Method and device for assisting driving, controller, radar, vehicle and medium

Abstract

The embodiment of the invention relates to a method and device for assisting driving, a controller, a radar, a vehicle and a medium. The method comprises the steps of determining an area near a vehicle based on an object located on the side face of the vehicle detected by a first radar; filtering data generated by a second radar based on the determined region, the first radar and the second radar having different types; and detecting a target object located in front of the vehicle based on the filtered data generated by the second radar. In this way, objects, such as static roadside facilities, on the side face of the vehicle can be reliably detected, interference of the objects on detection of the target objects in front of the vehicle is avoided, the accuracy and reliability of detection of the target objects in front of the vehicle are improved, and therefore the safety of auxiliary driving is guaranteed.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to the field of assisted driving, and more specifically, to a method, an apparatus, a controller, a radar, a vehicle, and a computer-readable storage medium for assisted driving. Background Art

[0002] In the assisted driving system, sensors such as radar and cameras are used to perceive the vehicle's surroundings. With the help of sensors, the position, distance and speed of the vehicle in front can be detected, thereby controlling the vehicle to accelerate or brake, or to issue a reminder to the driver; objects on the side of the vehicle, such as roadside equipment, other vehicles or pedestrians, can also be detected to achieve lane keeping or take active avoidance actions. Therefore, environmental perception is crucial to the safety of the assisted driving system.

[0003] Millimeter-wave radar is a radar that works in the millimeter-wave band (30-300 GHz, wavelength 1-10 mm). It has the advantages of small size, high resolution, and strong penetration, and is widely used in environmental perception tasks of assisted driving systems. However, millimeter-wave radar has the problem of weak lateral detection capability, which may bring safety risks to assisted driving in some scenarios. Summary of the invention

[0004] In view of this, embodiments of the present disclosure provide methods, devices, controllers, radars, vehicles, and computer-readable storage media for assisted driving. Embodiments of the present disclosure can reliably detect objects on the side of the vehicle (e.g., stationary roadside facilities) to prevent these objects from interfering with the detection of target objects in front of the vehicle, thereby improving the accuracy and reliability of the detection of target objects in front of the vehicle, thereby ensuring the safety of assisted driving. In some implementations, an ultrasonic radar with good lateral detection capability and low cost can be used to detect the area of ​​stationary objects on the side of the vehicle, and then the data generated by the millimeter-wave radar in this area is filtered out. Thus, when the millimeter-wave radar is used to detect the vehicle ahead, the erroneous detection results caused by the fusion of the low-speed vehicle ahead and the stationary objects on the roadside can be avoided.

[0005] According to a first aspect of the present disclosure, a method for assisted driving is provided, comprising: determining an area near a vehicle based on an object located on a side of the vehicle detected by a first radar; filtering data generated by a second radar based on the determined area, the first radar and the second radar being of different types; and detecting a target object located in front of the vehicle based on the filtered data generated by the second radar.

[0006] According to a second aspect of the present disclosure, a controller is provided, comprising: a processing unit; and a memory, the memory being coupled to the processing unit and storing instructions for execution by the processing unit, the instructions, when executed by the processing unit, causing the controller to execute a method, the method comprising: determining an area near the vehicle based on an object located on the side of the vehicle detected by a first radar; filtering data generated by a second radar based on the determined area; and detecting a target object located in front of the vehicle based on the filtered data generated by the second radar.

[0007] According to a third aspect of the present disclosure, a radar device is provided, comprising the controller according to the second aspect of the present disclosure.

[0008] According to a fourth aspect of the present disclosure, a vehicle is provided, comprising a first radar; a second radar of a different type from the first radar; and a controller coupled to the first radar and the second radar, the controller being configured to: determine an area near the vehicle based on an object located on a side of the vehicle detected by the first radar; filter data generated by the second radar based on the determined area; and detect a target object located in front of the vehicle based on the filtered data generated by the second radar.

[0009] According to a fifth aspect of the present disclosure, a device for assisted driving is provided, including: an area determination unit, configured to determine an area near a vehicle based on an object located on a side of the vehicle detected by a first radar; a data filtering unit, configured to filter data generated by a second radar based on the determined area, the first radar and the second radar being of different types; and a target object detection unit, configured to detect a target object located in front of the vehicle based on the filtered data generated by the second radar.

[0010] According to a sixth aspect of the present disclosure, a computer-readable storage medium is provided, comprising machine-executable instructions, which, when executed by a device, cause the device to execute the method according to the first aspect of the present disclosure.

[0011] According to a seventh aspect of the present disclosure, a computer program product is provided, comprising machine executable instructions, which, when executed by a device, cause the device to perform the method according to the first aspect of the present disclosure.

[0012] This summary is provided to introduce a selection of concepts in a simplified form, which will be further described in the following detailed description. This summary is not intended to identify key features or essential features of the present disclosure, nor is it intended to limit the scope of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The above and other objects, features and advantages of the present disclosure will become more apparent through a more detailed description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present disclosure.

[0014] Figure 1A shows an exemplary environment in which some embodiments of the present disclosure can be implemented;

[0015] Figure 1B An exemplary scenario of false detection generated by a vehicle's auxiliary driving system that can be solved or alleviated by embodiments of the present disclosure is shown;

[0016] Figure 2 A schematic flow chart of a method for assisted driving according to some embodiments of the present disclosure is shown;

[0017] Figure 3 A schematic diagram showing a method of determining an area of ​​an object on the side of a vehicle using a vehicle-mounted radar according to some embodiments of the present disclosure;

[0018] Figure 4 A detailed schematic diagram for determining an area on a side of a vehicle according to some embodiments of the present disclosure is shown;

[0019] Figure 5 A schematic flow chart showing a method for updating a target object in front of a vehicle in combination with an ultrasonic radar according to some embodiments of the present disclosure;

[0020] Figure 6 A schematic block diagram showing an apparatus for assisting driving according to some embodiments of the present disclosure; and

[0021] Figure 7 Schematic block diagrams of example devices that can be used to implement embodiments of the present disclosure are shown. DETAILED DESCRIPTION

[0022] It is understandable that the data involved in this technical solution (including but not limited to the data itself, the acquisition or use of the data) shall comply with the requirements of relevant laws, regulations and relevant provisions.

[0023] The preferred embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the preferred embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to make the present disclosure more thorough and complete, and to fully convey the scope of the present disclosure to those skilled in the art.

[0024] As used herein, the term "including" and its variations mean open inclusion, i.e., "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "based at least in part on". The terms "an example embodiment" and "an embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0025] It should be noted that the numbers or numerical values ​​used in this document are intended to facilitate understanding of the technology of the present disclosure, rather than to limit the scope of the present disclosure.

[0026] The vehicle's assisted driving system usually uses millimeter-wave radar and cameras for environmental perception. For entry-level models, they may only be equipped with millimeter-wave radar, but the disadvantage of millimeter-wave radar is that the lateral detection accuracy is poor and it is easily affected by roadside clutter and roadside facilities (for example, fences, shoulder steps, trees, etc.). Therefore, the assisted driving system may mistakenly believe that a stopped or slow-moving vehicle is heading towards a roadside flower bed or road fence. When the adaptive cruise control (ACC) function is enabled at low speed, there may be problems with the target ahead being lost or offset, causing the vehicle to suddenly accelerate. The reason is that the point cloud of the stationary object on the side of the road is incorrectly associated with the point cloud of the vehicle in front, causing the point cloud of the millimeter-wave radar to be updated incorrectly.

[0027] Some conventional solutions use cameras to compensate for the insufficient lateral detection capability of millimeter-wave radar. However, for models without cameras but only a single radar, stable lateral performance cannot be provided without a camera. The inventors note that ultrasonic radar (USS) has good lateral detection performance and can accurately detect the position of stationary or low-speed objects near the vehicle, and almost all vehicles are equipped with ultrasonic radar.

[0028] In view of this, an embodiment of the present disclosure provides a solution for assisted driving. In an example method, a first radar is used to detect objects located on the side of a vehicle, which may be stationary or in a state of slow movement, and an area related to the detected object near the vehicle is determined. Then, based on the determined area, the data generated by the second radar of a different type from the first radar is filtered, for example, the data generated by the second radar in this area is deleted or the attributes of the data in this area are modified. Based on the filtered data, the target object located in front of the vehicle is detected. Based on this method, the embodiment of the present disclosure can detect the area where the stationary objects on the side of the vehicle are located, and avoid these objects from interfering with the detection of the target object in front of the vehicle, thereby improving the accuracy and reliability of the detection of the target object in front of the vehicle, thereby ensuring the safety of assisted driving. It should be noted that the following uses the first radar as an ultrasonic radar and the second radar as a millimeter wave radar as an example to illustrate the embodiment of the present disclosure, but it should be understood that the types of the first radar and the second radar are not limited to this, and the embodiment of the present disclosure is not limited in this respect.

[0029] The following reference figures 1 to Figure 7 Detailed description of implementation details of the embodiments of the present disclosure.

[0030] FIG. 1 shows an exemplary environment in which some embodiments of the present disclosure can be implemented. Figure 1A The system is implemented in the vehicle 101 (also referred to as “self-vehicle”) shown in FIG. Figure 1A As shown, the vehicle 101 may include a first radar 110 and a second radar. The first radar 110 and the second radar 120 may be different types of radars and are coupled to each other via a controller area network (CAN) bus.

[0031] The first radar 110 may be an ultrasonic radar, which uses an ultrasonic transmitter to emit ultrasonic waves. After the ultrasonic waves propagate to the target object, the receiver receives the returned ultrasonic waves and measures the distance by calculating the time difference in the propagation process of the ultrasonic waves. Ultrasonic radars have low costs, simple data processing, and high accuracy when detecting close-range objects.

[0032] The second radar 120 can be a millimeter wave radar. The millimeter wave radar can emit millimeter waves through an antenna and receive target reflection signals. By comparing and processing the signals, point cloud data is generated, and finally the classification and identification of the target is completed. Specifically, the millimeter wave radar can use a high-frequency circuit to generate electromagnetic waves with a specific modulation frequency (FMCW), and send electromagnetic waves through an antenna and receive electromagnetic waves 105 reflected from the target. By sending and receiving the parameters of the electromagnetic waves, point cloud data about the environment around the vehicle 101 is generated. Figure 1AIn the example, the vehicle 101 is located in the leftmost lane, and there is a stationary roadside facility 103 on the left side of the vehicle, including, for example, a fence, a shoulder step, a tree, etc. In front of the vehicle 101, there is another vehicle 102 as a target object to be detected. The vehicle 102 may be stopped or traveling at a low speed (for example, in a congested state or waiting for a traffic light).

[0033] As mentioned above, the lateral detection capability of millimeter-wave radar is poor, which may cause the assisted driving system to misjudge the target objects in front and may even cause unnecessary safety risks. Figure 1B An exemplary scenario of possible false detections by the assisted driving system of vehicle 101 is shown. As shown in the figure, when both vehicles 101 and 102 are traveling at a low speed or stopped, the millimeter wave radar may mistakenly fuse the point cloud formed by the reflection waves of the roadside facilities 103 and the point cloud formed by the reflection waves of the vehicle 102, causing the vehicle 102 to be identified as deviating from the lane or lost. This may issue an erroneous vehicle control operation to the assisted driving system. For example, when the ACC function is enabled, once the vehicle 102 is identified as not being in front of the vehicle 101, the vehicle 101 may suddenly accelerate, causing danger.

[0034] In view of this, the embodiments of the present disclosure may be implemented in Figure 1A The vehicle 101 (eg, the master control device), the auxiliary driving system of the vehicle 101, or one or more radar devices carried by the vehicle 101, so as to Figure 1A Provide improved and safer assisted driving capabilities under the environment shown. It should be noted that Figure 1A The environment shown is only exemplary and should not limit the scope of the present disclosure. The embodiments of the present disclosure can also be implemented in different environments, for example, the vehicle 101 can be driven in the rightmost lane to detect the roadside facilities on the right side of the vehicle body, or the vehicle 101 can be driven in the middle lane to detect low-speed moving vehicles, pedestrians or other objects that may exist on both sides of the vehicle, not limited to the roadside facilities 103.

[0035] Figure 2 2 shows a schematic flow chart of a method 200 for assisted driving according to some embodiments of the present disclosure. The method 200 may be Figure 1A The vehicle 101 or a component of the vehicle 101 (eg, the first radar 110 or the second radar 120) is shown to be implemented. Figure 3 The method 200 is described below.

[0036] At 210 , an area near the vehicle 101 is determined based on the objects located on the side of the vehicle detected by the first radar 110 . Figure 3, which shows a schematic diagram of determining the area of ​​objects on the side of a vehicle using a vehicle-mounted radar according to some embodiments of the present disclosure. The vehicle 101 can use the first radar to emit a beam 104 to detect objects located on its side. In some embodiments, the first radar 110 can be an ultrasonic radar that uses sound waves to detect nearby objects or other types of radars with good lateral detection performance. Depending on the position where the ultrasonic radar is installed on the vehicle 101, the ultrasonic radar can detect objects on the left side, right side, front, and rear of the vehicle.

[0037] In some implementations, the first radar 110 may be triggered when the speed is below a threshold, for example, the first radar 110 is activated when the speed of the vehicle 101 is below 15, 20, 30 kilometers per hour or other thresholds. Additionally or alternatively, the first radar may be triggered when the speed of the vehicle 102 in front (determined by other sensors) is below a threshold. Using the beam 104 emitted by the first radar 110 and the timestamp information carried by the beam 104, the relative position, distance, speed and other information of objects near the vehicle 101 and the vehicle 101 can be detected. Thus, the area 108 where these objects (for example, facilities such as fences and flower beds) are located can be determined. Typically, these objects include stationary or slow-moving objects, such as roadside facilities, pedestrians, etc. The area 108 may be in the shape of a strip having a length or width, and may be a straight line or a curve.

[0038] At 220, based on the determined area, data generated by a second radar is filtered, wherein the first radar and the second radar are of different types. In some implementations, the second radar 120 may be a millimeter wave radar or a radar having a longer working distance than the first radar 110. The second radar may emit electromagnetic waves 105 to detect target objects 102 and roadside facilities 103 in front of the vehicle, and may generate data, such as a point cloud, or objects detected by further processing the point cloud by receiving reflected waves. In order to filter the data generated by the second radar, the point cloud or detected objects located in the area 108 may be deleted. Optionally, the properties of the point cloud or detected objects in the area 108 may also be modified so that they are not associated with the target object 102.

[0039] At 230, based on the filtered data generated by the second radar, a target object located in front of the vehicle is detected. The point cloud after the data in the filtered area 108 can be directly used to re-detect the target object 102, or the data of the first radar 110 and the second radar 120 can be fused to re-detect the target object 120. In some embodiments, the position of the target object 102 detected by the first radar can be obtained, and the position information of the target object 102 can be updated based on the filtered data generated by the second radar 120 and the position detected by the first radar 110. For example, the position information of the target object 102 obtained from the first radar 110 can be used to update the Kalman predicted position of the second radar 120, and the updated position can be used to update the final target object. In this way, a more accurate target object can be obtained.

[0040] Figure 4 A detailed schematic diagram for determining an area on the side of a vehicle according to some embodiments of the present disclosure is shown. As shown, the ultrasonic radar detects an object 404 located on the side of the vehicle and an object 405 located in front of the vehicle. The millimeter wave radar generates a power source 401 and detects an object 403 located on the side of the vehicle.

[0041] Area 108 may be defined as a length along the direction of travel of the vehicle and a width perpendicular to the direction of travel of the vehicle 101. In some embodiments, the extension direction of area 108, i.e., the direction of length, may be determined based on the position or shape of the object 404 detected by the first radar 110 relative to the vehicle 101. As an example, the extension direction of area 103 may be determined by curve fitting according to the position of the object 404 detected by the first radar 110. The width of area 108 may be determined by the point cloud 401 or the object 403 detected by the second radar 120 located on the side of the vehicle. The point cloud 401 and the object 403 and the object 404 detected by the ultrasonic radar are located on the same side of the vehicle. In some implementations, the width may be determined as the difference between the nearest lateral distance and the farthest lateral distance of the point cloud 401 or the object 403 relative to the vehicle 101. Thus, area 109 located on the side near the vehicle 101 may be obtained.

[0042] like Figure 4As shown, due to the limitation of the working distance of the ultrasonic radar, it may not be able to detect objects located on the side of the target object 102. However, the point cloud or detection object formed by the reflection of electromagnetic waves by these objects may have an adverse effect on the detection of the target object 102. Therefore, the detectable area 109 of the ultrasonic radar can be extended to obtain the extended area 107 located on the side of the target object 102. In other words, the area 108 can include the detectable area 107 and the extended area 107 of the ultrasonic radar. In some embodiments, the area used to filter the data of the millimeter wave radar may include the above-mentioned extended area 107, but not necessarily the complete detectable area 109. The length of the extended area can be determined according to the distance of the target object 102 relative to the vehicle 101, for example, the distance between the vehicle and the object 402 is determined according to the object 405 detected by the ultrasonic radar or the object 402 detected by the millimeter wave radar.

[0043] Figure 5 FIG. 5 is a schematic flow chart of a method 500 for updating a target object in front of a vehicle in combination with an ultrasonic radar according to some embodiments of the present disclosure. The method 500 may be Figure 1A The vehicle 101 or a component of the vehicle 101 (eg, the first radar 110 or the second radar 120) is shown. The method 500 may be an exemplary implementation of the method 200. It should be noted that, Figure 5 Some of the steps shown may be omitted and the order of the steps may be changed, and the present disclosure is not limited in these respects.

[0044] At 501, it is determined whether the speed of the ego vehicle is below a certain threshold. If so, the method 500 proceeds to 502, otherwise it returns to 501. At 502, it is determined whether the speed of the target vehicle in front of the vehicle is below a certain threshold. If so, the method 500 proceeds to 503, otherwise it returns to 501. The thresholds used at 501 and 502 may be the same or different.

[0045] If the speeds of the vehicle and the front vehicle are both lower than the corresponding thresholds, then objects detected by the ultrasonic radar and the millimeter wave radar, including the objects on the side of the vehicle and the positions of the target vehicle in front of the vehicle, are obtained at 503. The positions of the objects on the side of the vehicle and the target vehicle in front of the vehicle can be determined based on the timestamp.

[0046] At 504, objects on the side of the vehicle detected by the ultrasonic radar and the millimeter wave radar are selected. At 505, an expansion area and an area for filtering are determined according to the selected objects detected by the ultrasonic radar and the millimeter wave radar.

[0047] At 506, the determined area is used to filter the data of the millimeter wave radar. The data may include a point cloud and / or an object detected from the point cloud. At 507, the target object detected by the ultrasonic radar and the object detected by the millimeter wave radar are selected, and the position information of the target object is updated based on the filtered data.

[0048] The above referenced Figures 1 to Figure 5 Embodiments of the present disclosure are described. According to these embodiments, objects on the side of a vehicle can be reliably detected in a low-cost manner to prevent these objects from interfering with the detection of target objects in front of the vehicle, thereby improving the accuracy and reliability of the detection of target objects in front of the vehicle, thereby ensuring the safety of assisted driving.

[0049] Figure 6 A schematic block diagram of an apparatus 600 for assisting driving according to some embodiments of the present disclosure is shown. The apparatus 600 may be arranged in the vehicle 101 or in a radar device of the vehicle 101.

[0050] As shown in the figure, the device 600 for assisting driving includes an area determination unit 610, a data filtering unit 620, and a target object detection unit 630. The area determination unit 610 is configured to determine an area near the vehicle based on an object located on the side of the vehicle detected by a first radar; the data filtering unit 620 is configured to filter data generated by a second radar based on the determined area, wherein the first radar and the second radar are of different types; and the target object detection unit 630 is configured to detect a target object located in front of the vehicle based on the filtered data generated by the second radar.

[0051] In some embodiments, the device 600 may further include a side object detection unit configured to detect an object located on the side of the vehicle using the first radar in response to determining that at least one of the speed of the vehicle and the speed of the target object located in front of the vehicle is lower than a threshold speed.

[0052] In some embodiments, the object detected by the first radar is a first object, and the area determination unit can also be configured to: determine an extension direction of the area based on a position or shape of the first object relative to the vehicle; and determine a width of the area based on a position or shape of a second object detected by the second radar relative to the vehicle, the second object and the first object are on the same side of the vehicle.

[0053] In some embodiments, the first object and the second object may be stationary objects or low-speed objects whose speed is below a threshold.

[0054] In some embodiments, the extension direction may be determined based on curve fitting.

[0055] In some embodiments, the region may include an extended area located on the side of the target object.

[0056] In some embodiments, the data generated by the second radar includes at least one of: a point cloud; or an object detected from the point cloud.

[0057] In some embodiments, the detection unit may be further configured to: obtain the position of the target object detected by the first radar; and update the position information of the target object based on the filtered data generated by the second radar and the position of the target object detected by the first radar.

[0058] In some embodiments, the first radar may include an ultrasonic radar, and the second radar may include a millimeter wave radar.

[0059] Figure 7 A schematic block diagram of an example device 700 that can be used to implement an embodiment of the present disclosure is shown. For example, the method 200 and 500 for assisted driving according to an embodiment of the present disclosure can be implemented by the device 700. As shown in the figure, the device 700 includes a central processing unit (CPU) 701, which can perform various appropriate actions and processes according to computer program instructions stored in a read-only memory (ROM) 702 or computer program instructions loaded from a storage unit 708 to a random access memory (RAM) 703. In RAM 703, various programs and data required for the operation of the device 700 can also be stored. CPU 701, ROM 702 and RAM 703 are connected to each other via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0060] A plurality of components in the device 700 are connected to the I / O interface 705. The types of the I / O interface include, but are not limited to, peripheral component interconnect (PCIe), universal serial bus (USB), high-definition multimedia interface (HDMI), serial connection (SAS), etc. The components based on the I / O interface 705 may include, but are not limited to: an input unit 706, such as a keyboard, a mouse, etc.; an output unit 707, such as a display of respective types, a speaker, etc.; a storage unit 708, such as a disk, an optical disk, etc.; and a communication unit 709, such as a network adapter, a modem, a wireless communication transceiver, etc. The communication unit 709 allows the device 700 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0061] The various processes and processing described above, such as method 200 and / or 500, may be performed by a processing unit in device 700, such as processing unit 701 and / or other processing units (e.g., a microprocessor on a mainboard of device 700). For example, in some embodiments, method process 200 and / or 500 may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as storage unit 708. In some embodiments, part or all of the computer program may be loaded and / or installed on device 700 via ROM 702 and / or communication unit 709. When the computer program is loaded into RAM 703 and executed, one or more actions of process 200 and / or 500 described above may be performed.

[0062] The present disclosure may be a method, an apparatus, a system and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for executing various aspects of the present disclosure.

[0063] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the foregoing. As used herein, a computer-readable storage medium is not to be interpreted as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0064] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0065] The computer program instructions for performing the operation of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. Computer-readable program instructions may be executed completely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or completely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be customized by utilizing the state information of the computer-readable program instructions, and the electronic circuit may execute the computer-readable program instructions, thereby realizing various aspects of the present disclosure.

[0066] Various aspects of the present disclosure are described herein with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer-readable program instructions.

[0067] These computer-readable program instructions can be provided to a processing unit of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processing unit of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0068] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0069] The flow chart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to multiple embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a part of a module, program segment or instruction, and a part of the module, program segment or instruction includes one or more executable instructions for realizing the specified logical function. In some alternative implementations, the function marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two continuous square boxes can actually be executed substantially in parallel, and they can sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or action, or can be implemented with a combination of special hardware and computer instructions.

[0070] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A method for assisting driving, comprising: determining an area near the vehicle based on an object located to the side of the vehicle detected by the first radar; filtering data generated by a second radar based on the determined area, the first radar and the second radar being of different types; as well as A target object located in front of the vehicle is detected based on the filtered data generated by the second radar.

2. The method according to claim 1, further comprising: In response to determining that at least one of a speed of the vehicle and a speed of the target object located in front of the vehicle is below a threshold speed, the object located to the side of the vehicle is detected using the first radar.

3. The method according to claim 1, wherein: The object detected by the first radar is a first object, and determining the area near the vehicle includes: determining an extending direction of the area based on a position or shape of the first object relative to the vehicle; and The width of the area is determined based on a position or shape of a second object detected by the second radar relative to the vehicle, the second object being on a same side of the vehicle as the first object. The method according to claim 3 , wherein the first object and the second object are stationary objects or low-speed objects whose speed is lower than a threshold.

5. The method according to claim 3, wherein: The extension direction is determined based on curve fitting.

6. The method according to claim 1, wherein: The region includes an extended area located on a side of the target object.

7. The method of claim 1, wherein the data generated by the second radar includes at least one of the following: Point cloud; or Objects detected from the point cloud.

8. The method of claim 1, wherein detecting a target object located in front of the vehicle comprises: Acquire a position of the target object detected by the first radar; as well as The position information of the target object is updated based on the filtered data generated by the second radar and the position detected by the first radar. 9 . The method of claim 1 , wherein the first radar comprises an ultrasonic radar, and the second radar comprises a millimeter wave radar.

10. A controller comprising: Processing unit; and A memory coupled to the processing unit and storing instructions for execution by the processing unit, the instructions, when executed by the processing unit, causing the controller to perform the method according to any one of claims 1-9.

11. A radar device comprising the controller according to claim 10.

12. A vehicle comprising: First Radar; a second radar of a different type than the first radar; as well as A controller according to claim 10.

13. A device for assisting driving, comprising: an area determination unit configured to determine an area near the vehicle based on an object located on a side of the vehicle detected by the first radar; a data filtering unit configured to filter data generated by a second radar based on the determined area, the first radar and the second radar being of different types; as well as The target object detection unit is configured to detect a target object located in front of the vehicle based on the filtered data generated by the second radar.

14. A computer-readable storage medium comprising machine-executable instructions which, when executed by a device, cause the device to perform the method according to any one of claims 1 to 9.

Images