A vehicle sensor control method, device, and vehicle

Abstract

This invention relates to the field of vehicle control technology, and discloses a vehicle sensor control method, device, vehicle, and medium. The method includes: determining whether to activate a first sensor based on vehicle speed and gear position; when the first sensor is activated, performing coarse obstacle detection using the first sensor; determining whether to activate a second sensor based on the coarse obstacle detection result of the first sensor; when the second sensor is activated, performing fine obstacle detection based on the second sensor, or performing fine obstacle detection by combining the first and second sensors. Through the technical solution provided by this invention, sensors are activated and deactivated in a stepped manner, activating only a smaller number of sensors when fewer sensors are used, thus solving the problem of high sensor power consumption. Furthermore, gradually increasing the number of sensors used according to the increase in external risks ensures the vehicle's ability to perceive risks.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, specifically to a vehicle sensor control method, device, and vehicle. Background Technology

[0002] With the rapid development of science and technology, vehicle sensors are widely used. From their initial application in reversing alarms to their current application in parking sensing, after years of accumulation, they have achieved remarkable results in low-speed, near-range obstacle detection and are now almost standard equipment in various cars, providing drivers with numerous functional experiences and assistance. However, all sensors operate continuously during vehicle operation. Therefore, in some driving scenarios where sensor demand is low, sensors still work, affecting vehicle range and the lifespan of various sensors. Some technologies determine the driving scenario based on vehicle speed and driving mode, thus adjusting the use of ultrasonic radar in scenarios where it is not needed or where ultrasonic radar demand is low. For example, sensors can be deactivated in cruise control mode and activated in non-cruise control mode. While this method reduces sensor power consumption to some extent, using the general driving mode as a criterion for deactivating sensors can lead to the problem of not being able to detect risks when unexpected risks occur. Therefore, while reducing sensor power consumption, it is also necessary to ensure the vehicle's ability to detect risks. 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 of not being able to simultaneously reduce sensor power consumption and improve vehicle risk perception.

[0004] In a first aspect, the present invention provides a vehicle sensor control method, the method comprising: determining whether to activate a first sensor based on vehicle speed and gear position, the first sensor being a subset of all sensors capable of performing the current obstacle detection task; when the first sensor is activated, performing coarse obstacle detection using the first sensor; determining whether to activate a second sensor based on the coarse obstacle detection result of the first sensor, the second sensor being the remaining unactivated subset of all sensors; when the second sensor is activated, performing fine obstacle detection based on the second sensor, or performing fine obstacle detection by combining the first and second sensors.

[0005] Based on the aforementioned technical means, this invention determines whether a vehicle is in a scenario with a potential collision risk based on vehicle speed and gear position. It then decides whether to activate a suitable first sensor to perform coarse obstacle detection near the vehicle. If the coarse obstacle detection indicates that an obstacle is close to the vehicle, more second sensors are activated for fine obstacle detection. Through the technical solution provided by this invention, sensors are activated and deactivated in a stepped manner. When fewer sensors are used, only a few are activated, solving the problem of high sensor power consumption. Furthermore, gradually increasing the number of sensors used according to the increase in external risks ensures the vehicle's ability to perceive risks.

[0006] In some optional implementations, determining whether to activate the first sensor based on vehicle speed and gear position includes: acquiring the current vehicle speed and current gear position; when the current vehicle speed is in the first preset low speed range and the current gear is a forward gear, activating the ultrasonic radar at the front of the vehicle, which is the first sensor.

[0007] In some optional implementations, determining whether to activate the second sensor based on the coarse obstacle detection result of the first sensor includes: when the ultrasonic radar in front of the vehicle detects that the distance between the obstacle and the vehicle is less than a first preset distance threshold, activating the remaining sensors in front of the vehicle, which are the second sensors, and the remaining sensors in front of the vehicle include at least one of millimeter-wave radar and camera.

[0008] In some alternative implementations, obstacle fine detection is performed by combining the first sensor and the second sensor, including fusing the obstacle distances detected by the ultrasonic radar at the front of the vehicle and the remaining sensors at the front of the vehicle to obtain the obstacle fusion distance.

[0009] Based on the above technical means, when the vehicle speed is low and the gear is forward, the present invention only activates the ultrasonic radar. The ultrasonic measurement distance is shorter, which is more suitable for low-speed scenarios. Therefore, when the ultrasonic radar determines that the distance between the obstacle in front of the vehicle and the vehicle noise is less than the first preset distance threshold, the remaining sensors in front of the vehicle are activated. Then, multiple sensors are fused to detect the distance to the obstacle, which takes into account both the accuracy of obstacle detection and the low power consumption requirements of the vehicle, and ensures the reliability of the vehicle parking mode when the vehicle is moving forward.

[0010] In some optional implementations, determining whether to activate the first sensor based on vehicle speed and gear position includes: acquiring the current vehicle speed and current gear position; when the current vehicle speed is within a preset high-speed range and the current gear position is forward, activating the millimeter-wave radar on the side of the vehicle body, which serves as the first sensor.

[0011] In some optional implementations, determining whether to activate the second sensor based on the coarse obstacle detection result of the first sensor includes: when the millimeter-wave radar on the side of the vehicle detects that the distance between the obstacle and the vehicle is less than a second preset distance threshold, activating the remaining sensors on the side of the vehicle, which are the second sensors, and the remaining sensors on the side of the vehicle include at least one of ultrasonic radar and camera.

[0012] In some optional implementations, obstacle detection based on a second sensor includes: detecting whether the distance between the obstacle and the vehicle is less than a third preset distance threshold using an ultrasonic radar on the side of the vehicle; when the distance between the obstacle and the vehicle is less than the third preset distance threshold, detecting the movement trajectory of the obstacle using a camera on the side of the vehicle; 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] Based on the aforementioned technical means, this invention activates only the millimeter-wave radar when the vehicle speed is high and in forward gear. Millimeter-wave radar has a longer measurement range, and in high-speed scenarios, obstacles are often not too close to the vehicle, making the standalone activation of the millimeter-wave radar more suitable for high-speed situations. Furthermore, when the millimeter-wave radar detects obstacles merging or cutting into the vehicle's sides, ultrasonic radar is used for close-range detection, improving detection accuracy. When the ultrasonic radar detects obstacles very close to the vehicle's sides (below a second preset distance threshold), a camera analyzes whether the obstacles are continuously approaching the vehicle. Based on the camera analysis results, the vehicle can be controlled to avoid obstacles in the opposite direction. Through the technical solution provided by this invention, different sensors are activated sequentially in high-speed driving scenarios, balancing obstacle detection accuracy with the vehicle's low power consumption requirements, ensuring the reliability of the vehicle's high-speed driving mode.

[0014] In some optional implementations, the method further includes: acquiring 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 reverse, activating all sensors of the vehicle body; and fusing the obstacle distances detected by all sensors of the vehicle body to obtain the obstacle fusion distance.

[0015] Based on the above-mentioned technical means, the present invention directly activates all the vehicle's sensors when the vehicle is at low speed and in reverse gear, thereby entering the parking mode. By fusing and analyzing obstacles near the vehicle through all the vehicle's sensors, the invention accurately detects nearby obstacles even when the vehicle's reversing visibility is poor, significantly improving the reliability of the parking mode when the vehicle is reversing.

[0016] Secondly, the present invention provides a vehicle sensor control device, comprising: a coarse detection start-up analysis module, used to determine whether to activate a first sensor based on vehicle speed and gear position, wherein the first sensor is a portion of all sensors capable of performing the current obstacle detection task; a coarse detection module, used to perform coarse obstacle detection using the first sensor when the first sensor is activated; a fine detection start-up analysis module, used to determine whether to activate a second sensor based on the obstacle coarse detection result of the first sensor, wherein the second sensor is the remaining unactivated portion of all sensors; and a fine detection module, used to perform fine obstacle detection based on the second sensor when the second sensor is activated, or to perform fine obstacle detection by combining the first and second sensors.

[0017] Thirdly, 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 and are communicatively connected to each other; the memory stores computer instructions, and the processor executes the computer instructions to perform the method of any one of claims 1 to 8; 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] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to perform the method described in the first aspect or any corresponding embodiment thereof.

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

[0020] (1) Based on the above technical means, this invention determines whether the vehicle is in a scenario where there is a potential collision risk based on vehicle speed and gear position, thereby deciding whether to activate a suitable first sensor to perform coarse obstacle detection near the vehicle. If the coarse obstacle detection result indicates that the obstacle is close to the vehicle, more second sensors are activated for fine obstacle detection. Through the technical solution provided by this invention, the sensors are activated and deactivated in a stepped manner. When fewer sensors are used, only a few sensors are activated, solving the problem of high sensor power consumption. Moreover, gradually increasing the number of sensors used according to the increase of external risks also ensures the vehicle's ability to perceive risks.

[0021] (2) According to the above technical means, when the vehicle speed is low and the forward gear is engaged, the present invention only activates the ultrasonic radar. The ultrasonic measurement distance is shorter and it is more suitable for low-speed scenarios. Therefore, when the ultrasonic radar determines that the distance between the obstacle in front of the vehicle and the vehicle body is less than the first preset distance threshold, the remaining sensors in front of the vehicle body are activated. Then, multiple sensors are fused to detect the distance of the obstacle, which takes into account both the accuracy of obstacle detection and the low power consumption requirements of the vehicle, and ensures the reliability of the vehicle parking mode when the vehicle is moving forward.

[0022] (3) Based on the above technical means, when the vehicle speed is high and the gear is forward, the present invention only activates the millimeter-wave radar. The millimeter-wave radar has a longer measurement distance, and in high-speed scenarios, obstacles are often not too close to the vehicle. Therefore, activating the millimeter-wave radar alone is more suitable for high-speed scenarios. Furthermore, when the millimeter-wave radar determines that there are obstacles changing lanes or cutting into the vehicle on both sides, 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, i.e., less than the second preset distance threshold, the camera analyzes whether the obstacles on both sides of the vehicle are continuously approaching the vehicle. Then, based on the camera analysis results, the vehicle can be controlled to avoid the obstacles in the opposite direction. Through the technical solution provided by the present invention, different sensors are activated step by step in high-speed driving scenarios, which also takes into account the obstacle detection accuracy and the vehicle's low power consumption requirements, ensuring the reliability of the vehicle's high-speed driving mode when the vehicle is moving forward.

[0023] (4) Based on the above technical means, the present invention directly activates all the sensors of the vehicle body when the vehicle is at 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, the present invention can accurately detect nearby obstacles under the condition of poor reversing vision, which significantly improves the reliability of the parking mode when the vehicle is reversing. Attached Figure Description

[0024] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

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

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

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

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

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

[0030] Figure 6 This is a schematic diagram of the hardware structure of a vehicle according to an embodiment of the present invention. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort 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 in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0033] This embodiment provides a vehicle sensor control method that can be used in vehicles. Figure 1 This is a flowchart of a vehicle sensor control method according to an embodiment of the present invention, which includes the following steps:

[0034] Step S101: Determine whether to activate the first sensor based on vehicle speed and gear. The first sensor is a part of all sensors capable of performing the current obstacle detection task.

[0035] Step S102: When the first sensor is turned on, coarse obstacle detection is performed using the first sensor;

[0036] Step S103: Based on the obstacle coarse detection result of the first sensor, determine whether to activate the second sensor. The second sensor is the remaining unactivated part of all sensors.

[0037] Step S104: When the second sensor is turned on, perform precise obstacle detection based on the second sensor, or perform precise obstacle detection by combining the first sensor and the second sensor.

[0038] Specifically, the vehicle provided in this embodiment of the invention is equipped with a variety of sensors, including but not limited to ultrasonic radar, millimeter-wave radar, and cameras. The number of each type of sensor can be one or more, and they are used to comprehensively detect road direction, shape, and nearby obstacles.

[0039] In one specific embodiment, the vehicle structure to which the method provided by this invention is applied may include ultrasonic radar, cameras, millimeter-wave radar, a memory, a processor, and a vehicle body. The memory and processor are both installed inside the vehicle body. The memory stores the method instructions, and the processor executes the method instructions to control the ultrasonic radar, cameras, and millimeter-wave radar. Specifically, the sensors provided by this invention include 12 external ultrasonic radars, 5 cameras, and 4 millimeter-wave radars. Six of the 12 ultrasonic radars are installed on the front bumper, and the other six are installed on the rear bumper. Two millimeter-wave radars are installed on each side of the vehicle body, near the front and parking spaces, respectively. The cameras are installed at the center of the front, the center of the parking space, the side mirrors, and the roof. This embodiment of the invention is merely an example of the above vehicle architecture and is not intended to limit the invention in any particular way.

[0040] In this embodiment of the invention, multiple different sensor activation strategies are pre-defined. Different vehicle speeds and gears create different driving modes, and the sensors that are preferentially activated vary depending on the driving mode. Based on this, the invention determines whether the vehicle is in a scenario with potential collision risk based on vehicle speed and gear, and thus decides whether to activate a suitable first sensor to perform coarse obstacle detection near the vehicle. The first sensor is a subset of all sensors capable of performing the current obstacle detection task. For example, if the vehicle speed is low and in reverse gear, the user may be performing a parallel parking maneuver, and the current mode can be set to parking mode. In parking mode, some suitable sensors should be activated. If the coarse obstacle detection result indicates that the obstacle is close to the vehicle, this embodiment of the invention further activates more second sensors for fine obstacle detection. Through the technical solution provided by this invention, sensors are activated and deactivated in a stepped manner. Not all sensors are activated during driving; only a few sensors are activated when fewer sensors are used, solving the problem of high sensor power consumption. By using a small number of sensors to determine whether external risks are increasing, and gradually increasing the number of sensors used based on the increase in external risks, the invention also ensures the vehicle's ability to perceive risks.

[0041] In some alternative implementations, step S101 includes:

[0042] Step a1: Obtain 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 forward, activate the ultrasonic radar at the front of the vehicle. The ultrasonic radar at the front of the vehicle is the first sensor.

[0044] In some alternative implementations, step S103 includes:

[0045] Step a3: When the ultrasonic radar at the front of the vehicle detects that the distance between the obstacle and the vehicle is less than the first preset distance threshold, the remaining sensors at the front of the vehicle are activated. The remaining sensors at the front of the vehicle are the second sensors, and the remaining sensors at the front of the vehicle include at least one of millimeter-wave radar and camera.

[0046] In some alternative implementations, step S104 includes:

[0047] Step a4: Combine the obstacle distances detected by the ultrasonic radar at the front of the vehicle and the remaining sensors at the front of the vehicle to obtain the obstacle fusion distance.

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

[0049] In some alternative implementations, step S101 includes:

[0050] Step b1: Obtain the current vehicle speed and current gear;

[0051] Step b2: When the current vehicle speed is within the preset high-speed range and the current gear is forward, activate the millimeter-wave radar on the side of the vehicle. The millimeter-wave radar on the side of the vehicle is the first sensor.

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

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

[0054] In some alternative implementations, step S104 includes:

[0055] Step b4: Use the ultrasonic radar on the side of the vehicle to detect whether the distance between the obstacle and the vehicle is less than the third preset distance threshold.

[0056] Step b5: When the distance between the obstacle and the vehicle body is less than the third preset distance threshold, the movement trajectory of the obstacle is detected by the camera on the side of the vehicle body;

[0057] Step b6: Analyze whether there is a trend of the obstacle moving closer to the vehicle based on the movement trajectory of the obstacle and the movement trajectory of the vehicle.

[0058] Specifically, such as Figure 3 As shown, steps b1, b2, b3, S102, b3, b4 and b5 provided in this embodiment of the invention are for a high-speed forward driving application scenario. In this scenario, the main detection is the lane-changing situation on both sides of the vehicle.

[0059] Assuming the vehicle is equipped with 12 external ultrasonic radars (6 on the front bumper and 6 on the rear bumper), millimeter-wave radars (4 external, 2 on the front and 2 on the rear bumper), and cameras (4 external surround-view cameras and 1 internal front-view camera), one surround-view camera on the front bumper, one on the rear bumper, one on each of the left and right side mirrors, and one on the windshield support), when the vehicle speed is within a preset high-speed range (e.g., 5 km / h < speed ≤ 40 km / h, this is just an example and not a limitation), and the current gear is drive, it is determined that the vehicle is in a high-speed driving scenario, and therefore the first sensor is activated for coarse detection. In this embodiment of the invention, the first sensor activated is a millimeter-wave radar on both sides of the vehicle body. The millimeter-wave radar has a longer measurement range, and in high-speed scenarios, obstacles are often not too close to the vehicle. Therefore, activating the millimeter-wave radar alone is more suitable for high-speed scenarios.

[0060] Furthermore, millimeter-wave radar is used to detect obstacles on the sides of the vehicle. If the distance between the detected obstacle and the vehicle is less than a second preset distance threshold (e.g., 2m, this is just an example and not a limitation), it is determined that there are obstacles on both sides of the vehicle that are changing lanes or cutting in, such as other vehicles changing lanes at an extreme angle. Ultrasonic radar is then activated as a second sensor for close-range precision detection. If the ultrasonic radar on the side of the vehicle detects that the distance between the obstacle and the vehicle is less than a third preset distance threshold (e.g., 0.8m, this is just an example and not a limitation; the third preset distance threshold must be less than the second preset distance threshold), this embodiment of the invention will further activate the camera sensor on the side of the vehicle to detect the trajectory of vehicles or obstacles on the side. This analyzes whether the obstacles on both sides of the vehicle are continuously approaching the vehicle. If their trajectory shows a trend of gradually approaching the vehicle's trajectory, the controller will send a steering adjustment command to the steering system and a deceleration command to the brake system, i.e., control the vehicle to deviate to the other side where the obstacle is located and decelerate to avoid it. This reduces the risk of vehicles changing lanes at an extreme angle, avoids collisions or scrapes, and thus improves driving safety.

[0061] The technical solution provided by this invention enables different sensors to be activated step by step in high-speed driving scenarios, which also takes into account the accuracy of obstacle detection and the low power consumption requirements of the vehicle, thus ensuring the reliability of the high-speed driving mode when the vehicle is moving forward.

[0062] In some optional embodiments, the vehicle sensor control method provided by the present invention further includes the following steps:

[0063] Step c1: Obtain the current vehicle speed and current gear;

[0064] Step c2: When the current vehicle speed is in the second preset low speed range and the current gear is reverse, activate all the vehicle's sensors.

[0065] Step c3: Fuse the obstacle distances detected by all the sensors on the vehicle body to obtain the obstacle fusion distance.

[0066] Specifically, such as Figure 4 As shown, this invention determines whether a vehicle is in a reversing parking scenario based on its speed. First, it checks if the vehicle speed is within a second preset low-speed range, for example, 0 < vehicle speed ≤ 10 km / h (this is just an example and not a limitation). Then, it checks if the current gear is reverse. If the vehicle is in reverse at a low speed, it is determined that the vehicle has entered a reversing parking scenario. All the vehicle's sensors are activated, thus entering parking mode. By fusing and analyzing all the vehicle's sensors to detect obstacles near the vehicle, the invention accurately detects nearby obstacles even under conditions of poor visibility when reversing, significantly improving the reliability of the parking mode when reversing.

[0067] This embodiment also provides a vehicle sensor control device for implementing the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

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

[0069] The coarse detection start analysis module 501 is used to determine whether to activate the first sensor based on vehicle speed and gear position;

[0070] The coarse detection module 502 is used to perform coarse obstacle detection through the first sensor when the first sensor is turned on.

[0071] The fine detection start analysis module 503 is used to determine whether to activate the second sensor based on the obstacle coarse detection results of the first sensor;

[0072] The precision detection module 504 is used to perform precision obstacle detection based on the second sensor when the second sensor is activated, or to perform precision obstacle detection in combination with the first and second sensors.

[0073] In some alternative implementations, the coarse detection initiation analysis module 501 includes:

[0074] The vehicle speed and gear acquisition unit is used to acquire the current vehicle speed and the current gear.

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

[0076] In some alternative implementations, the precision detection initiation analysis module 503 includes:

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

[0078] In some alternative 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 and the remaining sensors in front of the vehicle to obtain the obstacle fusion distance.

[0080] In some alternative implementations, the coarse detection initiation analysis module 501 includes:

[0081] The vehicle speed and gear acquisition unit is used to acquire the current vehicle speed and the current gear.

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

[0083] In some alternative implementations, the precision detection initiation analysis module 503 includes:

[0084] The second residual sensor arbitration unit is used to activate the residual sensor 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 residual sensor on the side of the vehicle body is the second sensor, and the residual sensor on the side of the vehicle body includes at least one of ultrasonic radar and camera.

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

[0086] The third threshold detection unit is used to detect whether the distance between the obstacle and the vehicle body is less than a third preset distance threshold by using ultrasonic radar on the side of the vehicle body. The third preset distance threshold is less than the second preset distance threshold.

[0087] The trajectory detection unit is used to detect the movement trajectory of the obstacle by using a camera on the side of the vehicle 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 obstacles approaching the vehicle based on the movement trajectory of the obstacle and the movement trajectory of the vehicle.

[0089] In some alternative embodiments, the apparatus further includes:

[0090] The vehicle speed and gear acquisition unit is used to acquire the current vehicle speed and the current gear.

[0091] The sensor fully activation unit is used to activate all the vehicle's sensors when the current vehicle speed is in the second preset low speed range and the current gear is reverse.

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

[0093] Further functional descriptions of the above modules and units are the same as those in the corresponding embodiments described above, and will not be repeated here.

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

[0095] This invention also provides a vehicle having the aforementioned vehicle sensor control device.

[0096] Please see Figure 6 , Figure 6 This is a schematic diagram of the structure of a vehicle provided in 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 vehicle body; wherein the memory and the processor are both installed inside the vehicle body and are interconnected; the memory stores computer instructions, and the processor executes the methods described in the aforementioned method embodiments by executing the computer instructions; the ultrasonic radar, the camera, and the millimeter-wave radar are installed outside the vehicle body and are all interconnected with the processor.

[0097] In this embodiment of the invention, 12 ultrasonic radars, 5 cameras, and 4 millimeter-wave radars can be arranged outside the vehicle. By utilizing the detection range and imaging characteristics of the above sensors, the surrounding environment can be detected in real time to determine the vehicle's surrounding environment.

[0098] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods shown in the above embodiments.

[0099] A portion of this invention can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to the invention through the operation of the computer. Those skilled in the art will understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executing the instructions, or the computer compiling the instructions and then executing the corresponding compiled program, or the computer reading and executing the instructions, or the computer reading and installing the instructions and then executing the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to a computer.

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

Claims

1. A vehicle sensor control method, characterized in that, The method includes: The determination of whether to activate the first sensor is based on vehicle speed and gear position. The first sensor is a subset of all sensors capable of performing the current obstacle detection task. The determination of whether to activate the first sensor based on vehicle speed and gear position includes: acquiring the current vehicle speed and current gear position; when the current vehicle speed is in a first preset low speed range and the current gear position is a forward gear, activating the ultrasonic radar at the front of the vehicle, which is the first sensor. When the first sensor is activated, coarse obstacle detection is performed using the first sensor. Determining whether to activate the second sensor based on the coarse obstacle detection result of the first sensor, wherein the second sensor is the remaining unactivated part among all the sensors; the determination of whether to activate the second sensor based on the coarse obstacle detection result of the first sensor includes: when the ultrasonic radar in front of the vehicle detects that the distance between the obstacle and the vehicle is less than a first preset distance threshold, activating the remaining sensors in front of the vehicle, wherein the remaining sensors in front of the vehicle are the second sensor, and the remaining sensors in front of the vehicle include at least one of millimeter-wave radar and camera; When the second sensor is activated, obstacle detection is performed based on the second sensor, or obstacle detection is performed by combining the first sensor and the second sensor.

2. The method according to claim 1, characterized in that, The method of combining the first sensor and the second sensor for precise obstacle detection includes: The obstacle fusion distance is obtained by fusing the obstacle distances detected by the ultrasonic radar at the front of the vehicle and the remaining sensors at the front of the vehicle.

3. The method according to claim 1, characterized in that, The system determines whether to activate the first sensor based on vehicle speed and gear position, including: Get the current vehicle speed and current gear; When the current vehicle speed is within a preset high-speed range and the current gear is forward, the millimeter-wave radar on the side of the vehicle is activated, and the millimeter-wave radar on the side of the vehicle is the first sensor.

4. The method according to claim 3, characterized in that, The step of determining whether to activate the second sensor based on the coarse obstacle detection result of the first sensor includes: When the millimeter-wave radar on the side of the vehicle detects that the distance between the obstacle and the vehicle is less than a second preset distance threshold, the remaining sensors on the side of the vehicle are activated. The remaining sensors on the side of the vehicle are the second sensor, and the remaining sensors on the side of the vehicle include at least one of ultrasonic radar and camera.

5. The method according to claim 4, characterized in that, The obstacle precision detection based on the second sensor includes: The ultrasonic radar on the side of the vehicle detects whether the distance between the obstacle and the vehicle 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, the movement trajectory of the obstacle is detected by the camera on the side of the vehicle body; Based on the movement trajectories of the obstacle and the vehicle, an analysis is conducted to determine whether there is a trend of the obstacle approaching the vehicle.

6. The method according to claim 1, characterized in that, The method further includes: 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 reverse, all the vehicle's sensors are activated. The obstacle distances detected by all the sensors on the vehicle body are fused to obtain the obstacle fused distance.

7. A vehicle sensor control device, characterized in that, The device includes: The coarse detection start analysis module is used to determine whether to activate the first sensor based on vehicle speed and gear. The first sensor is a part of all sensors capable of performing the current obstacle detection task. The step of determining whether to activate the first sensor based on vehicle speed and gear includes: acquiring the current vehicle speed and current gear; when the current vehicle speed is in the first preset low speed range and the current gear is a forward gear, activating the ultrasonic radar at the front of the vehicle, which is the first sensor. The coarse detection module is used to perform coarse obstacle detection through the first sensor when the first sensor is activated. The fine detection start analysis module is used to determine whether to activate the second sensor based on the obstacle coarse detection result of the first sensor. The second sensor is the remaining unactivated part of all sensors. The determination of whether to activate the second sensor based on the obstacle coarse detection result of the first sensor includes: when the ultrasonic radar in front of the vehicle detects that the distance between the obstacle and the vehicle is less than a first preset distance threshold, activating the remaining sensors in front of the vehicle. The remaining sensors in front of the vehicle are the second sensor. The remaining sensors in front of the vehicle include at least one of millimeter-wave radar and camera. The precision detection module is used to perform precision obstacle detection based on the second sensor when the second sensor is activated, or to perform precision obstacle detection in combination with the first sensor and the second sensor.

8. A vehicle, characterized in that, include: The system comprises 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 and are communicatively connected to each other; the memory stores computer instructions, and the processor executes the computer instructions to perform the method of any one of claims 1 to 6; 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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