Information indication method, information processing method and related device and system

Abstract

The invention provides an information indicating method, an information processing method and a related device and system, which can be applied to a vehicle or other terminals configured with sensing equipment and are used for indicating whether a shelter which hinders signal receiving and transmitting of the sensing equipment needs to be cleaned or not. The method comprises the following steps: determining an environment where a terminal is located; based on the environment, determining whether a shielding object which obstructs signal transmitting or receiving of the sensing equipment needs to be cleaned; and sending indication information, wherein the indication information is used for indicating whether the shelter needs to be cleaned or not. According to the method, on the basis of the environment, whether the shelter obstructing the signal transmitting or receiving of the sensing equipment needs to be cleaned is indicated, so that the suggestion for cleaning the shelter can be output to a user, the user can conveniently judge whether the shelter needs to be cleaned, and the user experience is improved.

Description

Information indication method, information processing method and related devices and systems Technical Field

[0001] The present application relates to the field of sensor technology, and in particular to an information indication method, an information processing method, and related devices and systems. Background Art

[0002] Radar is often used on vehicles to measure distance, speed, and angle to assist in autonomous driving. However, vehicles operate in complex environments, often encountering rainy or muddy roads. Rain, snow, mud, and other factors can block the radar's radome or skin. This can hinder the transmission and reception of radar signals, reducing radar detection performance and affecting the accuracy of measurement results, ultimately impacting the safety of autonomous driving.

[0003] Currently, radars can detect when they are obstructed and respond accordingly. For example, in autonomous driving mode, if radar obstruction is detected, the driver can exit the mode or downgrade the level of autonomous driving. However, if obstructed radars are not addressed, their detection results may remain inaccurate, failing to effectively assist the vehicle's autonomous driving. Consequently, the vehicle may not be able to advance to the next autonomous driving level for an extended period, resulting in a poor user experience.

[0004] Summary of the Invention

[0005] The present application provides an information indication method, an information processing method, and related devices and systems, in order to restore the detection performance of the radar in a timely manner and obtain accurate detection results.

[0006] In a first aspect, the present application provides an information indication method, which can be applied to a sensing device, such as a radar or a camera, configured in a terminal, such as a vehicle or a drone. The method can be executed by the sensing device, or by a component configured in the sensing device (such as a chip, a chip system, a processor, etc.), or by a logic module or software that can realize all or part of the functions of the sensing device, and the present application does not limit this.

[0007] The method includes: determining the environment in which the terminal is located; based on the environment, determining whether it is necessary to clear an obstruction that hinders the sensing device from transmitting or receiving signals; and sending indication information, the indication information being used to indicate whether the obstruction needs to be cleared.

[0008] The environment in which the terminal is located includes, but is not limited to, weather conditions at the terminal's location and / or obstacle conditions within a preset range of the terminal's location. For example, the environment in which the terminal is located may be rainy, foggy, sunny, near an obstacle, in an enclosed space, in an open space, on a muddy road, on a flooded road, or in a jungle.

[0009] Based on the environment in which the terminal is located, the sensing device can determine whether it is necessary to clear obstructions that hinder the sensing device from transmitting or receiving signals, and send corresponding instruction information.

[0010] Based on the above technical content, since the sensing device can determine whether obstructions need to be cleared based on the terminal's environment, it can differentiate processing suggestions based on the terminal's environment. When obstruction clearing is required, it sends an instruction to clear the obstruction; when obstruction clearing is not required, it sends an instruction not to clear the obstruction. This provides users with reasonable suggestions and improves the user experience. When obstruction clearing is required, the user can be reminded to do so, thereby avoiding interference with the sensing device's detection results. The sensing device's detection performance can be restored, resulting in accurate detection results, supporting driving safety, assisting the vehicle's autonomous driving, and improving the user experience.

[0011] In combination with the first aspect, in some possible implementations of the first aspect, determining whether it is necessary to clear obstructions that hinder the sensing device from transmitting or receiving signals based on the environment includes: when the sensing device is blocked, determining whether it is necessary to clear obstructions that hinder the sensing device from transmitting or receiving signals based on the environment.

[0012] Optionally, the determining the environment in which the terminal is located includes: determining the environment in which the terminal is located when the sensing device is blocked by the blocking object.

[0013] The sensing device can determine the environment of the terminal after being blocked by the obstruction, and judge whether the obstruction needs to be cleared based on the environment of the terminal. The sensing device can also first determine the environment of the terminal, and then determine whether the obstruction needs to be cleared based on the environment after being blocked by the obstruction.

[0014] It should be understood that the present application does not limit the order in which the sensing device determines the environment in which the terminal is located and the sensing device determines whether it is blocked.

[0015] In combination with the first aspect, in some possible implementations of the first aspect, the indication information is further used to indicate the degree to which the sensing device is blocked by the blocking object.

[0016] The indication information sent by the sensing device can indicate the degree of obstruction of the sensing device. This can facilitate the terminal to make reasonable decisions based on the degree of obstruction. For example, a vehicle with autonomous driving function can adjust different driving levels according to different degrees of obstruction. Different degrees of obstruction can also make it easier for users to choose the processing method. For example, for low levels of obstruction, although a prompt may be prompted to deal with the obstruction, the user can also choose whether to deal with it immediately. Therefore, this indication information can provide richer information, facilitate the terminal to make more reasonable decisions, and greatly improve the user experience.

[0017] One possible situation is that the indication information indicates one of the following items: the sensing device is not blocked; the sensing device is partially blocked and the obstruction needs to be cleared; the sensing device is partially blocked and the obstruction does not need to be cleared; the sensing device is fully blocked and the obstruction needs to be cleared; or the sensing device is fully blocked and the obstruction does not need to be cleared.

[0018] The degree to which the sensing device is blocked by an obstruction may be predefined in multiple levels, for example, three levels: no obstruction, partial obstruction, and severe obstruction. The indication information sent by the sensing device may indicate the corresponding obstruction level.

[0019] It should be understood that the present application does not limit the number and type of occlusion levels of the sensing device being occluded.

[0020] In combination with the first aspect, in some possible implementations of the first aspect, the terminal is a vehicle, and the vehicle is configured with a human machine interface (HMI); the sending of the indication information includes: sending the indication information to the HMI, and the indication information is used by the HMI to generate an instruction for prompting a user.

[0021] In combination with the first aspect, in some possible implementations of the first aspect, the perception device belongs to the autonomous driving system of the terminal; and the sending of the indication information includes: sending the indication information to a control unit of the autonomous driving system.

[0022] In combination with the first aspect, in some possible implementations of the first aspect, determining whether it is necessary to clear obstructions that hinder the transmission or reception of signals by the sensing device based on the environment includes: when the environment belongs to a preset environment, determining that it is not necessary to clear obstructions that hinder the transmission or reception of signals by the sensing device.

[0023] Preset environments may include rainy weather and environments near obstacles. In rainy weather, the sensing device is blocked by rain, but the rain will naturally evaporate after leaving the rainy environment, so there is no need to clear the obstruction. In environments near obstacles, the sensing device is blocked by an obstacle, but the obstruction disappears after the terminal moves away from the obstacle, so there is no need to clear the obstruction.

[0024] The sensing device can determine whether the environment in which the terminal is located belongs to the preset environment. When the terminal is in the preset environment, regardless of whether the sensing device is blocked by an obstruction, the sensing device can determine that the obstruction does not need to be cleared.

[0025] One possible scenario is that the preset environment includes a rainy environment; the method further includes: determining that the environment in which the terminal is located is a rainy environment based on a weather forecast and / or a working state of a wiper.

[0026] The sensing device may determine the environment in which the terminal is located by combining the weather forecast and / or the operating status of one or more other devices on the terminal. For example, the sensing device may obtain weather forecast information and determine that the terminal is in a rainy environment when the weather forecast indicates rain. The sensing device may also determine that the terminal is in a rainy environment when the terminal's windshield wipers are operating. The sensing device may also combine the weather forecast and the terminal's windshield wiper status and determine that the terminal is in a rainy environment when the weather forecast indicates rain and the wipers are operating.

[0027] One possible scenario is that the preset environment includes an environment where the terminal is parked near an obstacle, and the terminal is configured with one or more sensing devices; the method further includes: based on the perception information of the environment by the one or more sensing devices, determining that the environment where the terminal is located is an environment where the terminal is parked near an obstacle.

[0028] When the terminal is in a preset environment, such as a rainy environment or an environment parked near an obstacle, the sensing device will be blocked by the obstruction. When the terminal leaves the environment, the obstruction will disappear. Therefore, the sensing device can determine that the obstruction does not need to be cleared, thereby reminding the user that no cleaning is required, which can improve the user experience.

[0029] In a second aspect, the present application provides an information processing method that can be applied to a processing device, such as a microcontroller unit (MCU) configured in a terminal, and the terminal can be, for example, a vehicle, an unmanned aerial vehicle, etc. The method can be executed by the processing device, or it can also be executed by a component configured in the processing device (such as a chip, a chip system, a processor, etc.), or it can also be implemented by a logic module or software that can realize all or part of the functions of the processing device, and this application does not limit this.

[0030] The method includes: receiving indication information, the indication information is used to indicate whether it is necessary to clear an obstruction that hinders the sensing device from transmitting or receiving signals; and outputting an instruction based on the indication information, the instruction is used to indicate whether it is necessary to clear the obstruction.

[0031] Based on the above technical content, the processing device can receive the indication information sent by the sensing device and output corresponding instructions to the user. In this way, the user can judge whether it is necessary to clear the obstructions that hinder the sensing device from transmitting or receiving signals based on the output instructions, thereby improving the user experience.

[0032] Optionally, the indication information is further used to indicate the degree to which the sensing device is blocked by the blocking object, and the instruction is further used to indicate the degree to which the sensing device is blocked by the blocking object.

[0033] The instructions output by the processing device also indicate the degree to which the sensing device is blocked by the obstruction, so that the user can further select a processing strategy based on the degree of obstruction.

[0034] In combination with the second aspect, in some possible implementations of the second aspect, the instruction is a text instruction, and outputting the instruction based on the indication information includes: generating the text instruction based on the indication information; and displaying the text instruction through a display screen.

[0035] The processing device can generate a text instruction based on the received instruction information and display the instruction on a display screen. The display screen can be configured on the processing device or set separately.

[0036] In combination with the second aspect, in some possible implementations of the second aspect, the instruction is a voice instruction, and outputting the instruction based on the indication information includes: generating the voice instruction based on the indication information; and playing the voice instruction through a speaker.

[0037] The processing device can generate a voice instruction based on the received instruction information and play the instruction through a speaker. The speaker can be configured on the processing device or set separately.

[0038] Based on the above content, after the processing device processes the indication information, it can output it in a form that is easy for the user to understand. The user can easily judge whether it is necessary to clear the obstructions that hinder the transmission or reception of signals by the sensing device based on the output instructions, which can improve the user experience.

[0039] In a third aspect, the present application provides a sensing device, comprising modules or units for implementing the method in the first aspect and any possible implementation of the first aspect. It should be understood that each module or unit can implement the corresponding function through software and / or hardware.

[0040] Exemplarily, the sensing device includes a processing module and a sending module. The processing module is configured to determine the environment in which the terminal is located and, based on the environment, determine whether it is necessary to clear an obstruction that obstructs the sensing device from transmitting or receiving signals. The sending module is configured to send an indication indicating whether it is necessary to clear the obstruction.

[0041] In a fourth aspect, the present application provides a perception device, which includes a processor, and the processor is used to execute the methods performed by the perception device in the above aspects.

[0042] The sensing device may further include a memory for storing instructions and data. The memory is coupled to the processor, and when the processor executes the instructions stored in the memory, the method performed by the sensing device in the above aspects may be implemented. The device may further include a communication interface for communicating with other devices. Exemplarily, the communication interface may be a transceiver, circuit, bus, module, or other type of communication interface.

[0043] In one possible implementation, the sensing device described in the third aspect or the fourth aspect is a radar.

[0044] In a fifth aspect, the present application provides a processing device, including modules or units for implementing the method in the second aspect and any possible implementation of the second aspect. It should be understood that each module or unit can implement the corresponding function through software and / or hardware.

[0045] Exemplarily, the processing device includes a receiving module and an output module. The receiving module is configured to receive instruction information indicating whether to clear an obstruction that obstructs the sensing device from transmitting or receiving signals; and the output module is configured to output an instruction based on the instruction information, indicating whether to clear the obstruction.

[0046] In a sixth aspect, the present application provides a processing device, which includes a processor, and the processor is used to execute the method executed by the processing device in the above aspects.

[0047] The processing device may further include a memory for storing instructions and data. The memory is coupled to the processor, and when the processor executes the instructions stored in the memory, the method performed by the processing device in each of the above aspects may be implemented. The device may further include a communication interface for communicating with other devices. Exemplarily, the communication interface may be a transceiver, circuit, bus, module, or other type of communication interface.

[0048] In a seventh aspect, the present application provides an autonomous driving system, comprising the perception device of the third or fourth aspect. Optionally, the autonomous driving system further comprises the processing device of the fifth or sixth aspect.

[0049] In an eighth aspect, the present application provides a terminal device, comprising the sensing device in the third or sixth aspect above, and the processing device in the fourth or seventh aspect above.

[0050] In a ninth aspect, the present application provides a computer-readable storage medium comprising a computer program, which, when executed, enables the method executed by the perception device in the above aspects to be executed, or enables the method executed by the processing device in the above aspects to be executed.

[0051] In the tenth aspect, the present application provides a computer program product, which includes: a computer program (also referred to as code, or instructions), which, when run, enables the method performed by the perception device in the above aspects to be executed, or enables the method performed by the processing device in the above aspects to be executed.

[0052] It should be understood that the third to tenth aspects of the present application correspond to the technical solutions of the first and second aspects of the present application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation methods are similar and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] FIG1 is a schematic diagram of the architecture of a sensing device in an embodiment of the present application;

[0054] FIG2 is a schematic diagram of the structure of the automatic driving system according to an embodiment of the present application;

[0055] FIG3 is a schematic diagram of a sensing device being blocked by an obstruction in an embodiment of the present application;

[0056] FIG4 is a schematic flow chart of an information indication method provided in an embodiment of the present application;

[0057] FIG5 is a schematic flow chart of a radar on a vehicle determining whether an obstruction needs to be processed and sending instruction information in an embodiment of the present application;

[0058] FIG6 is an example of a vehicle in a rainy environment according to an embodiment of the present application;

[0059] FIG7 is a schematic flow chart of a radar sending instruction information when a vehicle is in a rainy environment according to an embodiment of the present application;

[0060] FIG8 is an example of a vehicle in an environment close to an obstacle in an embodiment of the present application;

[0061] FIG9 is a schematic flow chart of a radar sending instruction information when a vehicle is in an environment close to an obstacle in an embodiment of the present application;

[0062] FIG10 is a schematic flow chart of an information processing method provided in an embodiment of the present application;

[0063] FIG11 is a schematic block diagram of a sensing device provided in an embodiment of the present application;

[0064] FIG12 is another schematic block diagram of a sensing device provided in an embodiment of the present application;

[0065] FIG13 is a schematic block diagram of a processing device provided in an embodiment of the present application;

[0066] FIG14 is another schematic block diagram of a processing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0067] The technical solution in this application will be described below with reference to the accompanying drawings.

[0068] It should be understood that the tables in the embodiments of the present application are merely examples and do not limit the scope of protection of the present application. For example, the values ​​of the information in the tables are merely examples and can be configured to other values, which are not limited by the present application. For another example, the tables in the text can be appropriately modified and adjusted, for example, split, merged, etc. For another example, the parameter names shown in the titles of the tables can also use other names that can be understood by the sensing device, and the values ​​or representations of the parameters can also be other values ​​or representations that can be understood by the sensing device.

[0069] In the embodiments of the present application, "predefined", "preset" or "preconfigured" can be implemented by pre-saving corresponding codes, tables or other methods that can be used to indicate relevant information in the device, and the present application does not limit its specific implementation method. Among them, "saving" can mean saving in one or more memories. The one or more memories can be set separately or integrated in an encoder or decoder, a processor, or a sensing device. The one or more memories can also be partially set separately and partially integrated in a decoder, a processor, or a sensing device. The type of memory can be any form of storage medium, which is not limited by the present application.

[0070] The information indication method provided in this application can be applied to sensing devices that detect objects based on electromagnetic waves or sound waves, such as millimeter-wave radars, lidars, cameras, and ultrasonic detectors, and this application does not impose any restrictions on this. A sensing device can actively transmit signals and receive echo signals for target detection, such as a millimeter-wave radar; a sensing device can also receive signals from the environment to perceive the environment, such as a camera.

[0071] FIG1 is a schematic diagram of the architecture of a sensing device in an embodiment of the present application.

[0072] As shown in FIG. 1 , the sensing device 100 may include a sensing module 101 , a processing module 102 and an interface 103 .

[0073] The perception module 101 can be used to perceive the surrounding environment and obtain detection results. For example, the perception device 100 can be a radar, and the perception module 101 can include a signal transmission unit, a signal reception unit, and a signal processing unit. The radar's signal transmission unit can be a transmitting antenna for transmitting signals; the signal reception unit can be a receiving antenna for receiving echo signals after an object reflects the signal transmitted by the transmitting antenna; and the signal processing unit can be a processor for processing the echo signals to perform target detection.

[0074] The processing module 102 can determine whether the sensing device 100 is blocked or the degree to which the sensing device 100 is blocked based on the detection result of the sensing module 101.

[0075] The interface 103 can output the processing results of the processing module 102 and / or the detection results of the perception module 101.

[0076] It should be understood that Figure 1 is only an example of a perception device in the present application and does not constitute a limitation of the present application. In some embodiments, the functions of the modules and units in the perception device can be implemented by the same device. For example, the perception device can have one or more processors that can implement the functions of the signal processing module and the signal processing unit in the perception module. In some embodiments, the modules and units in the perception device can be located in different devices, and their functions can be implemented by modules or units in different devices. For example, in an autonomous driving system of a vehicle, the functions of the perception module can be implemented by a radar or a camera, and the functions of the processing module can be implemented by the vehicle's MCU.

[0077] Figure 2 is a schematic diagram of the structure of an autonomous driving system in an embodiment of the present application. The autonomous driving system shown in Figure 2 can implement autonomous driving functions, which include perception functions. The perception functions can be implemented using devices such as cameras and radars to perceive and identify the surrounding environment and obtain environmental information.

[0078] Optionally, the autonomous driving system may also include a processing device that can process information obtained through cameras, radars, etc.

[0079] It should be understood that Figure 2 is only an example of the autonomous driving system in the embodiment of the present application and cannot be a limitation of the present application.

[0080] Next, the application scenarios of the embodiments of the present application are described with reference to the accompanying drawings.

[0081] Vehicles, aircraft, drones, robots, and other terminals use sensing devices (such as millimeter-wave radar, lidar, cameras, or ultrasonic detectors) to detect environmental information (such as terrain or obstacles) or their own status information (such as speed or location) to adjust their operating behavior. In complex environments, such as rain or snow, sensing devices may be blocked by obstructions, affecting the transmission or reception of sensing devices' signals, resulting in inaccurate detection results and reduced detection performance.

[0082] For example, as shown in Figure 3, millimeter-wave radar can be used to measure speed and distance during autonomous driving. Radar is typically installed behind the vehicle's exterior. During driving, if the exterior is obstructed by rain, dirt, leaves, and other obstructions, the millimeter waves transmitted and received by the radar are blocked, reducing or even eliminating the radar's detection performance and impacting the safety of autonomous driving.

[0083] Researchers have found that for occlusions caused by rain or proximity to obstacles, the obstructions disappear once the terminal leaves the rainy environment or the obstacle, and the sensing device's detection performance recovers with the disappearance of the obstructions, so there's no need to address the obstructions. However, for occlusions caused by mud or persistent stains, if the obstructions aren't addressed, the sensing device's detection performance will remain compromised and unrecoverable. In autonomous driving scenarios, autonomous driving mode can be degraded or exited due to sensor obstruction. If the obstruction isn't addressed, autonomous driving mode can't be restored, resulting in a poor user experience.

[0084] The embodiments of the present application provide an information indication method that determines, based on the environment in which a sensing device is located, whether it is necessary to clear an obstruction that obstructs the sensing device from transmitting or receiving signals, and sends indication information indicating whether the obstruction needs to be processed. By determining whether the obstruction needs to be processed and sending indication information indicating whether the obstruction needs to be processed, it is possible to effectively provide the user with suggestions for processing the obstruction. The user can then make corresponding adjustments based on the indication information, thereby restoring the detection performance of the sensing device, obtaining accurate detection results, providing support for driving safety, assisting the vehicle's autonomous driving, and improving the user experience.

[0085] The method provided by this application will be described in detail below with reference to the accompanying drawings.

[0086] FIG4 is a schematic flowchart of the information indication method provided in an embodiment of the present application.

[0087] The method shown in Figure 4 can be executed by a perception device, such as a radar, or by components inside the perception device (such as a chip, a chip system or a processor, etc.), or by other devices that can obtain data from the perception device (such as a processing device that is independent of the perception device and has a communication connection, etc.). This application does not limit this.

[0088] For example, the sensing device may be a millimeter-wave radar, a lidar, a camera, or an ultrasonic detector, and these sensing devices may be configured on a terminal. The terminal may be a vehicle, a drone, or a robot, for example, a vehicle equipped with an autonomous driving system. It should be understood that this application does not specifically limit the type and form of the terminal.

[0089] As a specific example, the perception device may be a perception device configured on a vehicle, such as a vehicle-mounted radar, a vehicle-mounted camera, etc. The vehicle is configured with multiple perception devices, such as millimeter-wave radar (radar), laser radar (lidar), a camera, etc.

[0090] The following is merely an example, and the method provided by the embodiment of the present application is described using a sensing device as the execution subject. It should be understood that the sensing device can be a sensing device that senses the surrounding environment by transmitting and receiving signals, such as the aforementioned millimeter wave radar, lidar, ultrasonic detector, etc.

[0091] The method 400 shown in Figure 4 includes steps 401 to 403. Each step in the method 400 is described in detail below.

[0092] Step 401: Determine the environment where the terminal is located.

[0093] As mentioned above, the terminal can be a mobile terminal such as a vehicle, drone or robot. The terminal can be configured with a sensing device that can detect the environment in which the terminal is located or the state of objects near the terminal, and then adjust the behavior of the terminal.

[0094] The terminal's environment includes, but is not limited to, weather conditions at the terminal's location and / or obstacles within a preset range of the terminal's location. For example, the terminal's environment may be rainy, foggy, sunny, near an obstacle, in an enclosed space, open space, on a muddy or flooded road, or in a jungle. It should be understood that this application includes but is not limited to these. Based on this environment, it can be determined whether the terminal's sensing device is likely or necessarily obstructed by an obstruction.

[0095] The following schematically illustrates a method for a sensing device to determine the environment in which a terminal is located.

[0096] One possible implementation manner in which the sensing device determines the environment in which the terminal is located is that the sensing device determines the environment in which the terminal is located based on its own detection data.

[0097] For example, the sensing device may be a camera that captures images of the environment near the terminal and matches the captured images with predefined images to determine the terminal's environment. Alternatively, the camera may use a neural network model to identify the content of the images it captures to further determine the terminal's environment. For example, if the terminal is in a rainy scene, the camera may determine that the terminal is in a rainy environment based on the captured rainy images; if the terminal is near an obstacle, the camera may determine that the terminal is near an obstacle based on the captured images of the obstacle.

[0098] As another example, the sensing device could be a lidar. The lidar can generate point cloud data based on received echo signals reflected from surrounding objects, and then perform recognition based on this point cloud data to determine the terminal's environment. For example, when the terminal approaches an obstacle, the lidar can create a point cloud model of the obstacle based on the received echo signals. By identifying the content of this point cloud model, it can be determined that the terminal is near an obstacle.

[0099] Regarding the specific implementation method of the perception device determining the environment of the terminal based on the detection data, you can refer to the specific implementation method of determining the environment based on the detection data in the prior art. The methods listed above are only examples and this application does not limit them.

[0100] Another possible implementation method for a sensing device to determine the terminal's environment is for the sensing device to determine the terminal's environment based on detection data from other sensing devices and / or the operating status of other devices. As previously mentioned, a terminal may be configured with multiple sensing devices. These other sensing devices may be, for example, other sensing devices configured on the terminal, or sensing devices independent of the terminal, such as roadside equipment, etc., which is not limited in this application. The sensing device may obtain detection data from other sensing devices and determine the terminal's environment based on the detection data from other sensing devices.

[0101] There are various ways for a sensing device to obtain detection data from other sensing devices. For example, a terminal may fuse the data from various sensing devices using a processing device, such as an MCU, and the sensing device may then obtain the fused detection data from the processing device. Alternatively, the sensing device may directly obtain detection data from other sensing devices. This is not limited in the present embodiment.

[0102] Exemplarily, the terminal may be configured with an ambient humidity sensor, and the sensing device may obtain ambient humidity data detected by the sensor from the terminal or the ambient humidity sensor, and determine whether the humidity data is greater than a predefined humidity threshold to determine whether the terminal is in a rainy environment.

[0103] The method by which a perception device determines the environment of a terminal based on detection data of other perception devices may be the same as the method by which a perception device determines the environment of a terminal based on its own detection data, and will not be repeated here.

[0104] The sensing device may also determine the environment the terminal is in based on the working status of other devices on the terminal. Other devices on the terminal may include, but are not limited to, fog lights or wipers.

[0105] As an example, when the terminal is a vehicle, the sensing device can obtain status information of whether the wipers on the vehicle are turned on to determine whether the vehicle is in a rainy environment.

[0106] The sensing device may also determine the environment in which the terminal is located by combining its own detection data, the detection data of other sensing devices, and / or the working status of other devices.

[0107] For example, the terminal can be a vehicle, and the sensing device can include a camera and radar. The radar can identify the content of the echo signal and, combined with the obstacle image captured by the camera, determine that the vehicle is near an obstacle. This allows for more accurate identification of the environment based on multiple data and / or information, avoiding incorrect determination of the terminal's environment due to inaccurate data from a single device.

[0108] Another possible implementation method for the perception device to determine the environment in which the terminal is located is that the perception device can obtain environmental information from the processing device of the terminal, and the environmental information is used to indicate the environment in which the terminal is located. The perception device can determine the environment in which the terminal is located based on the environmental information.

[0109] The terminal may be equipped with a processing device, which may be an electronic device with information acquisition and processing capabilities, including but not limited to a computer, a single-chip microcomputer, or an in-vehicle terminal. The processing device may also be a component of an electronic device, such as a processor, microprocessor, chip, or chip system. The processing device may generate environmental information and send the environmental information to the sensing device.

[0110] Exemplarily, the processing device can obtain detection data of one or more sensing devices on the terminal and / or the working status of one or more components of the terminal, and based on the detection data and / or working status, determine the environment in which the terminal is located and generate corresponding environmental information.

[0111] Optionally, the terminal may be configured with a wired or wireless communication interface, through which the processing device may communicate with the Internet to obtain the environmental status of the terminal, and the processing device may generate environmental information based on the weather information obtained. For example, the processing device may obtain the weather forecast (i.e., an example of weather information) for the area where the terminal is currently located through the Internet, and generate environmental information based on the weather forecast. For example, if the processing device obtains the weather forecast for the area where the terminal is currently located through the Internet as rainy, the terminal device generates environmental information indicating that the environment in which the terminal is located is a rainy environment.

[0112] The perception device can determine the environment in which the terminal is located based on the environmental information obtained from the processing device. For example, if the environmental information indicates that the environment in which the terminal is located is a rainy environment, the perception device determines that the environment in which the terminal is located is a rainy environment; or, if the environmental information indicates that the environment in which the terminal is located is an environment close to an obstacle, the perception device determines that the environment in which the terminal is located is an environment close to an obstacle.

[0113] The aforementioned possible implementations for determining the environment can be implemented individually or in combination. For example, the sensing device can obtain the current weather forecast and the operating status of the wipers on the terminal. The sensing device can then determine whether the terminal is in a rainy environment based on the operating status of the wipers and the weather forecast. For example, if the weather forecast indicates that the current weather is rainy and the wiper status information indicates that the wipers are on, the sensing device can determine that the terminal is in a rainy environment.

[0114] Optionally, the processing device may also generate environmental information by combining weather information obtained through the communication interface, detection data from one or more sensing devices, and / or the operating status of one or more other devices on the terminal. For example, the terminal may be a vehicle, and the processing device on the vehicle may obtain the current weather forecast and the operating status of the vehicle's windshield wipers via the internet. The processing device combines the operating status of the wipers and the weather forecast to determine whether the vehicle is in a rainy environment and generate corresponding environmental information.

[0115] In this way, it is possible to avoid incorrectly determining the environment where the terminal is located due to delayed or incorrect weather information being obtained.

[0116] It should be understood that the above method is only an example. This application does not limit the method by which the perception device determines the environment in which the terminal is located. The perception device can also determine the environment in which the terminal is located through other possible methods, which are not listed here one by one.

[0117] Step 402: Based on the environment, determine whether it is necessary to clear any obstruction that may hinder the sensing device from transmitting or receiving signals.

[0118] Based on the environment of the terminal determined by the sensing device, it can be determined whether the environment of the terminal belongs to the preset environment, and then determine whether it is necessary to clear the obstructions that hinder the signals transmitted or received by the sensing device.

[0119] If the environment in which the terminal is located belongs to the preset environment, it can be determined that there is no need to clear the obstruction.

[0120] For example, the preset environments may include a rainy day environment and an environment near an obstacle. In a rainy day environment, the sensing device is blocked by rain. After leaving the rainy day environment, the rain will naturally evaporate and disappear, so there is no need to clear the obstruction. In an environment near an obstacle, the sensing device is blocked by an obstacle. The obstruction disappears after the terminal moves away from the obstacle, so there is no need to clear the obstruction.

[0121] It should be understood that the above description of the preset environment is only an example, and the preset environment in the embodiments of the present application includes but is not limited to this.

[0122] Step 403: Send instruction information, where the instruction information is used to indicate whether the obstruction needs to be cleared.

[0123] After determining whether the obstacle needs to be cleared, the sensing device may generate an instruction message. For example, if the sensing device determines that the obstacle needs to be cleared, the instruction message may be sent to indicate that the obstacle needs to be cleared; if the sensing device determines that the obstacle does not need to be cleared, the instruction message may be sent to indicate that the obstacle does not need to be cleared.

[0124] The sensing device sends an instruction indicating whether an obstruction needs to be cleared. This allows the terminal to prompt the user to remove the obstruction that is blocking the sensing device's signal transmission or reception, allowing the sensing device to restore detection performance and obtain accurate detection results. For example, in a vehicle with autonomous driving mode, based on the instruction sent by the radar, the vehicle's HMI can prompt the user to clear the radar obstruction. This will prompt the user to clear the obstruction, restore accurate radar measurement results, and allow the vehicle to resume autonomous driving mode, thus improving the user experience.

[0125] Optionally, the indication information may further indicate the degree to which the sensing device is blocked by the obstruction. The sensing device may determine the degree to which it is blocked and send indication information indicating the degree to which it is blocked.

[0126] Exemplarily, if the sensing device determines that it is not obscured, the indication information may indicate that it is not obscured; if the sensing device determines that it is partially obscured and determines that the obstruction needs to be cleared, the indication information may indicate that the sensing device is partially obscured and needs to clear the obstruction; if the sensing device determines that it is partially obscured and determines that the obstruction does not need to be cleared, the indication information may indicate that the sensing device is partially obscured and does not need to clear the obstruction; if the sensing device determines that it is fully obscured and determines that the obstruction needs to be cleared, the indication information may indicate that the sensing device is fully obscured and needs to clear the obstruction; if the sensing device determines that it is fully obscured and determines that the obstruction does not need to be cleared, the indication information may indicate that the sensing device is fully obscured and does not need to clear the obstruction.

[0127] In one possible implementation, the sensing device can indicate different information by carrying different values ​​in predefined fields, thereby obtaining the indication information. The correspondence between different values ​​and the information they indicate can be predefined. Table 1 is an example of this correspondence.

[0128] Table 1

[0129] Value meaning 0 does not need to clear the occluder 1 needs to clear the occluder

[0130] It should be understood that the above is only an example, and this application does not limit the correspondence between the predefined numerical values ​​and the indicated information, nor does it limit the specific form of the indication information generated by the sensing device.

[0131] The sensing device may send the above-mentioned instruction information to the processing device. The processing device may be configured on the terminal or may be a separate device from the terminal. After receiving the instruction information, the processing device may output an instruction for prompting the user.

[0132] In some embodiments, the terminal is a vehicle equipped with an HMI (an example of a processing device), the sensing device can send the aforementioned indication information to the HMI, and the HMI can generate instructions for prompting the user based on the indication information.

[0133] In some embodiments, the terminal is installed with an autonomous driving system, and the perception device belongs to the autonomous driving system. The perception device can send the aforementioned indication information to the control unit (another example of a processing device) of the autonomous driving system. After receiving the indication information, the control unit can generate and / or output instructions to prompt the user.

[0134] Based on the above content, the perception device can determine whether the obstruction needs to be cleared according to the environment in which the terminal is located, and send an instruction message to indicate whether the obstruction needs to be cleared, so as to remind the user to clear the obstruction that hinders the perception device from transmitting or receiving signals, thereby avoiding interference with the detection results of the perception device. The detection performance of the perception device can be restored, so that accurate detection results can be obtained, providing support for driving safety, assisting the vehicle's automatic driving, and improving the user experience.

[0135] In some embodiments, the indication information sent by the sensing device may further indicate whether the sensing device is blocked and the degree of blocking.

[0136] Optionally, the sensing device may determine whether it is necessary to clear an obstruction that hinders the sensing device from transmitting or receiving signals based on the environment in which the terminal is located and whether the sensing device is blocked by the obstruction.

[0137] The following examples illustrate several possible implementations of how a sensing device determines whether it is blocked.

[0138] In one possible implementation, the sensing device may be a camera that detects multiple consecutive frames of original images captured by the camera lens within a preset time, identifies areas in the original images with identical or similar pixel values, determines them as target areas, and determines whether the camera lens is obstructed based on the movement of the target areas in the multiple frames of original images. When the target areas in the multiple frames of original images do not move, it can be determined that the camera is obstructed by an obstruction; when the target areas in the multiple frames of original images move, it can be determined that the camera is not obstructed by an obstruction. After determining that the camera is obstructed by an obstruction, the degree of obstruction can be determined based on whether the number of pixels in the target area is within a preset value.

[0139] In another possible implementation, the sensing device may be a radar, which may collect radar echo signals under different degrees of obstruction in the same scene to construct a training data set. The neural network may then be iteratively optimized and trained using the training data set to obtain a trained neural network. The real-time radar echo signal may then be tested based on the trained neural network to obtain radar obstruction degree data. The radar obstruction degree data may be compared with a predefined data value to determine whether the radar is obstructed or to determine the degree to which the radar is obstructed.

[0140] In another possible implementation, the sensing device may be a radar, which may determine whether the radar is blocked based on the strength of the echo signal received within a predefined time after the radar transmits the signal. If the strength of the echo signal is greater than a predefined strength threshold, it is determined that the radar is blocked by an obstruction; if it is less than the strength threshold, it is determined that the radar is not blocked.

[0141] In some embodiments, the sensing device may also determine the degree to which it is obscured by an obstruction by combining data from other sensing devices.

[0142] Regarding the specific implementation method of the sensing device determining whether it is blocked and the degree of blockage, you can also refer to other implementation methods in the prior art. The above examples are only shown for ease of understanding and should not constitute any limitation to this application.

[0143] For example, a sensing device may characterize the degree of its own obstruction through multiple levels of obstruction (hereinafter referred to as levels). For example, the degree of obstruction may be divided into two levels: no obstruction and obstruction; or three levels: no obstruction, partial obstruction, and severe obstruction; or four levels: no obstruction, slight obstruction, severe obstruction, and complete obstruction; or any other predefined levels representing different degrees of obstruction, which are not limited in this application.

[0144] It should be understood that the levels of obstruction are not limited to those listed above. The degree of obstruction can also be directly represented by different levels, such as from low to high, with the degree of obstruction becoming increasingly severe. For example, "Level 1" represents "no obstruction," "Level 2" represents "partial obstruction," and "Level 3" represents "complete obstruction." For another example, "Level 1" represents "no obstruction," "Level 2" represents "slight obstruction," "Level 3" represents "severe obstruction," and "Level 4" represents "complete obstruction." And so on, and no further examples are listed here.

[0145] In addition, this application does not limit the execution order of the perception device to determine the environment and the degree of occlusion.

[0146] In a possible implementation, the sensing device may first determine the environment in which the terminal is located, and then detect the degree to which the terminal is blocked by the obstruction.

[0147] For example, the sensing device can detect the environment in which the terminal is located in real time. After determining that the environment in which the terminal is located does not fall within a preset environment, the sensing device can detect the degree to which the terminal is obscured by the obstruction. After determining that the degree of obstruction is obscured, the sensing device determines that the obstruction needs to be processed. After determining that the environment in which the terminal is located falls within the preset environment, the sensing device can determine that the obstruction does not need to be processed, and thus can temporarily not detect the degree to which the terminal is obscured by the obstruction.

[0148] The sensing device first determines the environment in which the terminal is located, and can determine whether it needs to detect the degree to which it is obscured by obstructions based on the environment in which the terminal is located. When the environment in which the terminal is located belongs to the preset environment, occlusion detection is not required, which can save processing resources.

[0149] In another possible implementation, the sensing device may first detect the degree to which it is obscured by the obstruction, and after determining that the obstruction degree is obscured, determine whether the environment in which the terminal is located is a preset environment and whether the obstruction needs to be cleared.

[0150] Exemplarily, the sensing device can detect in real time the degree to which it is obscured by an obstruction. After confirming that it is obscured by the obstruction, it detects the environment in which the terminal is located. When it determines that the terminal is in a preset environment, the sensing device determines that the obstruction does not need to be cleared. When the sensing device confirms that it is obscured by an obstruction and determines that the terminal is not in a preset environment, the sensing device determines that the obstruction needs to be cleared.

[0151] When the sensing device determines that the occlusion degree is not blocked by the obstruction, it is determined that the obstruction does not need to be cleared. At this time, the sensing device may not detect the environment in which the terminal is located.

[0152] It should be understood that the order in which the sensing device detects the degree to which it is blocked by the obstruction and the sensing device detects the environment in which the terminal is located can be interchanged or performed simultaneously, and this application does not limit this.

[0153] After the sensing device determines the degree of obstruction and whether the obstruction needs to be cleared, it can generate indication information. For example, the sensing device can carry different values ​​in predefined fields to indicate different information, thereby obtaining the indication information. The field used to indicate the degree of obstruction and the aforementioned field used to indicate whether the obstacle needs to be cleared can be the same field or different fields.

[0154] The following shows several examples of using the same field to indicate the degree of obstruction and whether obstacles need to be cleared.

[0155] If the same field is used to indicate the degree of occlusion and whether obstacles need to be cleared, the aforementioned correspondence can be expanded to pre-define the correspondence between more different values ​​and the information they indicate.

[0156] Table 2 is another example of the corresponding relationship.

[0157] Table 2

[0158] Value meaning 00 No occlusion 01 Partial occlusion - no need to clear the occlusion 02 Full occlusion - no need to clear the occlusion 11 Partial occlusion - need to clear the occlusion

[0159] 12 All blocked - need to clear the blockage

[0160] In the corresponding relationship shown in Table 2, the occlusion degree includes three levels: no occlusion, partial occlusion, and complete occlusion.

[0161] Table 3 is another example of the corresponding relationship.

[0162] Table 3

[0163] Numerical meaning: 00 No occlusion 01 Slight occlusion - No need to clear the occlusion 02 Severe occlusion - No need to clear the occlusion 03 Complete occlusion - No need to clear the occlusion 11 Slight occlusion - Requires occlusion clearing 12 Severe occlusion - Requires occlusion clearing 13 Complete occlusion - Requires occlusion clearing

[0164] In the corresponding relationship shown in Table 3, the occlusion degree includes four levels: no occlusion, slight occlusion, severe occlusion and complete occlusion.

[0165] It should be understood that the occlusion degree can include any number of levels, and the corresponding relationship can also be expanded accordingly, which will not be repeated here.

[0166] In other embodiments, the degree of obstruction of the sensing device and whether the obstruction needs to be cleared can also be indicated in two indication messages. The two indication messages can be carried by the same signaling or by different signaling messages. This application does not limit this.

[0167] Based on the above solution, by indicating whether the sensing device is obscured and the degree of obscuration, the terminal can make reasonable decisions. For example, a vehicle with autonomous driving capabilities can adjust different driving levels based on different degrees of obscuration. Different obscuration levels can also facilitate the user's selection of handling methods. For example, for low obscuration levels, although a prompt may be prompted to handle the obstruction, the user can also choose whether to handle it immediately. Therefore, this indication information can provide richer information, facilitate the terminal to make more reasonable decisions, and greatly enhance the user experience.

[0168] For ease of understanding, the method provided in the embodiment of the present application is described below with reference to FIG5 , using a radar (an example of a sensing device) as the execution subject. The radar may be a radar configured on a vehicle having an autonomous driving function, and the radar may be used to assist the vehicle in autonomous driving.

[0169] As shown in Figure 5, to ensure the safety of autonomous driving, radar can perform real-time occlusion detection on the raw data it acquires and determine the degree of obstruction. For example, the radar can test the real-time echo signal based on a predefined neural network to obtain occlusion data, and compare this occlusion data with predefined data values ​​to determine the degree of obstruction. The degree of obstruction determined by the radar can be one of a predefined obstruction level hierarchy.

[0170] The predefined levels may include three levels: unoccluded, partially occluded, and fully occluded.

[0171] When the radar determines that the degree of obstruction is not obstructed, an indication message may be sent to indicate that the radar is not obstructed. The indication message may be represented by a value of "00".

[0172] When the radar determines that the degree of obstruction is partially or completely obstructed, the radar can determine the environment of the vehicle and determine whether the obstruction needs to be cleared based on the environment. The method for determining the environment of the vehicle by the radar is as described in step 401 and will not be repeated here.

[0173] After the radar determines that the environment in which the vehicle is located belongs to the preset environment, the radar can determine that there is no need to clear the obstruction.

[0174] If the radar obstruction degree is partially obstructed, an indication message may be sent to indicate that the radar is partially obstructed and that the obstruction does not need to be cleared. The indication message may be represented by a value of "01".

[0175] If the radar obstruction level is completely blocked, an indication message may be sent to indicate that the radar is completely blocked and that there is no need to clear the obstruction. The indication message may be represented by a value of "02".

[0176] After the radar determines that the environment in which the vehicle is located does not belong to the preset environment, the radar can determine that the obstruction needs to be cleared.

[0177] If the radar obstruction level is partially obstructed, an indication message may be sent indicating that the radar is partially obstructed and that the obstruction needs to be cleared. The indication message may be represented by a value of "11".

[0178] If the radar obstruction level is completely blocked, an indication message may be sent to indicate that the radar is completely blocked and that the obstruction needs to be cleared. The indication message may be represented by a value of "12".

[0179] Specifically, if the vehicle is in rainy conditions, as shown in Figure 6, the radar will be obscured by the rain. However, the rain will naturally disappear after the vehicle leaves the rainy conditions, eliminating the need to clear the obstruction. The radar can perform obstruction detection, as shown in Figure 7. If the radar determines that it is obscured by an obstruction during obstruction detection and determines that the vehicle's environment is rainy, the radar will transmit an indication that clearing the obstruction is not necessary.

[0180] If the vehicle is near an obstacle, as shown in Figure 8, the radar will be blocked by the obstacle. However, after the vehicle moves away from the obstacle, the obstruction caused by the obstacle will disappear, so there is no need to clear the obstruction. The radar can perform obstruction detection, as shown in Figure 9. During obstruction detection, the radar determines that it is blocked by an obstruction and determines that the vehicle is near an obstacle. The radar then sends an indication that it does not need to clear the obstruction.

[0181] The radar can determine whether obstructions need to be cleared based on the vehicle's surroundings and send corresponding instructions. This allows the user to receive suggestions for clearing obstructions, making it easier for the user to determine whether clearing obstructions is necessary. In situations where clearing obstructions is not necessary, the user can opt out of doing so. In situations where clearing obstructions is necessary, the user can choose to do so, improving the user experience. Once the user clears the obstruction based on the instructions, the radar can restore detection performance, allowing the vehicle to resume autonomous driving functionality in a timely manner.

[0182] It should be understood that the method shown in FIG5 is merely an example of the present application and cannot be construed as limiting the present application.

[0183] The above describes the information indication method provided by the embodiment of the present application in conjunction with the accompanying drawings. Next, the information processing method provided by the embodiment of the present application is described in conjunction with FIG10 .

[0184] The method shown in FIG10 may be executed by a processing device or by components within the processing device (such as a chip, a chip system, or a processor, etc.), and this application does not limit this.

[0185] The following is merely an example, and the method provided in the embodiment of the present application is described using a processing device as the execution subject.

[0186] The method 1000 shown in FIG10 includes step 1001 and step 1002 , which are described in detail below.

[0187] Step 1001: Receive instruction information, where the instruction information is used to indicate whether it is necessary to clear an obstruction that hinders the sensing device from transmitting or receiving signals.

[0188] Optionally, the indication information received by the processing device may further indicate the degree to which the sensing device is blocked by the blocking object.

[0189] It should be understood that the indication information received by the processing device corresponds to the indication information sent by the sensing device in method 400. The content indicated by the indication information and the form of the indication information have been described in detail in method 400 and will not be repeated here.

[0190] Step 1002: output an instruction based on the instruction information, where the instruction is used to indicate whether the obstruction needs to be cleared.

[0191] The processing device can process the indication information, generate instructions, and output the instructions through an output device. The output device can be configured on the terminal or can be an output device separate from the terminal. The output device includes but is not limited to a display screen or a speaker.

[0192] In one possible implementation, after receiving the indication information, the processing device may match the content indicated by the indication information in a predefined database and generate an instruction indicating the corresponding content, which may be output on an output device.

[0193] Optionally, the instructions generated by the processing device may be text instructions.

[0194] Exemplarily, the processing device may be an HMI of a vehicle, and the received indication information may be a numerical value as shown in Table 2. After receiving the indication information, the HMI may match the meaning corresponding to the numerical value in a predefined database, generate a corresponding text instruction, and display the text instruction on a display screen.

[0195] Optionally, the instruction generated by the processing device may be a voice instruction.

[0196] Exemplarily, the processing device may be the MCU of the vehicle, and the received indication information may be a numerical value as shown in Table 2. After receiving the indication information, the MCU may match the meaning corresponding to the numerical value in a predefined database, generate a corresponding voice instruction, and play the voice instruction through the vehicle's speaker.

[0197] It should be understood that this application does not limit the specific form of the instructions generated by the processing device, nor does it limit the form or number of output devices. The instructions output by the output device may include, but are not limited to, text, sound, or images. For example, information indicating the degree of obstruction may be output in the form of a predefined image representing a percentage or text, and information indicating whether the obstruction needs to be cleared may be output in the form of a predefined symbol.

[0198] After the instruction information is processed, it can be output in a form that is easy for users to understand. Users can easily judge whether it is necessary to clear obstructions that hinder the transmission or reception of signals by the sensing device based on the output instructions, which can improve the user experience.

[0199] Based on the above content, the perception device can determine whether it is necessary to clear the obstruction according to the environment in which the terminal is located, and output instruction information to indicate whether it is necessary to clear the obstruction. The processing device can output the instruction information in the form of instructions that are easy for the user to understand. In this way, the user can easily determine whether it is necessary to clear the obstruction according to the instruction. In an environment where the obstruction does not need to be cleared, the user can know that it is not necessary to clear the obstruction, which can improve the user experience. When it is necessary to clear the obstruction, the user can know the information through the instruction and clear the obstruction, thereby avoiding interference with the detection results of the perception device. The detection performance of the perception device can be restored, so that accurate detection results can be obtained, providing support for driving safety, assisting the automatic driving of the vehicle, and improving the user experience.

[0200] Furthermore, after receiving the indication information, the processing device can also determine the processing strategy and control the processing behavior. For example, the terminal can be a vehicle with multiple autonomous driving levels, and the processing device can be the MCU in the vehicle's autonomous driving system. After receiving the indication information sent by the perception device, the MCU can choose to lower or raise the autonomous driving level based on the degree of obstruction indicated by the indication information. This can make the vehicle's autonomous driving function more intelligent and improve the user experience.

[0201] For another example, the terminal may be an intelligent robot, and the processing device may be a processor configured on the intelligent robot. Upon receiving an instruction from the sensing device indicating that an obstruction obstructing the sensing device from transmitting or receiving signals needs to be cleared, the processor may control components of the intelligent robot to clear the obstruction. In this way, the terminal can accurately determine and automatically clean obstructions, thereby improving the user experience.

[0202] The method provided in the embodiment of the present application is described in detail above in conjunction with Figures 4 to 10 , and the related devices provided in the embodiment of the present application are described in detail below in conjunction with Figures 11 to 14 .

[0203] FIG11 is a schematic block diagram of a sensing device according to an embodiment of the present application, which can be configured on a terminal and, through the components it contains, can execute the method shown in FIG4. As shown in FIG11, the sensing device 1100 can include a processing module 1101 and a sending module 1102.

[0204] Among them, the processing module 1101 is used to determine the environment in which the terminal is located; the processing module 1101 is also used to determine whether it is necessary to clear the obstructions that hinder the sensing device 1100 from transmitting or receiving signals based on the environment; the sending module 1102 is used to send indication information, which is used to indicate whether it is necessary to clear the obstructions.

[0205] Optionally, the processing module 1101 is specifically configured to determine, when the sensing device 1100 is blocked, whether it is necessary to clear the blocking object that hinders the sensing device 1100 from transmitting or receiving signals based on the environment in which the terminal is located.

[0206] The processing module 1101 of the sensing device 1100 may also be configured to determine the degree to which the sensing device is obscured by the obstruction, which may indicate whether the sensing device is obscured by the obstruction. Alternatively, the sensing device 1100 may include a second processing module configured to determine the degree to which the sensing device is obscured by the obstruction.

[0207] Optionally, the processing module 1101 is specifically configured to determine the environment in which the terminal is located when the sensing device 1100 is blocked by an obstruction.

[0208] Optionally, the above indication information is further used to indicate the degree to which the sensing device is blocked by the blocking object.

[0209] Optionally, the above indication information may be used to indicate one of the following:

[0210] The sensing device is not blocked;

[0211] The sensing device is partially blocked and the blocking object needs to be cleared;

[0212] The sensing device is partially blocked, and there is no need to clear the blocking object;

[0213] The sensing device is completely blocked and the blocking object needs to be cleared; or

[0214] The sensing device is completely blocked, and there is no need to clear the blocking object.

[0215] Optionally, the terminal is a vehicle, and the vehicle is equipped with an HMI. The sending module 1102 is specifically used to send the indication information to the HMI, and the indication information is used for the HMI to generate an instruction for prompting the user.

[0216] Optionally, the perception device 1100 belongs to the autonomous driving system of the terminal, and the sending module 1102 is specifically used to send the above-mentioned indication information to the control unit of the autonomous driving system.

[0217] Optionally, the processing module 1102 is specifically configured to, when the environment in which the terminal is located is a preset environment, determine that it is not necessary to clear an obstruction that hinders the sensing device 1100 from transmitting or receiving signals.

[0218] Optionally, the above-mentioned preset environment may include a rainy day environment; the processing module 1102 is further used to determine that the environment in which the terminal is located is a rainy day environment according to the weather forecast and / or the working status of the wiper.

[0219] Optionally, the above-mentioned preset environment may include an environment where the terminal is parked near an obstacle, and the terminal may be configured with one or more sensing devices; the processing module 1102 is also used to determine that the environment where the terminal is located is an environment where the terminal is parked near an obstacle based on the perception information of the environment by one or more sensing devices.

[0220] Optionally, the sensing device 1100 is a radar.

[0221] Figure 12 is another schematic block diagram of a sensing device provided in an embodiment of the present application. This sensing device 1200 can be configured on a terminal and can be used to implement the functions of the sensing device in the above method embodiment. This sensing device 1200 can be a radar or a component configured in a radar, such as a chip system. In the embodiment of the present application, the chip system can be composed of a chip or include a chip and other discrete devices.

[0222] As shown in FIG12 , the sensing device 1200 may include at least one processor to implement the functions of the sensing device in the method provided in the embodiment of the present application.

[0223] When the device 1200 is used to implement the function of the sensing device in the method provided in the embodiment of the present application, the processor 1201 can be used to determine the environment in which the terminal is located, and can also be used to determine whether it is necessary to clear obstructions that hinder the sensing device 1200 from transmitting or receiving signals based on the environment.

[0224] The sensing device 1200 further includes an interface 1203 , and the processor 1201 may utilize the interface 1203 to send and receive data and / or information, and to implement the method executed by the sensing device in the embodiment corresponding to FIG. 4 .

[0225] The sensing device 1200 may also include at least one memory 1202 for storing program instructions and / or data. The memory 1202 is coupled to the processor 1201. The coupling in the embodiments of the present application is an indirect coupling or communication connection between devices, units, or modules, which can be electrical, mechanical, or other forms, and is used for information exchange between devices, units, or modules. The processor 1201 can operate in conjunction with the memory 1202, and the processor 1201 can execute program instructions stored in the memory 1202. The memory 1202 can also be located in the processor 1201.

[0226] Figure 13 is a schematic block diagram of a processing device in an embodiment of the present application. The processing device, through its components, can execute the method shown in Figure 10. As shown in Figure 13, the processing device 1300 may include a receiving module 1301 and an output module 1302.

[0227] Among them, the receiving module 1301 is used to receive indication information, which is used to indicate whether it is necessary to clear the obstruction that hinders the sensing device from transmitting or receiving signals. The sensing device here can correspond to the sensing device in the above method embodiment, for example, it can be the above-mentioned sensing device 1100 or sensing device 1200; the output module 1302 is used to output instructions based on the indication information, and the instructions are used to indicate whether it is necessary to clear the obstruction.

[0228] Optionally, the above-mentioned indication information is also used to indicate the degree to which the sensing device is blocked by the blocking object, and the above-mentioned instruction is also used to indicate the degree to which the sensing device is blocked by the blocking object.

[0229] Optionally, the above-mentioned instruction is a text instruction, and the output module 1302 is specifically configured to generate the text instruction based on the instruction information; and display the text instruction on a display screen. It should be understood that the processing device 1300 can be configured with a display screen, and the output module 1302 can output the text instruction on the display screen; or the output module can output the text instruction on a display screen independent of the processing device.

[0230] Optionally, the above-mentioned instruction is a language instruction, and the output module 1302 is specifically configured to generate the voice instruction based on the instruction information and play the voice instruction through a speaker. It should be understood that the processing device 1300 can be configured with a speaker, and the output module 1302 can output the voice instruction through the speaker; or the output module can output the voice instruction through a speaker independent of the processing device.

[0231] FIG14 is another schematic block diagram of a processing device provided in an embodiment of the present application. The processing device 1400 may be configured on a terminal. The processing device 1400 may be used to implement the functions of the processing device in the above method embodiment.

[0232] As shown in Figure 14, the processing device 1400 may include a processor 1401 and an interface 1403. The processor 1401 may control the interface 1403 to implement the functions of the processing device in the method provided in the embodiment of the present application. For example, the processor 1401 may control the interface 1403 to receive instruction information and output an instruction based on the instruction information.

[0233] The processing device 1400 may also include at least one memory 1402 for storing program instructions and / or data. The memory 1402 is coupled to the processor 1401. The processor 1401 and the memory 1402 may operate in conjunction with each other, and the processor 1401 may execute program instructions stored in the memory 1402. The memory 1402 may also be located within the processor 1401.

[0234] It should be understood that the division of modules in the embodiments of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation. For example, the sensing device 1100 may include two processing modules, one of which is used to determine the environment in which the terminal is located, and the other is used to determine whether it is necessary to clear obstructions that hinder the sensing device from transmitting or receiving signals. In addition, the functional modules in the various embodiments of the present application can be integrated into one processor, or can exist physically separately, or two or more modules can be integrated into one module. The above-mentioned integrated modules can be implemented in the form of hardware or in the form of software functional modules.

[0235] An embodiment of the present application further provides a radar, comprising a memory and a processor; wherein the memory is used to store program code; and the processor is used to call the program code to implement the method in the embodiment shown in FIG4 .

[0236] The embodiment of the present application further provides an autonomous driving system, which includes the aforementioned perception device. Optionally, the autonomous driving system may also include the aforementioned processing device.

[0237] The present application also provides a terminal device, which includes the aforementioned sensing device and processing device. Alternatively, the terminal device includes the aforementioned autonomous driving system. Optionally, the terminal device is a vehicle.

[0238] The present application also provides a chip system, which includes at least one processor for implementing the functions involved in the method executed by the perception device in the embodiment shown in Figure 4 above, or implementing the functions involved in the method executed by the processing device in the embodiment shown in Figure 10 above, for example, receiving or processing the data and / or information involved in the above method.

[0239] In one possible design, the chip system further includes a memory, which is used to store program instructions and data, and the memory is located inside or outside the processor.

[0240] The present application also provides a computer program product, which includes: a computer program (also referred to as code, or instructions), which, when executed, enables a computer to execute the method executed by the perception device or the method executed by the processing device in the above-mentioned embodiment.

[0241] The present application also provides a computer-readable storage medium storing a computer program (also referred to as code or instructions). When the computer program is executed, the computer executes the method executed by the sensing device or the method executed by the processing device in the above-mentioned embodiment.

[0242] It should be noted that the processor in the embodiment of the present application can be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method embodiment can be completed by hardware integrated logic circuits in the processor or software instructions.

[0243] The processor may be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, or any combination thereof. The general-purpose processor may be a microprocessor or any conventional processor.

[0244] The memory in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct RAM bus RAM (DR RAM). It should be noted that the memory of the methods and apparatus described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0245] The methods provided in the above embodiments can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, they can be implemented in whole or in part in the form of a computer program product. The computer program product may include one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media integrated therein. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic disk), an optical medium (e.g., a compact disc (CD), a digital versatile disc (DVD)), or a semiconductor medium (e.g., a solid state disk (SSD)).

[0246] Those skilled in the art will appreciate that the modules and method steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0247] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and modules described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0248] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the modules is merely a logical function division. In actual implementation, there may be other division methods, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0249] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0250] In addition, the functional modules in the various embodiments of the present application may be integrated into one processing unit, or each module may exist physically separately, or two or more modules may be integrated into one unit.

[0251] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory, a random access memory, a magnetic disk, or an optical disk.

[0252] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. An information indication method, characterized in that: Applied to a sensing device, the sensing device being configured in a terminal, the method comprising: determining an environment in which the terminal is located; Based on the environment, determining whether it is necessary to clear an obstruction that hinders the sensing device from transmitting or receiving signals; Sending instruction information, where the instruction information is used to indicate whether the obstruction needs to be cleared.

2. The method according to claim 1, wherein The determining, based on the environment, whether it is necessary to clear an obstruction that hinders the sensing device from transmitting or receiving a signal includes: In the case that the sensing device is blocked, it is determined based on the environment whether it is necessary to clear the blocking object that hinders the sensing device from transmitting or receiving signals.

3. The method according to claim 2, wherein The determining the environment in which the terminal is located includes: When the sensing device is blocked by the blocking object, the environment in which the terminal is located is determined.

4. The method according to any one of claims 1 to 3, characterized in that The indication information is further used to indicate the extent to which the sensing device is blocked by the blocking object.

5. The method according to claim 4, wherein The indication information is used to indicate one of the following: The sensing device is not blocked; The sensing device is partially blocked and the blocking object needs to be cleared; The sensing device is partially blocked, and there is no need to clear the blocking object; The sensing device is completely blocked and the blocking object needs to be cleared; or The sensing device is completely blocked, and there is no need to clear the blocking object.

6. The method according to any one of claims 1 to 5, characterized in that The terminal is a vehicle, and the vehicle is equipped with a human-machine interface HMI; The sending instruction information includes: The instruction information is sent to the HMI, where the instruction information is used by the HMI to generate an instruction for prompting a user.

7. The method according to any one of claims 1 to 5, characterized in that The sensing device belongs to the autonomous driving system of the terminal; The sending instruction information includes: The instruction information is sent to a control unit of the automatic driving system.

8. The method according to any one of claims 1 to 7, characterized in that The determining, based on the environment, whether it is necessary to clear an obstruction that hinders the sensing device from transmitting or receiving a signal includes: When the environment belongs to the preset environment, it is determined that there is no need to clear the obstruction that hinders the sensing device from transmitting or receiving signals.

9. The method according to claim 8, wherein The preset environment includes a rainy day environment; The method further comprises: According to the weather forecast and / or the working status of the wiper, it is determined that the environment in which the terminal is located is a rainy environment.

10. The method according to claim 8, wherein The preset environment includes an environment where the terminal is parked near an obstacle, and the terminal is configured with one or more sensing devices; The method further comprises: Based on the perception information of the environment by the one or more perception devices, it is determined that the environment in which the terminal is located is an environment in which the terminal is parked near an obstacle.

11. An information processing method, characterized in that: The method comprises: receiving instruction information, the instruction information being used to indicate whether it is necessary to clear an obstruction that hinders the sensing device from transmitting or receiving signals; An instruction is output based on the instruction information, where the instruction is used to indicate whether the obstruction needs to be cleared.

12. The method according to claim 11, wherein The indication information is further used to indicate the degree to which the sensing device is blocked by the blocking object, and the instruction is further used to indicate the degree to which the sensing device is blocked by the blocking object.

13. The method according to claim 11 or 12, wherein: The instruction is a text instruction, and the outputting of the instruction based on the instruction information includes: generating the text instruction based on the instruction information; The text instruction is displayed on a display screen.

14. The method according to claim 11 or 12, wherein: The instruction is a voice instruction, and the outputting of the instruction based on the instruction information includes: generating the voice instruction based on the instruction information; The voice command is played through a speaker.

15. A sensing device, characterized in that: The sensing device is configured in the terminal, and the sensing device includes: a processing module, configured to determine an environment in which the terminal is located; and further configured to determine, based on the environment, whether it is necessary to clear an obstruction that hinders the sensing device from transmitting or receiving signals; The sending module is used to send instruction information, where the instruction information is used to indicate whether the obstruction needs to be cleared.

16. The sensing device according to claim 15, wherein: The sensing device is a radar.

17. A processing device, characterized in that include: A receiving module, configured to receive instruction information, wherein the instruction information is used to indicate whether it is necessary to clear an obstruction that hinders the sensing device from transmitting or receiving signals; An output module is used to output an instruction based on the instruction information, where the instruction is used to indicate whether the obstruction needs to be cleared.

18. An automatic driving system, characterized in that: Comprising a sensing device as claimed in claim 15 or 16.

19. A terminal device, characterized in that: The method comprises the sensing device according to claim 15 or 16, and the processing device according to claim 17.

20. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed, the method according to any one of claims 1 to 14 is performed.

21. A computer program product, characterized in that A computer program is included which, when executed, causes the method according to any one of claims 1 to 14 to be performed.

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