Radar control method and device, electronic equipment and storage medium

Abstract

The invention provides a radar control method and device, electronic equipment and a storage medium, and a radar is installed on a vehicle in a manner that a horizontal azimuth angle can be adjusted. The radar control method comprises the following steps: acquiring driving information of a vehicle in real time; when it is judged that a preset first condition is met based on the driving information of the vehicle, the horizontal azimuth angle of the radar is adjusted based on the driving information of the vehicle so as to adjust the detection angle range of the radar; after the horizontal azimuth angle of the radar is adjusted, when it is judged that a preset second condition is met based on the driving information of the vehicle, the horizontal azimuth angle of the radar is returned to the initial state.

Description

Technical Field

[0001] The present disclosure relates to the field of autonomous driving technology, and in particular to a radar control method, device, electronic device and storage medium. Background Art

[0002] In recent years, autonomous driving and assisted driving technologies have shown a booming momentum. Vehicle autonomous driving systems and assisted driving systems usually use a variety of sensors to obtain information about the surrounding environment, including cameras, lidar, millimeter-wave radar, ultrasonic sensors, and GPS.

[0003] The left front corner millimeter wave radar and the right front corner millimeter wave radar of the vehicle are generally arranged behind the left and right front bumpers of the vehicle. They need to take into account the detection of targets in the front and side areas. Therefore, the angle between the normal direction of the radar and the direction of vehicle travel is often set between 45° and 60°. However, in this case, there will be a detection blind spot in the area from the A-pillar to the C-pillar close to the vehicle body, and the longer the wheelbase and the longer the body of the vehicle, the larger the blind spot area. There are risks in the detection of pedestrians and non-motorized vehicles, which can easily cause collisions and accidents in narrow sections. Summary of the invention

[0004] The present disclosure is completed to solve the above-mentioned problems, and its purpose is to provide a radar control method, device, electronic device and storage medium, which can reduce the side detection blind spot of the vehicle without adding a side radar of the vehicle, thereby reducing the risk of collision.

[0005] According to one aspect of the present disclosure, a radar control method is provided, wherein the radar is installed on a vehicle in a manner in which the horizontal azimuth angle is adjustable, and the radar control method includes: acquiring driving information of the vehicle in real time; when it is determined that a preset first condition is met based on the driving information of the vehicle, adjusting the horizontal azimuth angle of the radar based on the driving information of the vehicle to adjust the detection angle range of the radar; and after adjusting the horizontal azimuth angle of the radar, when it is determined that a preset second condition is met based on the driving information of the vehicle, returning the horizontal azimuth angle of the radar to an initial state.

[0006] Preferably, the driving information of the vehicle includes: a steering wheel angle signal of the vehicle.

[0007] Preferably, the preset first condition is that the absolute value of the steering wheel angle is greater than a preset angle threshold.

[0008] Preferably, the radar includes a left radar installed on the left front of the vehicle and a right radar installed on the right front of the vehicle. When it is determined based on the driving information of the vehicle that a preset first condition is met, the horizontal azimuth angle of the radar is adjusted based on the driving information of the vehicle to adjust the detection angle range of the radar, including: when it is determined based on the steering wheel angle signal that the absolute value of the steering wheel angle is greater than a preset angle threshold, determining whether the steering wheel is turning left or right according to the steering wheel angle signal; and when the steering wheel turns left, adjusting the horizontal azimuth angle of the left radar, and when the steering wheel turns right, adjusting the horizontal azimuth angle of the right radar.

[0009] Preferably, when the steering wheel turns left, the horizontal azimuth angle of the left radar is adjusted, and when the steering wheel turns right, the horizontal azimuth angle of the right radar is adjusted. When the steering wheel turns left, the horizontal azimuth angle of the left radar is adjusted to deflect toward the inside of the corresponding turning radius by a preset deflection angle, and when the steering wheel turns right, the horizontal azimuth angle of the right radar is adjusted to deflect toward the inside of the corresponding turning radius by the preset deflection angle.

[0010] Preferably, the preset deflection angle is 30°.

[0011] Preferably, the second preset condition is that the steering wheel returns to the center position.

[0012] Preferably, the vehicle further comprises at least one adjustment bracket, each of the adjustment brackets is used to mount a corresponding radar on the body of the vehicle, and the horizontal azimuth angle of the radar is adjusted by setting the horizontal rotation angle of the at least one adjustment bracket.

[0013] According to another aspect of the present disclosure, a radar control device is provided, wherein the radar is installed on a vehicle in a manner in which the horizontal azimuth angle is adjustable, and the radar control device includes: an acquisition module, for acquiring the driving information of the vehicle in real time; an adjustment module, for adjusting the horizontal azimuth angle of the radar based on the driving information of the vehicle, when it is determined that a preset first condition is met based on the driving information of the vehicle, so as to adjust the detection angle range of the radar; and a return module, for returning the horizontal azimuth angle of the radar to an initial state after adjusting the horizontal azimuth angle of the radar, when it is determined that a preset second condition is met based on the driving information of the vehicle.

[0014] According to another aspect of the present disclosure, an electronic device is provided, comprising a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded by the processor and executes the method described in the above aspect.

[0015] According to another aspect of the present disclosure, a computer storage medium is provided, wherein at least one instruction or at least one program is stored in the storage medium, and the at least one instruction or the at least one program is loaded by a processor and executes the method according to the above aspect of claim 1. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings exemplarily illustrate the embodiments and constitute a part of the specification, and together with the text description of the specification, are used to explain the exemplary implementation of the embodiments. The embodiments shown are for illustrative purposes only and do not limit the scope of the claims. In all drawings, the same reference numerals refer to similar but not necessarily identical elements.

[0017] Figure 1 A schematic diagram of a flow chart of a radar control method provided by an embodiment of the present disclosure is shown;

[0018] Figure 2 A schematic diagram showing the principle of adjusting the radar horizontal azimuth angle according to an embodiment of the present disclosure is shown;

[0019] Figure 3 A structural block diagram of a radar control device provided by an embodiment of the present disclosure is shown;

[0020] Figure 4 A structural block diagram of an electronic device provided by an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0021] The present disclosure is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It should also be noted that, for ease of description, only the parts related to the relevant invention are shown in the accompanying drawings.

[0022] The terms used herein are only used to describe specific embodiments and are not intended to limit the present disclosure. As used herein, the singular forms "a", "an" and "the" are also intended to include the plural forms, unless the context clearly indicates otherwise. It will also be understood that when the terms "comprising" and / or "made of" are used in this specification, the presence of the features, wholes, steps, operations, elements and / or components is specified, but the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or groups thereof is not excluded.

[0023] The embodiments described herein may be described with reference to plan views and / or cross-sectional views by means of idealized schematic diagrams of the present disclosure. Therefore, the example illustrations may be modified according to manufacturing techniques and / or tolerances. Therefore, the embodiments are not limited to the embodiments shown in the accompanying drawings, but include modifications of the configurations formed based on the manufacturing process. Therefore, the regions illustrated in the accompanying drawings have schematic properties, and the shapes of the regions shown in the figures illustrate the specific shapes of the regions of the elements, but are not intended to be limiting.

[0024] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and the present disclosure, and will not be interpreted as having an idealized or overly formal meaning unless explicitly defined as such herein.

[0025] In the embodiment of the present disclosure, the vehicle 1 may include a sensor for sensing the surrounding environment. The sensor may include one or more of the following sensors: a visual camera, an infrared camera, an ultrasonic sensor, a millimeter wave radar, and a laser radar (LiDAR). Different sensors may provide different detection accuracy and range. The camera may be installed in front, rear, or other positions of the vehicle. The visual camera may capture the situation inside and outside the vehicle in real time and present it to the driver and / or passengers. In addition, by analyzing the images captured by the visual camera, information such as traffic light indications, intersection conditions, and the operating status of other vehicles may be obtained. The infrared camera may capture objects under night vision conditions. Ultrasonic sensors may be installed around the vehicle to measure the distance of objects outside the vehicle from the vehicle using the characteristics of strong ultrasonic directionality. The millimeter wave radar may be installed in front, rear, or other positions of the vehicle to measure the distance of objects outside the vehicle from the vehicle using the characteristics of electromagnetic waves. The laser radar may be installed in front, rear, or other positions of the vehicle to detect object edges and shape information, thereby performing object recognition and tracking.

[0026] The front-corner millimeter-wave radar is generally arranged behind the left and right front bumpers of the vehicle 1, and needs to take into account the detection of targets in the front and side areas. However, there will be a detection blind spot in the area close to the vehicle body from the A-pillar to the C-pillar. And the longer the wheelbase of the vehicle and the longer the body, the larger the blind spot area. Especially for trucks / large trucks (trailers), due to the long wheelbase, when turning, there is a difference between the turning radius of the front wheel and the turning radius of the inner rear wheel (i.e., the inner wheel difference). The longer the body, the larger the inner wheel difference, the larger the blind spot formed, and the vehicles and pedestrians in the blind spot cannot be detected, which is easy to cause collisions and accidents.

[0027] The present disclosure provides a radar control method and a control device for a vehicle front corner millimeter wave radar that rotates horizontally as the vehicle turns, so as to reduce the vehicle side detection blind area and thus reduce the risk of collision.

[0028] Figure 1 A flow chart of the radar control method provided by an embodiment of the present disclosure is shown. Among them, the radar is installed on the vehicle in a manner that the horizontal azimuth angle is adjustable. This specification provides method operation steps such as the embodiments or flow charts, but more or fewer operation steps may be included based on conventional or non-creative labor. The order of steps listed in the embodiments is only one way of executing the order of many steps and does not represent the only execution order. When the system or server product is executed in practice, it can be executed in the order of the methods shown in the embodiments or the drawings or in parallel (for example, in a parallel processor or multi-threaded processing environment).

[0029] S101: Acquire driving information of vehicle 1 in real time.

[0030] The driving information of the vehicle 1 includes, but is not limited to, the vehicle's steering wheel angle signal, turn signal, vehicle position, speed, acceleration, driving posture, heading angle, predicted driving trajectory, and planned driving trajectory, etc. These driving parameter information can be obtained from vehicle-related sensors or processors.

[0031] S102: When it is determined based on the driving information of the vehicle 1 that the preset first condition is met, the horizontal azimuth angle of the radar is adjusted based on the driving information of the vehicle 1 to adjust the detection angle range of the radar.

[0032] Specifically, after detecting that the vehicle has entered a specific driving scene, the horizontal azimuth adjustment function of the vehicle radar is turned on to adjust the detection angle range of the radar. Here, it is possible to determine whether the vehicle has entered a specific driving scene based on the vehicle's driving information by determining whether a preset first condition is met. In this embodiment, the preset first condition is that the absolute value of the steering wheel angle is greater than a preset angle threshold, that is, a turning scene. In a turning scene, the horizontal azimuth angle of the radar is adjusted based on the steering wheel angle signal of vehicle 1 to adjust the detection angle range of the radar. However, the present disclosure is not limited to the turning scene, and the present disclosure may also be applied in other scenes.

[0033] In addition, in this embodiment, the steering wheel angle indicated by the steering wheel angle signal is used to determine whether the vehicle is in a turning scene. Of course, the turn signal signal, predicted driving trajectory, and planned driving trajectory can also be used to determine whether the vehicle is in a turning scene.

[0034] In some embodiments, the radar includes a left radar 11 installed on the left front of the vehicle 1 and a right radar 12 installed on the right front of the vehicle. At this time, step S102 includes the following sub-steps: when it is determined based on the steering wheel angle signal that the absolute value of the steering wheel angle is greater than a preset angle threshold, determine whether the steering wheel is turning left or right according to the steering wheel angle signal; when the steering wheel turns left, adjust the horizontal azimuth angle of the left radar 11, and when the steering wheel turns right, adjust the horizontal azimuth angle of the right radar 12. Specifically, when the steering wheel turns left, adjust the horizontal azimuth angle of the left radar 11 to deflect to the inside of the corresponding turning radius by a preset deflection angle, and when the steering wheel turns right, adjust the horizontal azimuth angle of the right radar 12 to deflect to the inside of the corresponding turning radius by a preset deflection angle. The preset deflection angle can be set as needed, and is set to 30° in this embodiment.

[0035] Figure 2 The schematic diagram of the principle of adjusting the radar horizontal azimuth angle according to the embodiment of the present disclosure is shown. Figure 2 , an example of step S102 is specifically described.

[0036] Figure 2 In FIG. 1 , the x-axis represents the center axis of the vehicle 1 and is also the driving direction of the vehicle 1. In a normal state, the normal direction of the radar 11 and the radar 12 is 45° to the x-axis. Figure 2 In the figure, the sector shown by OAB represents the field of view (Field of View) of the millimeter wave radar 12, and its angle range is -75° to 75°. Therefore, the angle between OB and the side L of the vehicle body is 60°. When it is determined that the absolute value of the steering wheel angle is greater than the preset angle threshold according to the steering wheel angle signal of the vehicle, it is determined that the horizontal azimuth angle of the radar needs to be adjusted. In this case, first determine whether the steering wheel is turning left or right according to the steering wheel angle signal. When the steering wheel turns left, adjust the horizontal azimuth angle of the left radar 11, and when the steering wheel turns right, adjust the horizontal azimuth angle of the right radar 12. Figure 2 The vehicle 1 is shown to be turning right. Therefore, it is determined to be turning right based on the steering wheel angle signal. At this time, the horizontal azimuth angle of the right radar 12 is adjusted to deflect to the inside of the corresponding turning radius by a preset deflection angle of 30°.

[0037] Therefore, if Figure 2 As shown, the normal direction of the millimeter wave radar 12 becomes 0C', which is at an angle of 75° with the x-axis, and the FOV of the millimeter wave radar 12 becomes Figure 2 The angle between the fan-shaped area OA'B', OB' and the body side L is 30 degrees. The blind spot of the right side of the vehicle 1 is reduced, and vehicles and pedestrians in the right side of the vehicle can be detected, reducing the risk of collision when the vehicle 1 turns.

[0038] S103: After adjusting the horizontal azimuth angle of the radar, when it is determined based on the driving information of the vehicle that a preset second condition is met, the horizontal azimuth angle of the radar is returned to an initial state.

[0039] In this embodiment, the second condition is preset as the steering wheel returning to the center. After the horizontal azimuth angle of the radar is adjusted in step S102, if it is determined based on the steering wheel angle signal that the steering wheel is returning to the center, the horizontal azimuth angle of the radar is returned to the initial state. Figure 2 That is, the horizontal azimuth angle of the right radar 12 is returned to the initial state, and the normal direction of the right radar 12 becomes the OC state again, forming an angle of 45° with the x-axis.

[0040] In some embodiments, the vehicle further includes at least one adjustment bracket, each adjustment bracket is used to mount the corresponding radar on the body of the vehicle, and the adjustment bracket can realize the angle adjustment of the radar in the horizontal direction, and this angle adjustment can be realized, for example, by a rotating motor installed on the adjustment bracket. These rotating motors can be electrically connected to the processor of the vehicle to receive the adjustment instructions of the processor, so as to realize the adjustment of the horizontal azimuth angle of the radar. By adjusting the horizontal azimuth angle of the radar through the adjustment bracket, the adjustment method will be simpler.

[0041] According to the present disclosure, the detection environment model and functional logic of the radar can remain unchanged, and only the physical position of the radar is adaptively adjusted, thereby minimizing the development workload and ensuring the stability of the radar.

[0042] Figure 3 FIG. 2 shows a structural block diagram of a radar control device provided by an embodiment of the present disclosure. Figure 3 As shown, the radar control device 200 includes: an acquisition module 201 , an adjustment module 202 and a return module 203 .

[0043] The acquisition module 201 is used to acquire the driving information of the vehicle in real time. The adjustment module 202 adjusts the horizontal azimuth of the radar based on the driving information of the vehicle to adjust the detection angle range of the radar when it is determined that the preset first condition is met based on the driving information of the vehicle. After adjusting the horizontal azimuth of the radar, the return module 203 returns the horizontal azimuth of the radar to the initial state when it is determined that the preset second condition is met based on the driving information of the vehicle.

[0044] Figure 4 FIG. 1 shows a structural block diagram of an electronic device provided by an embodiment of the present disclosure. Figure 4As shown, the present disclosure also provides an electronic device 300, which includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded by the processor and executes the method described in the above embodiment.

[0045] The present disclosure also provides a computer storage medium, in which at least one instruction or at least one program is stored, and the at least one instruction or at least one program is loaded and executed by a processor to implement the method described in the above embodiment.

[0046] Optionally, in this embodiment, the storage medium may be located in at least one of the multiple network servers of the computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk, or an optical disk.

[0047] Those skilled in the art should be able to appreciate that the modules, units and method steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software or a combination of the two. In order to clearly illustrate the interchangeability of electronic hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in electronic hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this disclosure.

[0048] Although the present disclosure has been described with reference to the current specific embodiments, those skilled in the art should recognize that the scope of the invention involved in the present disclosure is not limited to the technical solutions formed by the specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with the technical features disclosed in the present disclosure (but not limited to) with similar functions.

Claims

1. A radar control method, wherein the radar is installed on a vehicle in a manner in which the horizontal azimuth angle can be adjusted. It is characterized in that The radar control method comprises: Acquiring the driving information of the vehicle in real time; When it is determined based on the driving information of the vehicle that a preset first condition is met, adjusting the horizontal azimuth angle of the radar based on the driving information of the vehicle to adjust the detection angle range of the radar; and After the horizontal azimuth angle of the radar is adjusted, when it is determined based on the driving information of the vehicle that a preset second condition is met, the horizontal azimuth angle of the radar is returned to an initial state.

2. The radar control method according to claim 1, It is characterized in that The driving information of the vehicle includes: a steering wheel angle signal of the vehicle.

3. The radar control method according to claim 2, It is characterized in that The first preset condition is that the absolute value of the steering wheel angle is greater than a preset angle threshold.

4. The radar control method according to claim 3, It is characterized in that The radar includes a left radar installed at the left front of the vehicle and a right radar installed at the right front of the vehicle. When it is determined based on the driving information of the vehicle that a preset first condition is met, the horizontal azimuth angle of the radar is adjusted based on the driving information of the vehicle to adjust the detection angle range of the radar, including: In the case where it is determined based on the steering wheel angle signal that the absolute value of the steering wheel angle is greater than a preset angle threshold, determining according to the steering wheel angle signal whether the steering wheel is turning left or right; and When the steering wheel turns left, the horizontal azimuth angle of the left radar is adjusted, and when the steering wheel turns right, the horizontal azimuth angle of the right radar is adjusted.

5. The radar control method according to claim 4, It is characterized in that When the steering wheel turns left, the horizontal azimuth angle of the left radar is adjusted, and when the steering wheel turns right, the horizontal azimuth angle of the right radar is adjusted. When the steering wheel turns left, the horizontal azimuth angle of the left radar is adjusted to deflect toward the inside of the corresponding turning radius by a preset deflection angle. When the steering wheel turns right, the horizontal azimuth angle of the right radar is adjusted to deflect toward the inside of the corresponding turning radius by the preset deflection angle.

6. The radar control method according to claim 5, It is characterized in that The preset deflection angle is 30°.

7. The radar control method according to claim 4, It is characterized in that The second preset condition is that the steering wheel returns to the center position.

8. The radar control method according to any one of claims 1 to 7, It is characterized in that The vehicle further comprises at least one adjustment bracket, each of the adjustment brackets being used to mount a corresponding radar on a body of the vehicle, The horizontal azimuth angle of the radar is adjusted by setting the horizontal rotation angle of the at least one adjustment bracket.

9. A radar control device, wherein the radar is mounted on a vehicle in a manner that the horizontal azimuth angle can be adjusted. It is characterized in that The radar control device comprises: An acquisition module, used for acquiring the driving information of the vehicle in real time; an adjusting module, which, when it is determined based on the driving information of the vehicle that a preset first condition is met, adjusts the horizontal azimuth angle of the radar based on the driving information of the vehicle to adjust the detection angle range of the radar; and A return module, after adjusting the horizontal azimuth angle of the radar, returns the horizontal azimuth angle of the radar to an initial state when it is determined based on the driving information of the vehicle that a preset second condition is met.

10. An electronic device, It is characterized in that The electronic device comprises a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded by the processor and executes the method according to any one of claims 1 to 8.

11. A computer storage medium, It is characterized in that The storage medium stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded by a processor and executes the method according to any one of claims 1 to 8.

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