Radar detection control method and device based on obstacle height

Abstract

The invention provides a radar detection control method and device based on obstacle height, and the method comprises the steps: obtaining a first radar original distance of a vehicle radar on a target vehicle when the target vehicle is in a reversing condition; when the radar distance is updated, acquiring a second radar original distance after the radar distance is updated; the two corresponding vehicle retreating distances and the vertical height between the mounting position of the vehicle radar and the ground are obtained; calculating the height of an obstacle according to the first radar original distance, the second radar original distance, the vehicle retreating distance and the vertical height; and when the height of the obstacle is not greater than a preset low obstacle height threshold value, controlling the vehicle radar to enter a low obstacle state, and closing an obstacle distance prediction function of the vehicle radar. According to the method, the height of the obstacle can be detected during parking, and distance prediction and estimation on the low obstacle are avoided, so that emergency braking of the low obstacle is prevented from being triggered, and the driving experience is improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle control. Specifically, it relates to a radar detection control method and device based on the height of an obstacle. Background Technique

[0002] During daily driving, incorrect operations or distracted attention of the driver when reversing often lead to the vehicle rubbing against or colliding with obstacles, and in severe cases, even cause personal injuries. To address this problem, parking warning radars are usually used to detect rear obstacles and give warnings to reduce the incidence of such accidents. However, it has been found in practice that the existing methods cannot detect the height of obstacles. When the driver parks normally close to low obstacles such as limit blocks and limit rods, distance prediction is still performed on these obstacles, which will trigger false braking for low obstacles and result in a poor user experience. Summary of the Invention

[0003] The purpose of the present application is to provide a radar detection control method and device based on the height of an obstacle, which can detect the height of an obstacle during parking, avoid distance prediction and estimation for low obstacles, thereby avoiding triggering emergency braking for low obstacles, and is beneficial to improving the driving experience.

[0004] The first aspect of the present application provides a radar detection control method based on the height of an obstacle, including:

[0005] When the target vehicle is in a reverse driving condition, obtain the first radar raw distance signal of the vehicle radar on the target vehicle;

[0006] When it is detected that the radar distance of the vehicle radar on the target vehicle is updated, obtain the second radar raw distance signal after the radar distance is updated;

[0007] Obtain the vehicle backward distance of the target vehicle during the interval when the radar distance is updated;

[0008] Obtain the vertical height of the installation position of the vehicle radar from the ground;

[0009] Calculate the obstacle height according to the first radar raw distance signal, the second radar raw distance signal, the vehicle backward distance, and the vertical height;

[0010] When the obstacle height is not greater than a preset low obstacle height threshold, control the vehicle radar to enter the low obstacle state and turn off the obstacle distance prediction function of the vehicle radar.

[0011] In the above implementation process, the method can automatically detect the height of an obstacle according to the situation of the vehicle reversing, and control the vehicle radar to effectively enter the low-obstacle state according to the height of the obstacle, so as to realize the sensitive recognition of low obstacles by the reversing vehicle, and further greatly avoid false braking when the vehicle is reversing.

[0012] Further, the method further includes:

[0013] When it is detected that the radar signal value of the vehicle radar changes, it is determined that the radar distance of the vehicle radar on the target vehicle is updated, and the above-mentioned second radar original distance signal after the radar distance is updated is obtained.

[0014] Further, the obtaining of the vehicle backward distance of the target vehicle during the gap when the radar distance is updated includes:

[0015] Obtaining the vehicle speed information of the target vehicle during the gap when the radar distance is updated;

[0016] Estimating the vehicle backward distance according to the vehicle speed information.

[0017] Further, after controlling the vehicle radar to enter the low-obstacle state, the method further includes:

[0018] Obtaining the vehicle ground clearance and the minimum radar original distance threshold of the target vehicle;

[0019] When the height of the obstacle is greater than the vehicle ground clearance,

[0020] Or, when the latest radar original distance detected by the vehicle radar is less than the minimum radar original distance threshold,

[0021] Or, when the vehicle radar does not detect an obstacle, controlling the vehicle radar to exit the low-obstacle state.

[0022] Further, the obtaining of the vehicle ground clearance and the minimum radar original distance threshold of the target vehicle includes:

[0023] Obtaining the vehicle ground clearance of the target vehicle, the maximum height measurement information of common low obstacles, and the radar parameters of the vehicle radar;

[0024] Determining the low-obstacle height threshold according to the maximum height measurement information of common low obstacles;

[0025] Obtaining the maximum vertical detection fan angle from the radar installation horizontal plane to the ground according to the radar parameters;

[0026] Calculate the original distance threshold for radar detection based on the maximum vertical detection fan angle, the low obstacle height threshold, and the vertical height.

[0027] The second aspect of the present application provides a radar detection control device based on obstacle height, and the radar detection control device based on obstacle height includes:

[0028] A first acquisition unit, configured to acquire a first radar original distance signal of a vehicle radar on the target vehicle when the target vehicle is in a reverse working condition;

[0029] A second acquisition unit, configured to acquire a second radar original distance signal after the radar distance is updated when it is detected that the radar distance of the vehicle radar on the target vehicle is updated;

[0030] A third acquisition unit, configured to acquire the vehicle backward distance of the target vehicle during the interval when the radar distance is updated;

[0031] A fourth acquisition unit, configured to acquire the vertical height of the installation position of the vehicle radar from the ground;

[0032] A calculation unit, configured to calculate the obstacle height according to the first radar original distance signal, the second radar original distance signal, the vehicle backward distance, and the vertical height;

[0033] A control unit, configured to control the vehicle radar to enter the low obstacle state and turn off the obstacle distance prediction function of the vehicle radar when the obstacle height is not greater than a preset low obstacle height threshold.

[0034] Further, the radar detection control device based on obstacle height further includes:

[0035] A determination unit, configured to determine that the radar distance of the vehicle radar on the target vehicle is updated when it is detected that the radar signal value of the vehicle radar changes, and trigger the second acquisition unit to acquire the second radar original distance signal after the radar distance is updated.

[0036] Further, the third acquisition unit includes:

[0037] A first acquisition subunit, configured to acquire the vehicle speed information of the target vehicle during the interval when the radar distance is updated;

[0038] An estimation subunit, configured to estimate the vehicle backward distance according to the vehicle speed information.

[0039] Further, the radar detection control device based on obstacle height further includes:

[0040] A fifth acquisition unit, configured to acquire the vehicle ground clearance of the target vehicle and the minimum radar raw distance threshold after the control unit controls the vehicle radar to enter the low obstacle state;

[0041] The control unit is further configured to control the vehicle radar to exit the low obstacle state when the height of the obstacle is greater than the vehicle ground clearance; or, when the latest radar raw distance detected by the vehicle radar is less than the minimum radar raw distance threshold; or, when the vehicle radar does not detect an obstacle.

[0042] Further, the fifth acquisition unit includes:

[0043] A second acquisition subunit, configured to acquire the vehicle ground clearance of the target vehicle, the maximum height measurement information of common low obstacles, and the radar parameters of the vehicle radar;

[0044] A determination subunit, configured to determine the low obstacle height threshold according to the maximum height measurement information of common low obstacles;

[0045] The second acquisition subunit is further configured to acquire the maximum vertical detection fan angle from the radar installation horizontal plane to the ground according to the radar parameters;

[0046] A calculation subunit, configured to calculate the raw distance threshold for radar detection according to the maximum vertical detection fan angle, the low obstacle height threshold, and the vertical height.

[0047] A third aspect of the present application provides an electronic device, including a memory and a processor, where the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the radar detection control method based on obstacle height according to any one of the first aspects of the present application.

[0048] A fourth aspect of the present application provides a computer-readable storage medium, which stores computer program instructions, and when the computer program instructions are read and run by a processor, the radar detection control method based on obstacle height according to any one of the first aspects of the present application is executed.

[0049] The beneficial effects of the present application are as follows: This method can estimate the height of the obstacle behind the vehicle and obtain the height of the obstacle behind the vehicle, thus making up for the shortcoming that the parking warning radar cannot provide obstacle height information. At the same time, when calculating the obstacle distance, this method can also avoid predicting and estimating the distance of low obstacles, so that when the vehicle is close to low obstacles such as a limit block and a limit rod, it does not perform automatic emergency braking, and thus effectively avoid the occurrence of vehicle mis-braking in a precise detection manner. Description of the Drawings

[0050] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments of the present application. It should be understood that the following drawings only show certain embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0051] Figure 1 It is a schematic flow chart of a radar detection control method based on obstacle height provided by an embodiment of the present application;

[0052] Figure 2 It is a schematic flow chart of another radar detection control method based on obstacle height provided by an embodiment of the present application;

[0053] Figure 3 It is a schematic diagram of calculating the height of an obstacle provided by an embodiment of the present application;

[0054] Figure 4 It is a schematic diagram of calculating the minimum distance of an obstacle that can be detected by a radar provided by an embodiment of the present application;

[0055] Figure 5 It is a schematic structural diagram of a radar detection control device based on obstacle height provided by an embodiment of the present application;

[0056] Figure 6 It is a schematic structural diagram of another radar detection control device based on obstacle height provided by an embodiment of the present application. Detailed implementation manners

[0057] The following will describe the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application.

[0058] It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of the present application, terms such as "first" and "second" are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0059] Embodiment 1

[0060] Please refer to Figure 1 , Figure 1 It is a schematic flow chart of a radar detection control method based on obstacle height provided by this embodiment. Among them, the radar detection control method based on obstacle height includes:

[0061] S101. When the target vehicle is in a reverse working condition, obtain the first radar raw distance signal of the vehicle radar on the target vehicle.

[0062] S102. When it is detected that the radar distance of the vehicle radar on the target vehicle is updated, obtain the second original radar distance signal after the radar distance is updated.

[0063] S103. Obtain the vehicle backward distance of the target vehicle during the gap when the radar distance is updated.

[0064] S104. Obtain the vertical height of the installation position of the vehicle radar from the ground.

[0065] S105. Calculate the obstacle height according to the first original radar distance signal, the second original radar distance signal, the vehicle backward distance, and the vertical height.

[0066] In this embodiment, when the radar distance is updated (when the value of the original radar distance signal changes), the method can estimate the height information of the obstacle according to the two distance values before and after the update.

[0067] S106. When the obstacle height is not greater than the preset low obstacle height threshold, control the vehicle radar to enter the low obstacle state and turn off the obstacle distance prediction function of the vehicle radar.

[0068] In this embodiment, the low obstacles corresponding to the low obstacle height threshold can be common "limit bars", "limit blocks", etc. in the parking scenario.

[0069] In the current method, these low obstacles will reflect the ultrasonic waves of the radar, so that the parking warning radar can detect and automatically trigger emergency braking. Therefore, this method focuses on detecting whether the obstacle is a low obstacle, and when it is accurately detected that it is a low obstacle, cancel the vehicle emergency braking function in this case. It can be understood that currently, when facing such low obstacles, emergency braking for low obstacles will be triggered, but this braking is a false braking, which directly leads to a bad experience for users.

[0070] In this embodiment, the execution subject of this method can be a computing device such as a computer or a server, and no limitation is made in this embodiment.

[0071] In this embodiment, the execution subject of this method can also be a smart device such as a smart phone or a tablet computer, and no limitation is made in this embodiment.

[0072] It can be seen that implementing the radar detection control method based on the obstacle height described in this embodiment can estimate the height of the obstacle behind the vehicle, obtain the height of the obstacle behind the vehicle, thereby making up for the shortcoming that the parking warning radar cannot provide the obstacle height information. At the same time, when calculating the obstacle distance, this method can also avoid predicting and estimating the distance of low obstacles, so that when the vehicle is close to low obstacles such as the limit block and the limit rod, it does not perform automatic emergency braking, and then effectively avoid the occurrence of vehicle mis-braking in a precise detection manner.

[0073] Embodiment 2

[0074] Please refer to Figure 2 , Figure 2 which is a schematic flowchart of a radar detection control method based on the obstacle height provided in this embodiment. Among them, the radar detection control method based on the obstacle height includes:

[0075] S201. When the target vehicle is in the reverse driving condition, obtain the first radar raw distance signal of the vehicle radar on the target vehicle.

[0076] In this embodiment, when the vehicle is in the reverse driving condition, record a radar raw distance signal d1 before update as the first radar raw distance signal.

[0077] S202. When it is detected that the radar signal value of the vehicle radar changes, and it is determined that the radar distance on the target vehicle is updated, obtain the second radar raw distance signal after the radar distance is updated.

[0078] In this embodiment, this method can, at the moment of distance update (the time interval corresponding to this moment of distance update is a period of time when the radar signal value of the vehicle radar changes, and this period of time is also called the radar distance update interval), use the newly updated radar raw distance signal d2 as the second radar raw signal.

[0079] S203. Obtain the vehicle speed information of the target vehicle during the radar distance update interval.

[0080] S204. Estimate the vehicle backward distance according to the vehicle speed information.

[0081] In this embodiment, this method can, during the radar distance update interval (that is, the time from the radar emitting d1 to emitting d2), estimate the vehicle backward distance d by integrating the vehicle speed at the radar. The vertical height of the radar installation position from the ground is A.

[0082] S205. Obtain the vertical height of the vehicle radar installation position from the ground.

[0083] Please refer to Figure 3 , Figure 3A schematic diagram of obstacle height calculation is shown in FIG. 1 . Because the radar outputs the shortest distance between the obstacle and the radar, from the vertical section of the rear of the vehicle, the distance between the obstacle and the radar is a diagonal distance, that is, Figure 3 The hypotenuses of the two right triangles are d1 and d2.

[0084] exist Figure 3 In the figure, A represents the distance between the radar and the ground, Ax represents the height of the obstacle, x represents the parallel height difference between the top of the obstacle and the radar, d represents the vehicle's retreat distance, and y represents the distance between the vehicle and the obstacle after retreating a distance of d.

[0085] based on Figure 3 The geometric relationship shown can be combined with the following equations to solve the unknown quantities x and y:

[0086] x 2 +y 2 =d2 2 ;

[0087] x 2 +(y+d) 2 =d1 2 ;

[0088] Based on this, the method can further calculate the obstacle height Ax.

[0089] S206: Calculate the obstacle height according to the original distance signal of the first radar, the original distance signal of the second radar, the vehicle retreat distance, and the vertical height.

[0090] In this embodiment, based on the above steps, it can be seen that the obstacle height Ax can be calculated based on d1, d2, d and A. Among them, x can be calculated based on d1, d2 and d.

[0091] S207: When the obstacle height is not greater than a preset low obstacle height threshold, control the vehicle radar to enter a low obstacle state, and disable the obstacle distance prediction function of the vehicle radar.

[0092] In this embodiment, after estimating the height of the obstacle, the method needs to classify the obstacle into low obstacles and high obstacles according to the estimated height. This step is called obstacle height status judgment.

[0093] In this embodiment, when the estimated obstacle height is less than the general maximum height B of low obstacles commonly seen in parking scenes (such as limit blocks and limit rods), the corresponding radar is controlled to enter the low obstacle state.

[0094] S208: Obtain the vehicle ground clearance of the target vehicle, maximum height measurement information of common low obstacles, and radar parameters of the vehicle radar.

[0095] S209. Determine the height threshold of the low obstacle according to the maximum height measurement information of common low obstacles.

[0096] In this embodiment, the method can measure common low obstacles (such as limit blocks, limit bars, etc.) in the parking scenario, obtain the general maximum height B of such obstacles, and record this general maximum height as the maximum height measurement information of the low obstacle.

[0097] S210. Obtain the maximum vertical detection fan angle from the radar installation horizontal plane to the ground according to the radar parameters.

[0098] In this embodiment, the method can obtain the maximum vertical detection fan angle C from the radar horizontal plane to the ground based on the radar parameters.

[0099] S211. Calculate the original distance threshold of radar detection according to the maximum vertical detection fan angle, the height threshold of the low obstacle, and the vertical height.

[0100] In this embodiment, the method can calculate the value DstMin of the radar original distance signal (i.e., the original distance threshold) when the low obstacle leaves the radar detection area.

[0101] Among them, this value is the minimum value of the original distance when the radar detects the low obstacle.

[0102] Please refer to Figure 4 , Figure 4 which shows a schematic diagram for calculating the minimum distance of an obstacle detectable by the radar. As can be seen in Figure 4 , DstMin = (A - B) / sin(C);

[0103] Among them, A is the radar height from the ground, B is the general maximum height of the low obstacle, and C is the maximum vertical detection fan angle from the radar horizontal plane to the ground.

[0104] In this embodiment, when the original distance value detected by the radar is less than DstMin, it can be determined that the height of the obstacle at this time is greater than B. At the same time, when there is an error in height calculation, this judgment can be used as a fallback strategy to assist in judging obstacles with a higher height.

[0105] S212. When the height of the obstacle is greater than the vehicle height from the ground, or when the latest radar original distance detected by the vehicle radar is less than the minimum radar original distance threshold, or when the vehicle radar does not detect an obstacle, control the vehicle radar to exit the low obstacle state.

[0106] In this embodiment, when the radar is in the low obstacle state, if the estimated obstacle height is greater than the ground clearance D of the vehicle, or the original distance value of the radar is less than DstMin, or the corresponding radar no longer detects the obstacle, the low obstacle state is exited.

[0107] This method is applicable to all radars installed on the rear bumper of the vehicle. This method is specifically used to turn off the prediction function of the corresponding radar when the radar enters the low obstacle state, so as to avoid the situation that the reverse anti-misstep function accidentally triggers emergency braking due to the radar's distance prediction and estimation of low obstacles.

[0108] In this embodiment, the execution subject of this method can be a computing device such as a computer or a server, and no limitation is made in this embodiment.

[0109] In this embodiment, the execution subject of this method can also be a smart device such as a smart phone or a tablet computer, and no limitation is made in this embodiment.

[0110] It can be seen that implementing the radar detection control method based on obstacle height described in this embodiment can estimate the height of the obstacle behind the vehicle, obtain the height of the obstacle behind the vehicle, thereby making up for the shortcoming that the parking warning radar cannot provide obstacle height information. At the same time, when calculating the obstacle distance, this method can also avoid distance prediction and estimation of low obstacles, so that when the vehicle is close to low obstacles such as a limit block or a limit rod, it does not perform automatic emergency braking, and thus effectively avoid the occurrence of vehicle misbraking in a precise detection manner.

[0111] Embodiment 3

[0112] Please refer to Figure 5 , Figure 5 which is a schematic structural diagram of a radar detection control device based on obstacle height provided in this embodiment. As Figure 5 shown, the radar detection control device based on obstacle height includes:

[0113] A first acquisition unit 310, configured to acquire a first radar raw distance signal of a vehicle radar on a target vehicle when the target vehicle is in a reverse driving condition;

[0114] A second acquisition unit 320, configured to acquire a second radar raw distance signal after the radar distance is updated when it is detected that the radar distance of the vehicle radar on the target vehicle is updated;

[0115] A third acquisition unit 330, configured to acquire the vehicle backward distance of the target vehicle during the interval when the radar distance is updated;

[0116] A fourth acquisition unit 340, configured to acquire the vertical height of the vehicle radar installation position from the ground;

[0117] A calculation unit 350, configured to calculate the obstacle height according to the first radar raw distance signal, the second radar raw distance signal, the vehicle reverse distance, and the vertical height.

[0118] A control unit 360, configured to control the vehicle radar to enter the low obstacle state and turn off the obstacle distance prediction function of the vehicle radar when the obstacle height is not greater than a preset low obstacle height threshold.

[0119] In this embodiment, the explanation of the radar detection control device based on the obstacle height may refer to the description in Embodiment 1 or Embodiment 2, and thus will not be elaborated herein.

[0120] It can be seen that implementing the radar detection control device based on the obstacle height described in this embodiment can estimate the height of the obstacle behind the vehicle, obtain the obstacle height behind the vehicle, thereby making up for the shortcoming that the parking warning radar cannot provide the obstacle height information. At the same time, when calculating the obstacle distance, the device can also avoid predicting and estimating the distance of low obstacles, so that when the vehicle is close to low obstacles such as the limit block and the limit rod, it does not perform automatic emergency braking, and thus effectively avoids the occurrence of vehicle mis-braking in a precise detection manner.

[0121] Embodiment 4

[0122] Please refer to Figure 6 , Figure 6 which is a schematic structural diagram of a radar detection control device based on the obstacle height provided in this embodiment. As Figure 6 shown, the radar detection control device based on the obstacle height includes:

[0123] A first acquisition unit 310, configured to acquire a first radar raw distance signal of a vehicle radar on a target vehicle when the target vehicle is in a reverse working condition;

[0124] A second acquisition unit 320, configured to acquire a second radar raw distance signal after the radar distance is updated when it is detected that the radar distance of the vehicle radar on the target vehicle is updated;

[0125] A third acquisition unit 330, configured to acquire the vehicle reverse distance of the target vehicle during the interval when the radar distance is updated;

[0126] A fourth acquisition unit 340, configured to acquire the vertical height of the installation position of the vehicle radar from the ground;

[0127] A calculation unit 350, configured to calculate the obstacle height according to the first radar raw distance signal, the second radar raw distance signal, the vehicle reverse distance, and the vertical height;

[0128] A control unit 360, configured to control the vehicle radar to enter a low obstacle state and turn off the obstacle distance prediction function of the vehicle radar when the height of the obstacle is not greater than a preset low obstacle height threshold.

[0129] As an optional implementation manner, the radar detection control device based on the obstacle height further includes:

[0130] A determination unit 370, configured to determine that the radar distance of the vehicle radar on the target vehicle is updated when it detects that the radar signal value of the vehicle radar changes, and trigger the second acquisition unit 320 to acquire a second original radar distance signal after the radar distance is updated.

[0131] As an optional implementation manner, the third acquisition unit 330 includes:

[0132] A first acquisition subunit 331, configured to acquire the vehicle speed information of the target vehicle during the gap when the radar distance is updated;

[0133] An estimation subunit 332, configured to estimate the vehicle backward distance according to the vehicle speed information.

[0134] As an optional implementation manner, the radar detection control device based on the obstacle height further includes:

[0135] A fifth acquisition unit 380, configured to acquire the vehicle ground clearance and the minimum original radar distance threshold of the target vehicle after the control unit controls the vehicle radar to enter the low obstacle state;

[0136] The control unit 360 is further configured to control the vehicle radar to exit the low obstacle state when the height of the obstacle is greater than the vehicle ground clearance; or when the latest original radar distance detected by the vehicle radar is less than the minimum original radar distance threshold; or when the vehicle radar does not detect an obstacle.

[0137] As an optional implementation manner, the fifth acquisition unit 380 includes:

[0138] A second acquisition subunit 381, configured to acquire the vehicle ground clearance of the target vehicle, the maximum height measurement information of common low obstacles, and the radar parameters of the vehicle radar;

[0139] A determination subunit 382, configured to determine the low obstacle height threshold according to the maximum height measurement information of common low obstacles;

[0140] The second acquisition subunit 381 is further configured to acquire the maximum vertical detection fan angle from the radar installation horizontal plane to the ground according to the radar parameters;

[0141] A calculation subunit 383 is configured to calculate an original distance threshold for radar detection according to a maximum vertical detection fan angle, a low obstacle height threshold, and a vertical height.

[0142] In this embodiment, the explanation of the radar detection control device based on the obstacle height may refer to the description in Embodiment 1 or Embodiment 2, and thus will not be elaborated herein.

[0143] It can be seen that implementing the radar detection control device based on the obstacle height described in this embodiment can estimate the height of the obstacle behind the vehicle, obtain the height of the obstacle behind the vehicle, thereby making up for the shortcoming that the parking warning radar cannot provide the obstacle height information. At the same time, when calculating the distance of the obstacle, the device can also avoid predicting and estimating the distance of low obstacles, so that when the vehicle is close to low obstacles such as a limit block or a limit rod, it does not perform automatic emergency braking, and thus effectively avoid the occurrence of vehicle mis-braking in a precise detection manner.

[0144] An embodiment of the present application provides an electronic device, including a memory and a processor. The memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the radar detection control method based on the obstacle height in Embodiment 1 or Embodiment 2 of the present application.

[0145] An embodiment of the present application provides a computer-readable storage medium, which stores computer program instructions. When the computer program instructions are read and run by a processor, the radar detection control method based on the obstacle height in Embodiment 1 or Embodiment 2 of the present application is executed.

[0146] In several embodiments provided by the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the drawings show the possible architectures, functions, and operations of devices, methods, and computer program products according to multiple embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the module, program segment, or part of code includes one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order from that marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0147] In addition, each functional module in various embodiments of the present application may be integrated together to form an independent part, or each module may exist alone, or two or more modules may be integrated to form an independent part.

[0148] If the above-mentioned function is implemented in the form of a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0149] The above are only the embodiments of the present application and are not used to limit the protection scope of the present application. For those skilled in the art, the present application may have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0150] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present application, and all of them should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

[0151] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising a..." does not exclude the presence of additional identical elements in the process, method, article or device comprising said element.

Claims

1. A radar detection control method based on obstacle height, characterized in that: include: When the target vehicle is in a reversing condition, obtaining a first radar original distance signal of a vehicle radar on the target vehicle; When it is detected that the radar distance of the vehicle radar on the target vehicle is updated, obtaining a second radar original distance signal after the radar distance is updated; Obtaining the vehicle retreat distance of the target vehicle during the radar distance update interval; Obtaining the vertical height of the vehicle radar installation position from the ground; Calculating the obstacle height according to the first radar original distance signal, the second radar original distance signal, the vehicle retreat distance and the vertical height; When the obstacle height is not greater than a preset low obstacle height threshold, the vehicle radar is controlled to enter a low obstacle state, and the obstacle distance prediction function of the vehicle radar is turned off.

2. The radar detection control method based on obstacle height according to claim 1, characterized in that: The method further comprises: When it is detected that the radar signal value of the vehicle radar changes, it is determined that the radar distance of the vehicle radar on the target vehicle is updated, and the step of acquiring the second radar original distance signal after the radar distance is updated is performed.

3. The radar detection control method based on obstacle height according to claim 1, characterized in that: The step of obtaining the vehicle retreat distance of the target vehicle during the radar distance update interval includes: Obtaining the speed information of the target vehicle during the radar distance update interval; The vehicle retreat distance is estimated according to the vehicle speed information.

4. The radar detection control method based on obstacle height according to claim 1, characterized in that: After controlling the vehicle radar to enter a low obstacle state, the method further includes: Obtaining the vehicle ground clearance and minimum radar original distance threshold of the target vehicle; When the obstacle height is greater than the vehicle ground clearance, Alternatively, when the latest radar original distance detected by the vehicle radar is less than the minimum radar original distance threshold, Alternatively, when the vehicle radar does not detect an obstacle, the vehicle radar is controlled to exit the low obstacle state.

5. The radar detection control method based on obstacle height according to claim 4, characterized in that: The obtaining of the vehicle ground clearance and the minimum radar original distance threshold of the target vehicle includes: Obtaining the vehicle ground clearance of the target vehicle, the maximum height measurement information of common low obstacles, and the radar parameters of the vehicle radar; Determining a low obstacle height threshold according to the maximum height measurement information of the common low obstacles; According to the radar parameters, the maximum vertical detection fan angle from the radar installation horizontal plane to the ground is obtained; An original distance threshold of radar detection is calculated according to the maximum vertical detection fan angle, the low obstacle height threshold and the vertical height.

6. A radar detection control device based on obstacle height, characterized in that: The radar detection control device based on obstacle height includes: A first acquisition unit is used to acquire a first radar original distance signal of a vehicle radar on the target vehicle when the target vehicle is in a reversing condition; A second acquisition unit is used to acquire a second radar original distance signal after the radar distance is updated when it is detected that the radar distance of the vehicle radar on the target vehicle is updated; A third acquisition unit is used to acquire the vehicle retreat distance of the target vehicle during the radar distance update interval; A fourth acquisition unit, used to acquire a vertical height of the vehicle radar installation position from the ground; a calculation unit, configured to calculate the height of the obstacle according to the original distance signal of the first radar, the original distance signal of the second radar, the backward distance of the vehicle, and the vertical height; The control unit is used to control the vehicle radar to enter a low obstacle state and turn off the obstacle distance prediction function of the vehicle radar when the obstacle height is not greater than a preset low obstacle height threshold.

7. The radar detection control device based on obstacle height according to claim 6, characterized in that: Also includes: The determination unit is used to determine that the radar distance of the vehicle radar on the target vehicle is updated when it is detected that the radar signal value of the vehicle radar has changed, and trigger the second acquisition unit to acquire the second radar original distance signal after the radar distance is updated.

8. The radar detection control device based on obstacle height according to claim 6, characterized in that: The third acquisition unit includes: A first acquisition subunit is used to acquire the speed information of the target vehicle during the radar distance update interval; The estimation subunit is used to estimate the vehicle retreat distance according to the vehicle speed information.

9. An electronic device, characterized in that: The electronic device comprises a memory and a processor, the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the radar detection control method based on obstacle height according to any one of claims 1 to 5.

10. A readable storage medium, characterized in that: The readable storage medium stores computer program instructions, and when the computer program instructions are read and executed by a processor, the radar detection and control method based on obstacle height according to any one of claims 1 to 5 is executed.

Images