Obstacle detection method and device, vehicle and storage medium

Abstract

The embodiment of the invention discloses an obstacle detection method and device, a vehicle and a storage medium. The method comprises the following steps: acquiring an echo distance and echo energy of a radar echo signal, wherein the radar echo signal is a millimeter wave echo signal emitted by a millimeter wave radar which is arranged in a vehicle and is used for detecting an obstacle; on the basis of a detection threshold value corresponding to a target distance unit to which the echo distance belongs and the echo energy, whether an obstacle exists on the roof of the vehicle or not is determined, and different distance units correspond to different detection threshold values; if it is determined that the obstacle exists on the roof of the vehicle, the type of the obstacle is determined based on a preset obstacle detection strategy. Through the above method, the obstacle is detected through the detection thresholds corresponding to different distance units, and the accuracy of obstacle detection is improved.

Description

Technical Field

[0001] This application belongs to the technical field of human-computer interaction, and particularly relates to an obstacle detection method, device, vehicle, and storage medium. Background Art

[0002] Currently, scissor doors and gullwing door models are generally equipped with obstacle avoidance radars for obstacle avoidance because they can achieve automatic door opening and closing. There are two main types of current obstacle avoidance radars. One uses ultrasonic radars, and the other uses millimeter-wave radars. However, whether it is an ultrasonic radar or a millimeter-wave radar, they are both single sensors and have limitations in perception themselves, with a certain probability of false alarms and missed detections. Summary of the Invention

[0003] In view of the above problems, this application proposes an obstacle detection method, device, vehicle, and storage medium to improve the above problems.

[0004] In a first aspect, an embodiment of this application provides an obstacle detection method, which includes: obtaining the echo distance and echo energy of a radar echo signal, where the radar echo signal is the echo signal of millimeter waves emitted by a millimeter-wave radar arranged in a vehicle for obstacle detection; determining whether there is an obstacle on the roof of the vehicle based on the detection threshold corresponding to the target distance unit to which the echo distance belongs and the echo energy, where different distance units correspond to different detection thresholds; if it is determined that there is an obstacle on the roof of the vehicle, determining the type of the obstacle based on a preset obstacle detection strategy.

[0005] In a second aspect, an embodiment of this application provides an obstacle detection device, which includes: an obtaining unit for obtaining the echo distance and echo energy of a radar echo signal, where the radar echo signal is the echo signal of millimeter waves emitted by a millimeter-wave radar arranged in a vehicle for obstacle detection; a first determination unit for determining whether there is an obstacle on the roof of the vehicle based on the detection threshold corresponding to the target distance unit to which the echo distance belongs and the echo energy, where different distance units correspond to different detection thresholds; a second determination unit for, if it is determined that there is an obstacle on the roof of the vehicle, determining the type of the obstacle based on a preset obstacle detection strategy.

[0006] In a third aspect, an embodiment of this application provides a vehicle, which includes one or more processors and a memory; one or more programs, where the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs are configured to execute the above method.

[0007] Fourthly, an embodiment of the present application provides a computer-readable storage medium, in which program codes are stored. When the program codes run, the above-mentioned method is executed.

[0008] An embodiment of the present application provides an obstacle detection method, device, vehicle and storage medium. First, the echo distance and echo energy of the radar echo signal are obtained. The radar echo signal is the echo signal of the millimeter wave emitted by the millimeter wave radar arranged in the vehicle for obstacle detection. Then, based on the detection threshold corresponding to the target distance unit to which the echo distance belongs and the echo energy, it is determined whether there is an obstacle on the roof of the vehicle. Among them, different distance units correspond to different detection thresholds. If it is determined that there is an obstacle on the roof of the vehicle, the type of the obstacle is determined based on a preset obstacle detection strategy. Through the above method, obstacles are detected by the detection thresholds corresponding to different distance units, improving the accuracy of obstacle detection. Description of the Drawings

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those skilled in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0010] Figure 1 The flowchart of an obstacle detection method proposed by an embodiment of the present application is shown;

[0011] Figure 2 The flowchart of another obstacle detection method proposed by an embodiment of the present application is shown;

[0012] Figure 3 The structural block diagram of an obstacle detection device proposed by an embodiment of the present application is shown;

[0013] Figure 4 The structural block diagram of an obstacle detection device proposed by an embodiment of the present application is shown;

[0014] Figure 5 The structural block diagram of the vehicle for executing the obstacle detection method according to the embodiment of the present application in the embodiment of the present application is shown;

[0015] Figure 6 The storage unit for storing or carrying the program codes for implementing the obstacle detection method according to the embodiment of the present application in the embodiment of the present application is shown. Detailed Embodiments

[0016] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present application.

[0017] An obstacle detection method, device, vehicle, and storage medium are proposed in an embodiment of the present application. First, the echo distance and echo energy of a radar echo signal are obtained. The radar echo signal is the echo signal of millimeter waves emitted by a millimeter wave radar installed in the vehicle for obstacle detection. Then, based on the detection threshold corresponding to the target distance unit to which the echo distance belongs and the echo energy, it is determined whether there is an obstacle on the roof of the vehicle. Among them, different distance units correspond to different detection thresholds. If it is determined that there is an obstacle on the roof of the vehicle, the type of the obstacle is determined based on a preset obstacle detection strategy. Through the above method, obstacles are detected by the detection thresholds corresponding to different distance units, improving the accuracy of obstacle detection.

[0018] Next, each embodiment of the present application will be specifically described in conjunction with the accompanying drawings.

[0019] Please refer to Figure 1 , an obstacle detection method provided in an embodiment of the present application, the method includes:

[0020] Step S110: Obtain the echo distance and echo energy of a radar echo signal. The radar echo signal is the echo signal of millimeter waves emitted by a millimeter wave radar installed in the vehicle for obstacle detection.

[0021] In an embodiment of the present application, the echo distance refers to the distance between the target object and the radar measured by emitting a signal through the millimeter wave radar and receiving the reflected signal. Specifically, the echo distance can be determined by measuring the time difference between the transmitted signal and the reflected signal.

[0022] The echo energy is the intensity of the reflected signal received by the millimeter wave radar, which is affected by factors such as the size, shape, material of the target object, and the distance between the radar and the target object. Among them, the target object can be an object that can receive the millimeter wave signal emitted by the millimeter wave radar and reflect the millimeter wave signal. For example, the target object can be an object within the detection range of the millimeter wave radar, etc., and no specific limitation is made here. Optionally, the millimeter wave radar in the embodiment of the present application is a radar installed in a gull-wing door vehicle for detecting whether there are obstacles on the roof or on both sides of the door.

[0023] As a way, in response to a signal acquisition instruction, obtain the radar echo signal of the millimeter-wave radar; obtain the echo distance and echo energy of the radar echo signal. Among them, the signal acquisition instruction can be an instruction triggered when it is detected that the vehicle is in a preset state. When it is detected that the vehicle is in a preset state, it is determined that a signal acquisition instruction is detected, and in response to this signal acquisition instruction, obtain the radar echo signal of the millimeter-wave radar at the current moment. Among them, the preset state can be a state that can trigger the signal acquisition instruction set in advance. For example, the preset state can be that the vehicle is in a powered-on state and the vehicle speed is zero.

[0024] Alternatively, the preset state can be that the gull-wing doors of the gull-wing door vehicle are in a state of about to open. Among them, the state that the gull-wing doors are in a state of about to open can be determined based on the state of the control button of the gull-wing door switch. For example, when it is detected that the control button has just switched from the closed state to the open state, it can be determined that the gull-wing doors are in a state of about to open.

[0025] As another way, when the vehicle is in a powered-on state and the vehicle speed is zero, obtain the current radar echo signal; obtain the echo distance and echo energy of the radar echo signal.

[0026] Specifically, when it is detected that the vehicle is in a powered-on state, detect the current vehicle speed of the vehicle. If it is detected that the current vehicle speed of the vehicle is 0, the current radar echo signal can be obtained. After obtaining the current radar echo signal, obtain the echo distance and echo energy corresponding to the radar echo signal.

[0027] Step S120: Based on the detection threshold corresponding to the target distance unit to which the echo distance belongs and the echo energy, determine whether there is an obstacle on the roof of the vehicle, where different distance units correspond to different detection thresholds.

[0028] In the embodiments of the present application, different echo distances may belong to different distance units, and each distance unit includes a preset distance range. For example, each distance unit is 6 cm. After obtaining the current echo distance, determine the distance range where the current echo distance is located, so as to determine the target distance unit to which the current echo distance belongs.

[0029] The detection threshold refers to the minimum detection threshold set in advance corresponding to the target distance unit for obstacle detection.

[0030] Specifically, after obtaining the echo distance of the current radar echo signal, the distance unit to which the echo distance belongs can be obtained, so as to obtain the detection threshold corresponding to the distance unit.

[0031] When the current radar echo signal is obtained, the background noise at this time can be obtained simultaneously. Furthermore, based on the current radar echo signal and the background noise, the current detection value can be determined. Then, the detection value can be compared with the detection threshold to determine whether there is an obstacle on the roof of the vehicle. Specifically, if the detection value is greater than or equal to the detection threshold, it can be determined that there is an obstacle on the roof of the vehicle. On the contrary, if the detection value is less than the detection threshold, it can be determined that there is no obstacle on the roof of the vehicle.

[0032] Step S130: If it is determined that there is an obstacle on the roof of the vehicle, determine the type of the obstacle based on a preset obstacle detection strategy.

[0033] In the embodiment of the present application, the preset obstacle detection strategy is a strategy preset for detecting the type of obstacles. Optionally, the types of obstacles may include extended targets and non-extended targets. An extended target refers to an obstacle that spans the left and right gull-wing doors, that is, an obstacle that affects both doors on both sides; a non-extended target refers to an obstacle that affects the left or right side of the gull-wing door.

[0034] When it is determined that there is an obstacle on the roof of the vehicle in the foregoing manner, the type of the obstacle can be determined based on the preset obstacle detection strategy, so that the obstacle avoidance strategy of the vehicle can be determined based on the type of the obstacle. Among them, the obstacle avoidance strategy refers to a strategy for controlling the opening or closing of the left and right gull-wing doors and the opening and closing degree of the doors, etc. Optionally, different types of obstacles correspond to different obstacle avoidance strategies.

[0035] An obstacle detection method provided by the present application first obtains the echo distance and echo energy of the radar echo signal. The radar echo signal is the echo signal of the millimeter wave emitted by the millimeter wave radar arranged in the vehicle for obstacle detection. Then, based on the detection threshold corresponding to the target distance unit to which the echo distance belongs and the echo energy, it is determined whether there is an obstacle on the roof of the vehicle. Among them, different distance units correspond to different detection thresholds. If it is determined that there is an obstacle on the roof of the vehicle, the type of the obstacle is determined based on the preset obstacle detection strategy. Through the above method, obstacles are detected by the detection thresholds corresponding to different distance units, improving the accuracy of obstacle detection.

[0036] Please refer to Figure 2 , an obstacle detection method provided by the embodiment of the present application, the method includes:

[0037] Step S210: Obtain the echo distance and echo energy of the radar echo signal. The radar echo signal is the echo signal of the millimeter wave emitted by the millimeter wave radar arranged in the vehicle for obstacle detection.

[0038] As a way, before obtaining the echo distance and echo energy of the radar echo signal, it further includes: when the vehicle is in a stationary state and there are no obstacles on the roof of the vehicle, obtaining the echo energy and background noise corresponding to each distance unit, where each distance unit is divided according to the maximum detection distance of the millimeter-wave radar according to a preset distance size, and the echo energy of different distance units is different, and the background noise of different distance units is different; based on the echo energy and background noise corresponding to each distance unit, determining the detection threshold corresponding to each distance unit.

[0039] Among them, the preset distance size is the distance range included in each distance unit set in advance, and this preset distance size can represent the minimum distance range that the radar can distinguish. The preset distance size can be determined based on the resolution and detection requirements of the millimeter-wave radar. The maximum detection distance of the millimeter-wave radar refers to the farthest distance that the millimeter-wave radar can detect. After setting the distance range included in each distance unit, the maximum detection distance of the millimeter-wave radar is evenly divided according to the preset distance size to obtain a plurality of distance units. Among them, the plurality of distance units are distance units that are continuous in distance, that is, in two adjacent distance units, the maximum distance value of the previous distance unit is the minimum distance value of the next distance unit.

[0040] The vehicle being in a stationary state means that the vehicle is powered on and the vehicle speed is zero. That is to say, when there are no obstacles on the roof of the vehicle, affected by the roof trim, external environment interference, etc., the background noise of different distance units is different, and the obstacle echo energy of different distance units is also different. Therefore, different detection thresholds can be set for different distance units. Specifically, the detection threshold corresponding to each distance unit can be determined based on the background noise and obstacle echo energy corresponding to different distance units. Among them, the detection threshold corresponding to each distance unit = the obstacle echo energy of each distance unit / the background noise of each distance unit, that is, assuming the background noise is N and the obstacle echo energy is S, then the detection threshold SNR corresponding to each distance unit = S / R.

[0041] Step S220: Based on the echo energy and the background noise of the radar echo signal, determine the detection value corresponding to the radar echo signal.

[0042] In the embodiment of the present application, after obtaining the current echo energy and background noise, the current detection value can be determined based on the current echo energy and background noise. Specifically, the current detection value = the current echo energy / the current background noise.

[0043] Step S230: Based on the detection value and the detection threshold, determine whether there are obstacles on the roof of the vehicle.

[0044] After determining the current detected value through the above method, the detected value can be compared with the determined detection threshold to determine whether there is an obstacle on the roof of the vehicle.

[0045] As a method, determining whether there is an obstacle on the roof of the vehicle based on the detected value and the detection threshold includes: if the detected value is greater than or equal to the detection threshold, determining that there is an obstacle on the roof of the vehicle; if the detected value is less than the detection threshold, determining that there is no obstacle on the roof of the vehicle.

[0046] Specifically, if the current detected value is greater than or equal to the corresponding detection threshold, it can be determined that there is an obstacle on the roof of the vehicle; conversely, if the current detected value is less than the corresponding detection threshold, it can be determined that there is no obstacle on the roof of the vehicle.

[0047] As another method, before determining the detected value corresponding to the radar echo signal based on the echo energy and the background noise of the radar echo signal, it further includes: determining the target distance unit to which the echo distance belongs from a plurality of pre-divided distance units, where the plurality of distance units are obtained by equally dividing the maximum detection distance of the millimeter-wave radar according to a preset distance size; obtaining the detection threshold corresponding to the target distance unit.

[0048] Among them, the plurality of pre-divided distance units are the plurality of distance units obtained by the method in the foregoing step S210. After determining the current echo distance, the target distance unit to which the current echo distance belongs can be determined from the plurality of pre-divided distance units, and then the detection threshold corresponding to the target distance unit can be used as the current threshold for detecting whether there is an obstacle on the roof of the vehicle.

[0049] Step S240: If it is determined that there is an obstacle on the roof of the vehicle, determine the type of the obstacle based on a preset obstacle detection strategy.

[0050] It can be known that due to the sparse point cloud of the obstacle avoidance millimeter-wave radar, only 3 to 5 points can be output after algorithm clustering. In the case of a planar obstacle, the 3 to 5 points may be on one side of the gull-wing door vehicle after clustering, resulting in the other side not being recognized. Then, when the unrecognized side opens the door, there is a risk of collision. Therefore, it is necessary to add a specific obstacle detection strategy to identify linear or planar obstacles.

[0051] As a way, if it is determined that there is an obstacle on the roof of the vehicle, determining the type of the obstacle based on a preset obstacle detection strategy includes: if it is determined that there is an obstacle on the roof of the vehicle, obtaining the ratio of the echo energy to the echo energy of a preset distance unit; if the ratio is greater than a preset ratio, determining that the obstacle is an extended target, where the extended target indicates that the obstacle is an obstacle spanning the left and right gull-wing doors; if the ratio is less than or equal to the preset ratio, determining that the obstacle is not an extended target.

[0052] Among them, the preset distance unit is a preset reference distance unit. For example, the first distance unit that can be divided by the preset distance unit. The preset ratio is a preset minimum ratio for determining that an obstacle is an extended target, and this preset ratio needs to be calibrated and adjusted according to the performance of the vehicle and the millimeter-wave radar and the road environment. An extended target refers to an obstacle that spans multiple distance units or has a large area, such as a planar or linear obstacle. These obstacles may have a greater impact on the vehicle's formation, so special obstacle avoidance strategies need to be adopted. The shape feature of the gull-wing door is that when the door is opened, the door stands on the top of the whole vehicle like the wings of a seagull. The upper part of the door is a part of the roof. The hinge of the gull-wing door is arranged on the middle longitudinal beam of the roof. The upper part of the door bears most of the mass of the door. The structural design of the door frame is thick. When the door is closed, the thickness in the middle of the upper part of the door is basically the same as the thickness of the conventional roof cover. The upper frame of the door is thicker than the conventional roof cover, which is likely to affect the design and comfort of the driver's head space.

[0053] By calculating the ratio of the echo energy of different distance units, the characteristics and distribution of the obstacle can be relatively evaluated. For example, for the 15th distance unit (or any specified unit), calculate the ratio of its echo energy to the echo energy of the reference distance unit (such as R1), that is, Ratio = echo energy of distance unit Rn / echo energy of distance unit R1.

[0054] When it is determined that there is an obstacle on the roof of the vehicle, the ratio of the current echo energy to the echo energy of the preset distance unit can be calculated, and then this ratio can be compared with the preset ratio to determine whether the obstacle is an extended target. Specifically, if the ratio of the current echo energy to the echo energy of the preset distance unit is greater than or equal to the preset ratio, it can be determined that the obstacle is an extended target. On the contrary, if the ratio of the current echo energy to the echo energy of the preset distance unit is less than the preset ratio, it can be determined that the obstacle is a non-extended target.

[0055] Step S250: Determine the current obstacle avoidance strategy based on the type of the obstacle.

[0056] In the embodiments of the present application, different obstacle avoidance strategies can be determined in advance for different types of obstacles. That is, the corresponding relationship between the types of obstacles and the obstacle avoidance strategies is set.

[0057] After determining the type of the current obstacle, the obstacle avoidance strategy corresponding to the type of the current obstacle can be determined according to the corresponding relationship between the type of the obstacle and the obstacle avoidance strategy. For example, if the obstacle is an extended target, specific obstacle avoidance strategies can be adopted, such as adjusting the vehicle driving path, speed, or keeping both side doors closed; if the obstacle is a non-extended target, other obstacle avoidance strategies can be adopted, such as adjusting one side door to remain closed and opening the other side door at a preset angle, which are not specifically limited herein.

[0058] Step S260: Control the vehicle to avoid obstacles based on the obstacle avoidance strategy.

[0059] In the embodiments of the present application, after determining the current obstacle avoidance strategy in the foregoing manner, the vehicle can be controlled to avoid obstacles based on the current obstacle avoidance strategy.

[0060] An obstacle detection method provided by the present application detects obstacles through the detection thresholds corresponding to different distance units, improves the accuracy of obstacle detection, and also improves the obstacle avoidance performance of the millimeter-wave radar.

[0061] Please refer to Figure 3 , an obstacle detection device 300 provided by the embodiments of the present application, the device 300 includes:

[0062] An acquisition unit 310, configured to acquire the echo distance and echo energy of the radar echo signal, where the radar echo signal is the echo signal of the millimeter wave emitted by the millimeter-wave radar disposed in the vehicle for obstacle detection.

[0063] A first determination unit 320, configured to determine whether there is an obstacle on the roof of the vehicle based on the detection threshold corresponding to the target distance unit to which the echo distance belongs and the echo energy, where different distance units correspond to different detection thresholds.

[0064] As a way, the first determination unit 320 is specifically configured to determine the detection value corresponding to the radar echo signal based on the echo energy and the background noise of the radar echo signal; determine whether there is an obstacle on the roof of the vehicle based on the detection value and the detection threshold.

[0065] As another way, the first determination unit 320 is specifically configured to determine that there is an obstacle on the roof of the vehicle if the detection value is greater than or equal to the detection threshold; determine that there is no obstacle on the roof of the vehicle if the detection value is less than the detection threshold.

[0066] Optionally, the first determination unit 320 is further specifically configured to determine, based on the echo distance, a target distance unit to which the echo distance belongs from a plurality of pre-divided distance units, where the plurality of distance units are obtained by equally dividing the maximum detection distance of the millimeter-wave radar according to a preset distance size; and obtain a detection threshold corresponding to the target distance unit.

[0067] A second determination unit 330, configured to, if it is determined that there is an obstacle on the roof of the vehicle, determine the type of the obstacle based on a preset obstacle detection strategy.

[0068] As a way, the second determination unit 340 is specifically configured to, if it is determined that there is an obstacle on the roof of the vehicle, obtain a ratio of the echo energy to the echo energy of a preset distance unit; if the ratio is greater than a preset ratio, determine that the obstacle is an extended target, where the extended target represents that the obstacle is an obstacle spanning the left and right gull-wing doors; if the ratio is less than or equal to the preset ratio, determine that the obstacle is not an extended target.

[0069] Optionally, as Figure 4 shown, the device 300 further includes:

[0070] A setting unit 340, configured to, when the vehicle is in a stationary state and there is no obstacle on the roof of the vehicle, obtain the echo energy and the background noise corresponding to each distance unit, where the each distance unit is divided according to the maximum detection distance of the millimeter-wave radar according to a preset distance size, and the echo energy of different distance units is different, and the background noise of different distance units is different; and determine the detection threshold corresponding to each distance unit based on the echo energy and the background noise corresponding to each distance unit.

[0071] An obstacle avoidance unit 350, configured to determine a current obstacle avoidance strategy based on the type of the obstacle; and control the vehicle to avoid obstacles based on the obstacle avoidance strategy.

[0072] It should be noted that the device embodiments in this application correspond to the foregoing method embodiments. The specific principles in the device embodiments can refer to the content in the foregoing method embodiments, and will not be elaborated here.

[0073] Next, a vehicle provided by the present application will be described in conjunction with Figure 5 a vehicle provided by the present application.

[0074] Please refer to Figure 5, based on the above obstacle detection method and device, another vehicle 800 capable of executing the foregoing obstacle detection method is further provided in an embodiment of the present application. The vehicle 800 includes one or more (only one is shown in the figure) processors 802, a memory 804, a millimeter-wave radar 806, and a network module 808 that are coupled to each other. Among them, a program that can execute the content in the foregoing embodiments is stored in the memory 804, and the processor 802 can execute the program stored in the memory 804.

[0075] Among them, the processor 802 may include one or more processing cores. The processor 802 connects various parts within the entire vehicle 800 through various interfaces and lines, and executes various functions of the vehicle 800 and processes data by running or executing instructions, programs, code sets, or instruction sets stored in the memory 804, and by calling data stored in the memory 804. Optionally, the processor 802 may be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), or programmable logic array (PLA). The processor 802 may integrate a combination of one or several of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes the operating system, user interface, application programs, etc.; the GPU is responsible for rendering and drawing display content; the modem is used to process wireless communication. It can be understood that the above modem may not be integrated into the processor 802 and may be implemented separately through a communication chip.

[0076] The memory 804 may include random access memory (RAM) and may also include read-only memory. The memory 804 can be used to store instructions, programs, codes, code sets, or instruction sets. The memory 804 may include a program storage area and a data storage area. Among them, the program storage area may store instructions for implementing the operating system, instructions for implementing at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the following various method embodiments, etc. The data storage area may also store data created during the use of the vehicle 800 (such as phone book, audio and video data, chat record data, etc.).

[0077] The millimeter-wave radar 806 is an obstacle avoidance millimeter-wave radar installed in a gull-wing door vehicle for obstacle detection. This obstacle avoidance millimeter-wave radar detects the presence and distance of obstacles in the surrounding environment by transmitting millimeter waves and receiving the signals reflected back. Millimeter waves have the characteristics of strong penetration and strong anti-interference ability, enabling the radar to work stably under various weather and lighting conditions. This obstacle avoidance millimeter-wave radar is widely used in fields such as automotive driving assistance systems and UAV obstacle avoidance systems to improve the safety and reliability during driving or flight. For example, in a vehicle, the obstacle avoidance millimeter-wave radar can help the vehicle achieve functions such as automatic emergency braking and blind spot monitoring; in a UAV, it can be used to avoid collisions and achieve autonomous flight, etc.

[0078] The network module 808 is used to receive and transmit electromagnetic waves, realizing the mutual conversion between electromagnetic waves and electrical signals, so as to communicate with a communication network or other devices, such as communicating with a vehicle. The network module 808 may include various existing circuit elements for performing these functions. For example, antennas, radio frequency transceivers, digital signal processors, encryption / decryption chips, user identity module (SIM) cards, memories, etc. The network module 808 can communicate with various networks such as the Internet, enterprise intranets, wireless networks or communicate with other devices through a wireless network. The above-mentioned wireless network may include a cellular phone network, a wireless local area network or a metropolitan area network. For example, the network module 808 can interact with a base station for information.

[0079] Please refer to Figure 6 , which shows a structural block diagram of a computer-readable storage medium provided by an embodiment of the present application. Program code is stored in the computer-readable storage medium 900, and the program code can be called by a processor to execute the method described in the above method embodiment.

[0080] The computer-readable storage medium 900 can be an electronic memory such as a flash memory, EEPROM (electrically erasable programmable read-only memory), EPROM, hard disk or ROM. Optionally, the computer-readable storage medium 900 includes a non-transitory computer-readable storage medium. The computer-readable storage medium 900 has a storage space for the program code 910 for executing any method step in the above method. These program codes can be read from one or more computer program products or written into these one or more computer program products. The program code 910 can be compressed in an appropriate form, for example.

[0081] An obstacle detection method, device, vehicle and storage medium provided by the present application first obtain the echo distance and echo energy of the radar echo signal, where the radar echo signal is the echo signal of the millimeter wave emitted by the millimeter wave radar set in the vehicle for obstacle detection, and then determine whether there is an obstacle on the roof of the vehicle based on the detection threshold corresponding to the target distance unit to which the echo distance belongs and the echo energy, where different distance units correspond to different detection thresholds. If it is determined that there is an obstacle on the roof of the vehicle, the type of the obstacle is determined based on a preset obstacle detection strategy. Through the above method, obstacles are detected by the detection thresholds corresponding to different distance units, improving the accuracy of obstacle detection.

[0082] The embodiments of the present invention have been described above in conjunction with the accompanying drawings. However, the present invention is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of the present invention, those of ordinary skill in the art can also make many forms without departing from the spirit and scope protected by the present invention and the claims, and all of them belong to the protection scope of the present invention.

Claims

1. An obstacle detection method, characterized in that, The method includes: Obtaining the echo distance and echo energy of the radar echo signal, where the radar echo signal is the echo signal of millimeter waves emitted by a millimeter wave radar arranged in a vehicle for obstacle detection; Based on the detection threshold corresponding to the target distance unit to which the echo distance belongs and the echo energy, determining whether there is an obstacle on the roof of the vehicle, where different distance units correspond to different detection thresholds; If it is determined that there is an obstacle on the roof of the vehicle, determining the type of the obstacle based on a preset obstacle detection strategy.

2. The method according to claim 1, characterized in that, The determining whether there is an obstacle on the roof of the vehicle based on the detection threshold corresponding to the target distance unit to which the echo distance belongs and the echo energy includes: Based on the echo energy and the background noise of the radar echo signal, determining the detection value corresponding to the radar echo signal; Based on the detection value and the detection threshold, determining whether there is an obstacle on the roof of the vehicle.

3. The method according to claim 2, wherein The determining whether there is an obstacle on the roof of the vehicle based on the detection value and the detection threshold includes: If the detection value is greater than or equal to the detection threshold, determining that there is an obstacle on the roof of the vehicle; If the detection value is less than the detection threshold, determining that there is no obstacle on the roof of the vehicle.

4. The method according to claim 2, wherein Before the determining the detection value corresponding to the radar echo signal based on the echo energy and the background noise of the radar echo signal, it further includes: Based on the echo distance, determining the target distance unit to which the echo distance belongs from a plurality of pre-divided distance units, where the plurality of distance units are obtained by equally dividing the maximum detection distance of the millimeter wave radar according to a preset distance size; Obtaining the detection threshold corresponding to the target distance unit.

5. The method according to claim 1, characterized in that, Before the obtaining the echo distance and echo energy of the radar echo signal, it further includes: When the vehicle is in a stationary state and there is no obstacle on the roof of the vehicle, obtaining the echo energy and background noise corresponding to each distance unit, where each distance unit is divided according to the maximum detection distance of the millimeter wave radar according to a preset distance size, and the echo energy of different distance units is different, and the background noise of different distance units is different; Based on the echo energy and background noise corresponding to each distance unit, determining the detection threshold corresponding to each distance unit.

6. The method according to claim 1, wherein The determining the type of the obstacle based on a preset obstacle detection strategy if it is determined that there is an obstacle on the roof of the vehicle includes: If it is determined that there is an obstacle on the roof of the vehicle, obtaining the ratio of the echo energy to the echo energy of a preset distance unit; If the ratio is greater than a preset ratio, determining that the obstacle is an extended target, where the extended target represents an obstacle that spans the left and right gull-wing doors; If the ratio is less than or equal to the preset ratio, determining that the obstacle is not an extended target.

7. The method according to claim 1 or 6, characterized in that, After the determining the type of the obstacle based on a preset obstacle detection strategy if it is determined that there is an obstacle on the roof of the vehicle, it further includes: Based on the type of the obstacle, determining the current obstacle avoidance strategy; Based on the obstacle avoidance strategy, controlling the vehicle to avoid obstacles.

8. An obstacle detection device, characterized in that, The device includes: An acquisition unit for acquiring the echo distance and echo energy of a radar echo signal, where the radar echo signal is an echo signal of millimeter waves emitted by a millimeter wave radar disposed in a vehicle for obstacle detection; A first determination unit for determining whether there is an obstacle on the roof of the vehicle based on a detection threshold corresponding to a target distance unit to which the echo distance belongs and the echo energy, where different distance units correspond to different detection thresholds; A second determination unit for determining the type of the obstacle based on a preset obstacle detection strategy if it is determined that there is an obstacle on the roof of the vehicle.

9. A vehicle, characterized in that, Comprising one or more processors and a memory; one or more programs are stored in the memory and configured to be executed by the one or more processors to perform the method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, Program code is stored in the computer-readable storage medium, where the method according to any one of claims 1-7 is executed when the program code is run by a processor.

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