actual installation position of the radar and the detection effect. The significance of turning on only the ultrasonic radar in front of the vehicle body is that it can not only reduce the energy consumption of turning on multiple sensors, but also because the ultrasonic measurement distance is shorter, the obstacle is often closer to the vehicle in the low speed scene, which is more suitable for the scene with lower speed. Therefore, when the ultrasonic radar determines that the obstacle in front of the vehicle body is less than a first preset distance threshold (for example, 60 cm, this is only an example, not limited to this), the rough detection result is used to determine that the remaining sensors in front of the vehicle body can be further turned on. The remaining sensors turned on are used as the second sensor, including but not limited to millimeter wave radars and cameras. For example, the millimeter wave radar and the ultrasonic radar are turned on for detection together, and then the obstacle distance is detected by fusion of multiple sensors, such as calculating the average value of the detection distances of multiple radars. The technical solution provided by the embodiment of the present invention takes into account both the obstacle detection accuracy and the low power consumption requirement of the vehicle, thereby ensuring the reliability of the vehicle parking mode when the vehicle is moving forward.

[0049] In some optional implementations, the above step S101 includes:

[0050] Step b1, obtaining the current vehicle speed and current gear position;

[0051] Step b2, when the current vehicle speed is in a preset high-speed range and the current gear is a forward gear, the millimeter-wave radar on the side of the vehicle body is turned on, and the millimeter-wave radar on the side of the vehicle body is the first sensor.

[0052] In some optional implementations, step S103 includes:

[0053] Step b3, when the millimeter-wave radar on the side of the vehicle body detects that the distance between the obstacle and the vehicle body is less than the second preset distance threshold, the remaining sensors on the side of the vehicle body are activated, and the remaining sensors on the side of the vehicle body are second sensors. The remaining sensors on the side of the vehicle body include at least one of ultrasonic radar and camera.

[0054] In some optional implementations, the above step S104 includes:

[0055] Step b4, detecting by an ultrasonic radar on the side of the vehicle body whether the distance between the obstacle and the vehicle body is less than a third preset distance threshold;

[0056] Step b5, when the distance between the obstacle and the vehicle body is less than a third preset distance threshold, detecting the movement trajectory of the obstacle through a camera on the side of the vehicle body;

[0057] Step b6, analyzing whether there is a trend of the obstacle approaching the vehicle based on the movement trajectory of the obstacle and the movement trajectory of the vehicle.

[0058] Specifically, Figure 3 As shown, step b1, step b2, step b3, step S102, step b3, step b4 and step b5 provided in the embodiment of the present invention are an application scenario of forward high-speed driving. In this scenario, the main detection is the merging situation on both sides of the vehicle body.

[0059] Assume that there are 12 ultrasonic radars installed outside the vehicle, 6 ultrasonic radars are installed on the front bumper of the vehicle, and 6 ultrasonic radars are installed on the rear bumper of the vehicle; millimeter wave radars include 4 millimeter wave radars outside the vehicle, 2 millimeter wave radars are installed on the front bumper of the vehicle, and 2 millimeter wave radars are installed on the rear bumper of the vehicle; cameras include 4 surround cameras outside the vehicle, that is, 1 front-view camera inside the vehicle, 1 surround camera is installed on the front bumper of the vehicle, 1 surround camera is installed on the rear bumper of the vehicle, 1 surround camera is installed on each of the left and right exterior rearview mirrors of the vehicle, and 1 front-view camera is installed on the front windshield bracket of the vehicle. When the vehicle speed is in the preset high-speed range (for example, 5km / h<vehicle speed≤40km / h, this is just an example, not limited to this), and the current gear is the forward gear, it is determined that the vehicle is in the forward high-speed driving application scenario, so the first sensor is turned on for rough detection. The first sensor activated in the embodiment of the present invention is the millimeter-wave radar on both sides of the vehicle body. The millimeter-wave radar has a longer measurement distance. In high-speed scenarios, obstacles are often not too close to the vehicle. Therefore, activating the millimeter-wave radar alone is more suitable for scenarios with higher vehicle speeds.

[0060] Furthermore, the millimeter wave radar is used to detect obstacles on the side of the vehicle body. If the distance between the obstacle and the vehicle body is less than the second preset distance threshold (for example, 2m, which is not limited to this example), it is determined that there are obstacles on both sides of the vehicle body that are merging or cutting in, such as other vehicles merging in the extreme lane, so that the ultrasonic radar is further turned on as the second sensor for close-range precision detection. If the ultrasonic radar on the side of the vehicle body detects that the distance between the obstacle and the vehicle body is less than the third preset distance threshold (for example, 0.8m, which is not limited to this example, and the third preset distance threshold must be less than the second preset distance threshold), the embodiment of the present invention will further turn on the camera sensor on the side of the vehicle body, and enable the camera to detect the running trajectory of the side vehicle or obstacle, so as to analyze whether the obstacles on both sides of the vehicle body are continuously approaching the vehicle body. If its driving trajectory has a tendency to gradually approach the driving trajectory of the vehicle, the controller will send a steering adjustment instruction to the steering gear and a deceleration instruction to the brake, that is, control the vehicle to deviate to the other side where the obstacle is located and decelerate to avoid it, so as to reduce the risk brought by the extreme merging of vehicles on both sides, avoid collisions or scratches, and thus improve driving safety.

[0061] Through the technical solution provided by the present invention, different sensors are gradually turned on in the high-speed driving scenario of the vehicle, which also takes into account the obstacle detection accuracy and the low power consumption requirements of the vehicle, thereby ensuring the reliability of the high-speed driving mode of the vehicle when the vehicle is moving forward.

[0062] In some optional implementations, the present invention provides a vehicle sensor control method, further comprising the following steps:

[0063] Step c1, obtaining the current vehicle speed and current gear position;

[0064] Step c2, when the current vehicle speed is in the second preset low speed range and the current gear is the reverse gear, turning on all sensors of the vehicle body;

[0065] Step c3, fusion of obstacle distances detected by all sensors of the vehicle body to obtain an obstacle fusion distance.

[0066] Specifically, Figure 4 As shown, the present invention determines whether the vehicle is in a reverse parking scene by the vehicle speed. First, it determines whether the vehicle speed is in a second preset low-speed range, for example, 0<vehicle speed≤10km / h, which is only an example and is not limited to this. Then it determines whether the current gear is a reverse gear. If the vehicle is in a low speed and reverse gear, it is determined that the vehicle has entered a reverse parking scene, and all sensors of the vehicle body are directly turned on to enter the parking mode. Through the fusion analysis of all sensors of the vehicle body, obstacles near the vehicle body can be accurately detected under the condition of poor reversing vision of the vehicle, which significantly improves the reliability of the parking mode when the vehicle is reversing.

[0067] In this embodiment, a vehicle sensor control device is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware of a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0068] This embodiment provides a vehicle sensor control device, such as Figure 5 As shown, including:

[0069] A rough detection start-up analysis module 501 is used to determine whether to start the first sensor according to the vehicle speed and gear position;

[0070] A coarse detection module 502, configured to perform coarse obstacle detection through the first sensor when the first sensor is turned on;

[0071] A fine detection start-up analysis module 503 is used to determine whether to start the second sensor based on the rough obstacle detection result of the first sensor;

[0072] The precise detection module 504 is configured to perform precise obstacle detection based on the second sensor when the second sensor is turned on, or to perform precise obstacle detection in combination with the first sensor and the second sensor.

[0073] In some optional implementations, the coarse detection startup analysis module 501 includes:

[0074] A vehicle speed and gear position acquisition unit, used to acquire the current vehicle speed and current gear position;

[0075] The ultrasonic radar arbitration unit is used to turn on the ultrasonic radar in front of the vehicle body when the current vehicle speed is in the first preset low-speed range and the current gear is the forward gear. The ultrasonic radar in front of the vehicle body is the first sensor.

[0076] In some optional implementations, the fine detection startup analysis module 503 includes:

[0077] The first remaining sensor arbitration unit is used to activate the remaining sensor in front of the vehicle body when the ultrasonic radar in front of the vehicle body detects that the distance between the obstacle and the vehicle body is less than a first preset distance threshold. The remaining sensor in front of the vehicle body is the second sensor, and the remaining sensor in front of the vehicle body includes at least one of a millimeter wave radar and a camera.

[0078] In some optional implementations, the fine detection module 504 includes:

[0079] The first fusion detection unit is used to fuse the obstacle distances detected by the ultrasonic radar in front of the vehicle body and the remaining sensors in front of the vehicle body to obtain an obstacle fusion distance.

[0080] In some optional implementations, the coarse detection startup analysis module 501 includes:

[0081] A vehicle speed and gear position acquisition unit, used to acquire the current vehicle speed and current gear position;

[0082] The millimeter-wave radar arbitration unit is used to turn on the millimeter-wave radar on the side of the vehicle body when the current vehicle speed is in a preset high-speed range and the current gear is the forward gear. The millimeter-wave radar on the side of the vehicle body is the first sensor.

[0083] In some optional implementations, the fine detection startup analysis module 503 includes:

[0084] The second remaining sensor arbitration unit is used to drive the remaining sensors on the side of the vehicle body when the millimeter-wave radar on the side of the vehicle body detects that the distance between the obstacle and the vehicle body is less than a second preset distance threshold. The remaining sensors on the side of the vehicle body are second sensors. The remaining sensors on the side of the vehicle body include at least one of ultrasonic radar and camera.

[0085] In some optional implementations, the fine detection module 504 includes:

[0086] A third threshold detection unit, used to detect whether the distance between the obstacle and the vehicle body is less than a third preset distance threshold through an ultrasonic radar on the side of the vehicle body, and the third preset distance threshold is less than the second preset distance threshold;

[0087] A trajectory detection unit, configured to detect a movement trajectory of the obstacle through a camera on the side of the vehicle body when the distance between the obstacle and the vehicle body is less than a third preset distance threshold;

[0088] The trend analysis unit is used to analyze whether there is a trend of an obstacle approaching the vehicle based on the movement trajectory of the obstacle and the movement trajectory of the vehicle.

[0089] In some optional embodiments, the device further comprises:

[0090] A vehicle speed and gear position acquisition unit, used to acquire the current vehicle speed and current gear position;

[0091] A sensor full-on unit, used to turn on all sensors of the vehicle body when the current vehicle speed is in the second preset low-speed range and the current gear is the reverse gear;

[0092] The second fusion detection unit is used to fuse the obstacle distances detected by all sensors of the vehicle body to obtain an obstacle fusion distance.

[0093] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0094] The vehicle sensor control device in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0095] An embodiment of the present invention further provides a vehicle having the above-mentioned vehicle sensor control device.

[0096] See also Figure 6 , Figure 6 is a schematic diagram of a vehicle structure provided by an optional embodiment of the present invention, such as Figure 6 As shown, the vehicle includes: an ultrasonic radar, a camera, a millimeter-wave radar, a memory, a processor and a body; wherein the memory and the processor are both installed inside the body, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method of the aforementioned method embodiment by executing the computer instructions; the ultrasonic radar, the camera and the millimeter-wave radar are installed outside the body, and the ultrasonic radar, the camera and the millimeter-wave radar are all communicatively connected to the processor.

[0097] In an embodiment of the present invention, 12 ultrasonic radars, 5 cameras, and 4 millimeter-wave radars can be arranged outside the vehicle. Through the detection and imaging characteristics of the above sensors, the surrounding environment can be detected in real time to judge the surrounding environment of the vehicle.

[0098] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0099] A part of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of the computer program instruction in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc., and accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0100] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A vehicle sensor control method, characterized in that: The method comprises: Determining whether to turn on a first sensor according to the vehicle speed and the gear position, wherein the first sensor is part of all sensors capable of performing the current obstacle detection task; When the first sensor is turned on, rough obstacle detection is performed through the first sensor; Determining whether to activate a second sensor based on a rough obstacle detection result of the first sensor, where the second sensor is a portion of the remaining sensors that are not activated; When the second sensor is turned on, accurate obstacle detection is performed based on the second sensor, or accurate obstacle detection is performed in combination with the first sensor and the second sensor.

2. The method according to claim 1, characterized in that Determining whether to turn on the first sensor according to the vehicle speed and the gear position includes: Get the current vehicle speed and current gear; When the current vehicle speed is in a first preset low-speed range and the current gear is a forward gear, the ultrasonic radar in front of the vehicle body is turned on, and the ultrasonic radar in front of the vehicle body is the first sensor.

3. The method according to claim 2, characterized in that The determining whether to activate the second sensor based on the rough obstacle detection result of the first sensor includes: When the ultrasonic radar in front of the vehicle body detects that the distance between the obstacle and the vehicle body is less than a first preset distance threshold, the remaining sensor in front of the vehicle body is turned on. The remaining sensor in front of the vehicle body is the second sensor, and the remaining sensor in front of the vehicle body includes at least one of a millimeter wave radar and a camera.

4. The method according to claim 3, characterized in that The combining the first sensor and the second sensor to perform accurate obstacle detection includes: The obstacle distances detected by the ultrasonic radar in front of the vehicle body and the remaining sensors in front of the vehicle body are fused to obtain an obstacle fusion distance.

5. The method according to claim 1, characterized in that Determining whether to turn on the first sensor according to the vehicle speed and the gear position includes: Get the current vehicle speed and current gear; When the current vehicle speed is in a preset high speed range and the current gear is a forward gear, the millimeter wave radar on the side of the vehicle body is turned on, and the millimeter wave radar on the side of the vehicle body is the first sensor.

6. The method according to claim 5, characterized in that The determining whether to activate the second sensor based on the rough obstacle detection result of the first sensor includes: When the millimeter-wave radar on the side of the vehicle body detects that the distance between the obstacle and the vehicle body is less than a second preset distance threshold, the remaining sensors on the side of the vehicle body are turned on. The remaining sensors on the side of the vehicle body are the second sensors, and the remaining sensors on the side of the vehicle body include at least one of an ultrasonic radar and a camera.

7. The method according to claim 6, characterized in that The performing accurate obstacle detection based on the second sensor includes: Detecting, by an ultrasonic radar on the side of the vehicle body, whether the distance between the obstacle and the vehicle body is less than a third preset distance threshold, wherein the third preset distance threshold is less than the second preset distance threshold; When the distance between the obstacle and the vehicle body is less than the third preset distance threshold, detecting the movement trajectory of the obstacle through a camera on the side of the vehicle body; Based on the movement trajectory of the obstacle and the movement trajectory of the vehicle, it is analyzed whether there is a trend of the obstacle approaching the vehicle.

8. The method according to claim 1, characterized in that The method further comprises: Get the current vehicle speed and current gear; When the current vehicle speed is in the second preset low speed range and the current gear is the reverse gear, turning on all sensors of the vehicle body; The obstacle distances detected by all sensors of the vehicle body are fused to obtain an obstacle fusion distance.

9. A vehicle sensor control device, characterized in that: The device comprises: A coarse detection start analysis module, used to determine whether to start a first sensor according to the vehicle speed and gear position, wherein the first sensor is part of all sensors capable of performing the current obstacle detection task; A coarse detection module, configured to perform coarse obstacle detection through the first sensor when the first sensor is turned on; a fine detection start-up analysis module, configured to determine whether to start a second sensor based on the rough obstacle detection result of the first sensor, wherein the second sensor is the remaining unstarted portion of all the sensors; The precise detection module is used to perform precise obstacle detection based on the second sensor when the second sensor is turned on, or to perform precise obstacle detection in combination with the first sensor and the second sensor.

10. A vehicle, characterized in that: include: An ultrasonic radar, a camera, a millimeter-wave radar, a memory, a processor and a vehicle body; the memory and the processor are both installed inside the vehicle body, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method described in any one of claims 1 to 8 by executing the computer instructions; the ultrasonic radar, the camera and the millimeter-wave radar are installed outside the vehicle body, and the ultrasonic radar, the camera and the millimeter-wave radar are all communicatively connected to the processor.

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