Control method of vehicle radar system, vehicle radar system and vehicle

Abstract

The invention discloses a control method of a vehicle radar system, the vehicle radar system and a vehicle, and the control method of the vehicle radar system comprises the following steps: when the duration when the vehicle distance between a vehicle and a front vehicle is less than a vehicle distance preset value and the duration when the vehicle speed of the vehicle is greater than the vehicle speed of the front vehicle are greater than or equal to preset time, starting the vehicle radar system; and controlling the radar of the vehicle to extend out of the front windshield from the vehicle ceiling to sense the road condition. Therefore, when the duration time when the vehicle distance between the vehicle and the front vehicle is smaller than the vehicle distance preset value and the duration time when the vehicle speed of the vehicle is larger than the vehicle speed of the front vehicle are both larger than or equal to the preset time, the radar of the vehicle is controlled to start the sensing function, and the radar of the vehicle is controlled to extend out of the front windshield from the vehicle ceiling to conduct road condition sensing; therefore, the radar can be hidden in the ceiling when the sensing function of the radar is not started, so that the visual field in a cab can be ensured, and the occupation of the radar on the computing power and the electric quantity of a vehicle controller is reduced.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a control method of a vehicle radar system, a vehicle radar system and a vehicle. Background Art

[0002] With the development of science and technology, autonomous driving technology has made significant progress in perception, decision-making and control execution. The performance of lidar, cameras, radar and other sensors of autonomous vehicles continues to improve, while computing power and algorithms are also continuously improving, enabling autonomous vehicles to better understand and cope with complex traffic environments.

[0003] In related technologies, autonomous driving vehicles are equipped with lidar systems. However, the lidar systems in traditional autonomous driving vehicles are always in working and sensing detection states, and the lidar systems are generally arranged at the front windshield. Not only will the lidar system occupy a large amount of computing power of the autonomous driving domain controller for a long time, causing other systems to freeze and consume extremely high power, but the lidar system will also be arranged at the front windshield for a long time, which will affect the perception field of view and aesthetics in the cockpit. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide a control method for a vehicle radar system, which can not only not affect the field of view in the cab, but also reduce the radar's occupation of the vehicle controller's computing power and power.

[0005] The present invention further proposes a vehicle radar system The present invention further provides a vehicle.

[0006] The control method of the vehicle radar system according to the present invention includes: receiving a vehicle distance signal between the vehicle and the preceding vehicle, receiving a vehicle speed signal of the vehicle, and a vehicle speed signal of the preceding vehicle; judging whether the vehicle distance between the vehicle and the preceding vehicle is less than a preset vehicle distance value; when the vehicle distance between the vehicle and the preceding vehicle is less than the preset vehicle distance value, judging whether the vehicle speed of the vehicle is greater than the vehicle speed of the preceding vehicle; when the vehicle speed of the vehicle is greater than the vehicle speed of the preceding vehicle, judging whether the duration of the vehicle distance between the vehicle and the preceding vehicle is less than the preset vehicle distance value, and the duration of the vehicle speed of the vehicle being greater than the vehicle speed of the preceding vehicle are both greater than or equal to a preset time; when the duration of the vehicle distance between the vehicle and the preceding vehicle is less than the preset vehicle distance value, and the duration of the vehicle speed of the vehicle being greater than the vehicle speed of the preceding vehicle are both greater than or equal to a preset time, controlling the vehicle radar to start the sensing function, and controlling the vehicle radar to extend from the vehicle roof to the outside of the front windshield to sense the road condition, so as to prepare for the vehicle to change lanes and overtake.

[0007] Thus, when the duration that the distance between the host vehicle and the vehicle ahead is less than the preset distance and the duration that the speed of the host vehicle is greater than the speed of the vehicle ahead are both greater than or equal to the preset time, the radar of the vehicle is controlled to turn on the sensing function, and the radar of the vehicle is controlled to extend from the vehicle roof to the outside of the front windshield for road condition sensing, so as to prepare for the host vehicle to change lanes and overtake. In this way, the radar can be hidden inside the roof when it does not turn on the sensing function, which can not only ensure a good view in the cab, but also reduce the occupation of the computing power and power of the vehicle controller by the radar.

[0008] In some examples of the present invention, after the step of determining whether the speed of the host vehicle is greater than the speed of the vehicle ahead when the distance between the host vehicle and the vehicle ahead is less than the preset distance, the following steps are further included: when the speed of the host vehicle is greater than the speed of the vehicle ahead and the speed difference between the speed of the host vehicle and the speed of the vehicle ahead is less than or equal to the first preset speed value, determine whether the duration that the distance between the host vehicle and the vehicle ahead is less than the preset distance and the duration that the speed of the host vehicle is greater than the speed of the vehicle ahead are both greater than or equal to the first preset time; when the duration that the distance between the host vehicle and the vehicle ahead is less than the preset distance and the duration that the speed of the host vehicle is greater than the speed of the vehicle ahead are both greater than or equal to the first preset time, control the radar of the vehicle to turn on the sensing function, and control the radar of the vehicle to extend from the vehicle roof to the outside of the front windshield for road condition sensing, so as to prepare for the host vehicle to change lanes and overtake.

[0009] In some examples of the present invention, after the step of determining whether the speed of the host vehicle is greater than the speed of the vehicle ahead when the distance between the host vehicle and the vehicle ahead is less than the preset distance, the following steps are further included: when the speed of the host vehicle is greater than the speed of the vehicle ahead and the speed difference between the speed of the host vehicle and the speed of the vehicle ahead is greater than the first preset speed value, determine whether the duration that the distance between the host vehicle and the vehicle ahead is less than the preset distance and the duration that the speed of the host vehicle is greater than the speed of the vehicle ahead are both greater than or equal to the second preset time; when the duration that the distance between the host vehicle and the vehicle ahead is less than the preset distance and the duration that the speed of the host vehicle is greater than the speed of the vehicle ahead are both greater than or equal to the second preset time, control the radar of the vehicle to turn on the sensing function, and control the radar of the vehicle to extend from the vehicle roof to the outside of the front windshield for road condition sensing, so as to prepare for the host vehicle to change lanes and overtake, wherein the first preset time is greater than the second preset time.

[0010] In some examples of the present invention, after the step of determining whether the speed of the host vehicle is greater than the speed of the vehicle ahead when the distance between the host vehicle and the vehicle ahead is less than the preset distance, the following steps are further included: when the speed of the host vehicle is less than or equal to the speed of the vehicle ahead, control the radar of the vehicle to continue to sleep.

[0011] In some examples of the present invention, when the duration of the distance between the vehicle and the vehicle in front being less than a preset value of the distance, and the duration of the speed of the vehicle being greater than the speed of the vehicle in front being greater than or equal to a preset time, the vehicle's radar is controlled to turn on the perception function, and the vehicle's radar is controlled to extend from the vehicle's roof to the outside of the front windshield to perceive the road condition, and the steps of preparing for the vehicle to change lanes and overtake also include: controlling the roof bottom plate at the bottom of the vehicle's radar to open; controlling the vehicle's radar to move downward from the roof to extend into the cab; controlling the vehicle's radar to move forward and extend from the front windshield to the outside of the vehicle to perceive the road condition.

[0012] In some examples of the present invention, the step of controlling the vehicle radar to move forward and extend from the front windshield to the outside to sense the road condition also includes: controlling the window on the front windshield to open, and controlling the vehicle radar to move forward and extend through the window to the outside of the vehicle to sense the road condition.

[0013] The vehicle radar system according to the embodiment of the present invention is applicable to the above-mentioned vehicle radar system control method.

[0014] A vehicle according to an embodiment of the present invention comprises: a vehicle body, wherein the vehicle body is provided with a roof; the vehicle radar system described above, wherein the vehicle radar system is arranged in the roof; and a drive motor, wherein the drive motor is transmission-connected to the vehicle radar system to selectively drive the vehicle radar system to move from the roof to the outside of the vehicle body.

[0015] In some examples of the present invention, the vehicle body is also provided with a cab, the roof is located above the cab, a front windshield is provided on the front side of the cab, and the vehicle body is provided with a first rail member and a second rail member, the first rail member is extended in the up and down directions and is located between the roof and the cab, the second rail member is extended in the front and back directions and is located between the cab and the front windshield, the lower end of the first rail member is connected to the rear end of the second rail member, and the drive motor selectively drives the radar system of the vehicle to move on the first rail member and the second rail member.

[0016] In some examples of the present invention, an opening is provided at the bottom of the roof, a roof floor is provided at the opening, and the roof floor selectively opens the opening to allow the vehicle's radar system to enter the cab from the opening; a window is provided at the front windshield, window glass is provided at the window, and the window glass selectively opens the window to allow the vehicle's radar system to extend from the window to the outside of the vehicle body.

[0017] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. Brief Description of the Drawings

[0018] The above and / or additional aspects and advantages of the present invention will become apparent and be readily understood from the following description of embodiments in conjunction with the accompanying drawings, where: Figure 1 is a flowchart of a control method for a vehicle radar system according to an embodiment of the present invention; Figure 2 is a flowchart of a control method for a vehicle radar system according to an embodiment of the present invention; Figure 3 is a schematic diagram of the road conditions of the host vehicle and the vehicle ahead according to an embodiment of the present invention; Figure 4 is a schematic diagram of the road conditions of the host vehicle and the vehicle ahead according to an embodiment of the present invention; Figure 5 is a schematic diagram of the road conditions of the host vehicle and the vehicle ahead according to an embodiment of the present invention; Figure 6 is a partial schematic diagram of a vehicle according to an embodiment of the present invention; Figure 7 is a partial schematic diagram of a vehicle according to an embodiment of the present invention; Figure 8 is a partial schematic diagram of a vehicle according to an embodiment of the present invention; Figure 9 is a partial schematic diagram of a vehicle according to an embodiment of the present invention; Figure 10 is a partial schematic diagram of a vehicle according to an embodiment of the present invention.

[0019] Reference Signs: 100, vehicle; 10, host vehicle; 101, radar; 102, cab; 103, roof; 1031, opening; 1032, roof floor; 104, front windshield; 1041, window; 1042, window glass; 1043, window slide rail; 105, first track member; 106, second track member; 107, drive motor; 108, on-vehicle unit; 109, controller; 110, vehicle body; 20, vehicle ahead; 301, roadside camera; 302, roadside millimeter-wave radar; 303, edge computing unit; 304, roadside unit; 305, cloud platform. Detailed Description of the Embodiments

[0020] The embodiments of the present invention will be described in detail below. The embodiments described with reference to the drawings are exemplary. The embodiments of the present invention will be described in detail below.

[0021] The following refers to Figures 1 - 10Describe a control method for a vehicle radar system according to an embodiment of the present invention. The control method of the vehicle radar system can be applied to the radar system of vehicle 100, and the radar system of vehicle 100 can be applied to vehicle 100.

[0022] Combined with Figures 1 - 10 As shown, the control method of the vehicle radar system according to the present invention may mainly include the following steps: Receive the vehicle distance signal between the host vehicle 10 and the preceding vehicle 20, the vehicle speed signal of the host vehicle 10, and the vehicle speed signal of the preceding vehicle 20; Determine whether the vehicle distance between the host vehicle 10 and the preceding vehicle 20 is less than the preset vehicle distance value; When the vehicle distance between the host vehicle 10 and the preceding vehicle 20 is less than the preset vehicle distance value, determine whether the vehicle speed of the host vehicle 10 is greater than the vehicle speed of the preceding vehicle 20; When the vehicle speed of the host vehicle 10 is greater than the vehicle speed of the preceding vehicle 20, determine whether the duration that the vehicle distance between the host vehicle 10 and the preceding vehicle 20 is less than the preset vehicle distance value and the duration that the vehicle speed of the host vehicle 10 is greater than the vehicle speed of the preceding vehicle 20 are both greater than or equal to the preset time; When the duration that the vehicle distance between the host vehicle 10 and the preceding vehicle 20 is less than the preset vehicle distance value and the duration that the vehicle speed of the host vehicle 10 is greater than the vehicle speed of the preceding vehicle 20 are both greater than or equal to the preset time, control the radar 101 of vehicle 100 to turn on the sensing function, and control the radar 101 of vehicle 100 to extend from the roof 103 of vehicle 100 to the outside of the front windshield 104 for road condition sensing, so as to prepare for the host vehicle 10 to change lanes and overtake.

[0023] Specifically, when the vehicle distance between the host vehicle 10 and the preceding vehicle 20 is less than the preset vehicle distance value and the vehicle speed of the host vehicle 10 is greater than the vehicle speed of the preceding vehicle 20, the vehicle distance between the host vehicle 10 and the preceding vehicle 20 will gradually decrease. If the host vehicle 10 does not perform lane change and overtaking or deceleration operations, it will collide with the preceding vehicle 20.

[0024] Further, the control method of the vehicle radar system of the present invention first needs to receive the vehicle distance signal between the host vehicle 10 and the preceding vehicle 20, receive the vehicle speed signal of the host vehicle 10, and the vehicle speed signal of the preceding vehicle 20. Further, on the premise that the vehicle distance between the host vehicle 10 and the preceding vehicle 20 is less than the preset vehicle distance value and the vehicle speed of the host vehicle 10 is greater than that of the preceding vehicle 20, when the duration that the vehicle distance between the host vehicle 10 and the preceding vehicle 20 is less than the preset vehicle distance value and the duration that the vehicle speed of the host vehicle 10 is greater than that of the preceding vehicle 20 are both greater than or equal to the preset time, it is determined that the host vehicle 10 is affected by the vehicle speed of the preceding vehicle 20 and its driving speed is slow. The host vehicle 10 will select the lane-changing and overtaking mode. At this time, the controller 109 of the vehicle 100 controls the radar 101 of the vehicle 100 to turn on the sensing function, and controls the radar 101 of the vehicle 100 to extend from the roof 103 of the vehicle 100 to the outside of the front windshield 104 for road condition sensing, preparing for the host vehicle 10 to change lanes and overtake. In this way, when the conditions for the radar 101 to turn on the sensing function are not met, the radar 101 is in the sensing function sleep state, and the radar 101 will be hidden inside the roof 103 of the vehicle 100 when the sensing function is not turned on. This can not only ensure a good view in the cab 102, but also reduce the occupation of the computing power and power of the controller 109 of the vehicle 100. In addition, it can also help the host vehicle 10 to complete lane-changing and overtaking before contacting and colliding with the preceding vehicle 20, effectively preventing the host vehicle 10 from contacting and colliding with the preceding vehicle 20.

[0025] It should be noted that the vehicle 100 in the present invention refers to an autonomous vehicle.

[0026] Combined Figure 3 、 Figure 4 and Figure 5 As shown in, in the embodiment of the present invention, a roadside camera 301, a roadside millimeter-wave radar 302, an edge computing unit 303, and a roadside unit 304 are arranged above the roadside pole, and a cloud platform 305 is provided at the roadside pole; an in-vehicle unit 108 is arranged inside the roof 103 of the vehicle 100. The in-vehicle unit 108 can communicate bidirectionally with the roadside unit 304, and a controller 109 is provided on the inner side of the roof 103 of the vehicle 100. The controller 109 is connected to the in-vehicle unit 108 to receive the control instructions transmitted by the in-vehicle unit 108.

[0027] Among them, the roadside camera 301 uses a high-definition pixel camera with an IP67K protection level, and real-time collects the distance between the road autonomous vehicle 100 and the preceding vehicle 20 and the vehicle speeds of the two vehicles, and collects the road conditions of the lane next to the autonomous vehicle 100 such as vehicle 100 information, vehicle speed information, and driving angle of the vehicle 100, and transmits them to the edge computing unit 303 for judging whether the autonomous vehicle 100 needs to change lanes; Furthermore, the roadside millimeter-wave radar 302 uses a rotary millimeter-wave radar, which can scan the motion information of the road autonomous vehicle 100 in real time at 360°, and the motion information of the vehicle 100 in front of the autonomous vehicle 100, including the distance and vehicle speed between the vehicle 10 and the vehicle 20 in front, etc., to form a 2D radar wave model, which is transmitted to the edge computing unit 303 for fusing with camera data to redundantly determine whether the road environment where the autonomous vehicle 100 is located requires a lane change; Furthermore, the edge computing unit 303 receives the information of the roadside camera 301 and the roadside millimeter-wave radar 302, constructs a perception redundancy model, fuses and processes the 2D perception information of the camera and the 2D radar wave data information of the roadside millimeter-wave radar 302, constructs a perception model to process and judge the information of the autonomous vehicle 100 monitored by the roadside and the road environment, and transmits the preliminary judgment model to the cloud platform 305 for judging whether a lane change is required; Furthermore, the cloud platform 305 receives the model information of the autonomous vehicle 100 and the road transmitted by the edge computing unit 303 and the vehicle speed, attitude and angle information provided by the vehicle end transmitted by the roadside unit 304, performs arbitration fusion processing, judges the road environment where the current autonomous vehicle 100 is located. When the vehicle distance between the vehicle 10 and the vehicle 20 in front is less than the preset vehicle distance value, and the vehicle speed of the vehicle 10 is greater than the vehicle speed of the vehicle 20 in front, and when the duration of the vehicle distance between the vehicle 10 and the vehicle 20 in front being less than the preset vehicle distance value, and the duration of the vehicle speed of the vehicle 10 being greater than the vehicle speed of the vehicle 20 in front are both greater than or equal to the preset time, it is judged that the vehicle 10 is affected by the vehicle speed of the vehicle 20 in front and its driving is slow, and the lane change and overtaking mode is selected. At this time, the cloud platform 305 will issue an instruction to turn on the radar 101. The radar 101 extends from the roof 103 of the vehicle 100 to the outside of the front windshield 104 for detection and the sensing function is powered on and enabled to detect and sense the road conditions of the adjacent vehicles, perform redundant calculation of the visual perception algorithm and path planning control, and prepare for lane change and overtaking.

[0028] Furthermore, the roadside unit 304 can not only receive the motion information of the autonomous vehicle 100 transmitted by the in-vehicle unit 108, including vehicle speed, angle, etc., but also receive the control instruction information issued by the cloud platform 305, and transmit it to the in-vehicle unit 108 to control the radar 101 at the vehicle end to extend outside the vehicle for detection and the sensing function to be powered on and enabled; Further, when the radar 101 does not receive the instruction to turn on the radar 101 sent by the cloud platform 305, it puts the sensing function into sleep mode to avoid power consumption and occupying the computing power of the controller 109 chip in the vehicle 100, and hides inside the ceiling 103 of the vehicle 100 to avoid interfering with the vision of the cab 102. When receiving the radar 101 turn-on instruction sent by the cloud platform 305, the sensing function of the radar 101 wakes up and turns on, and extends from the ceiling 103 to the outside of the front windshield 104 to perform sensing function detection in front of the vehicle 100, redundant calculation of visual sensing algorithms, and path planning control, and prepares for lane change and overtaking; Further, the on-vehicle unit 108 can not only receive the control instruction information sent by the cloud platform 305 transmitted by the roadside unit 304, but also upload the vehicle motion information including vehicle speed, angle, etc. to the roadside unit 304; Further, the controller 109 of the vehicle 100 is connected to the on-vehicle unit 108 to receive the control instructions transmitted by the on-vehicle unit 108, and sends signals to the drive motors 107 through the CAN bus for instruction control and sends the radar 101 turn-on instruction to the radar 101 through the CAN bus to wake up the sensing function.

[0029] In some embodiments of the present invention, the layout positions of structures such as the roadside camera 301, roadside millimeter-wave radar 302, edge computing unit 303, roadside unit 304, cloud platform 305, on-vehicle unit 108, and controller 109 of the vehicle 100 can be adjusted according to specific requirements and application environments.

[0030] Combined with Figure 1 and Figure 2 As shown, after the step of judging whether the vehicle speed of the vehicle 10 is greater than that of the vehicle 20 in front when the distance between the vehicle 10 and the vehicle 20 in front is less than the preset distance value, the following steps are further included: When the vehicle speed of the vehicle 10 is greater than that of the vehicle 20 in front and the speed difference between the vehicle speed of the vehicle 10 and that of the vehicle 20 in front is less than or equal to the first preset vehicle speed value, judge whether the duration of the distance between the vehicle 10 and the vehicle 20 in front being less than the preset distance value and the duration of the vehicle speed of the vehicle 10 being greater than that of the vehicle 20 in front are both greater than or equal to the first preset time; When the duration of the distance between the vehicle 10 and the vehicle 20 in front being less than the preset distance value and the duration of the vehicle speed of the vehicle 10 being greater than that of the vehicle 20 in front are both greater than or equal to the first preset time, control the radar 101 of the vehicle 100 to turn on the sensing function, and control the radar 101 of the vehicle 100 to extend from the ceiling 103 of the vehicle 100 to the outside of the front windshield for road condition sensing to prepare for lane change and overtaking of the vehicle 10.

[0031] Specifically, when the distance between the host vehicle 10 and the preceding vehicle 20 is less than the preset distance value, and the speed of the host vehicle 10 is greater than the speed of the preceding vehicle 20, the distance between the host vehicle 10 and the preceding vehicle 20 will gradually decrease. Therefore, to prevent the host vehicle 10 from colliding with the preceding vehicle 20, the host vehicle 10 needs to change lanes and overtake within a certain period of time under this driving condition.

[0032] Furthermore, when the distance between the host vehicle 10 and the preceding vehicle 20 is less than the preset distance value, the speed of the host vehicle 10 is greater than the speed of the preceding vehicle 20, the speed difference between the speed of the host vehicle 10 and the speed of the preceding vehicle 20 is less than or equal to the first preset speed value, and the duration during which the distance between the host vehicle 10 and the preceding vehicle 20 is less than the preset distance value, and the duration during which the speed of the host vehicle 10 is greater than the speed of the preceding vehicle 20 are both greater than or equal to the first preset time, it is determined that the host vehicle 10 is affected by the speed of the preceding vehicle 20 and its driving speed is slow. The lane change and overtaking mode is selected, and the cloud platform 305 will issue an instruction to turn on the radar 101. The radar 101 extends outside the vehicle for detection and its sensing function is powered on and enabled. It detects and senses the road conditions of the adjacent lane, performs redundant calculation of the visual sensing algorithm and path planning control, and prepares for lane change and overtaking.

[0033] In some embodiments of the present invention, the preset distance value can be 100 m, the first preset speed value can be 5 kph, and the first preset time can be 5 s. The safe distance between the vehicle 100 at high speed, medium speed, and low speed is different, and when the vehicle 100 is driving on a rainy day or a slippery road surface, the safe distance should be increased. Therefore, the specific numerical values of the preset distance value, the first preset speed value, and the first preset time can be adjusted according to the specific driving speeds of the host vehicle 10 and the adjacent vehicle, road conditions, and weather conditions, etc.

[0034] Combined Figure 1 and Figure 2 As shown, after the step of determining whether the speed of the host vehicle 10 is greater than the speed of the preceding vehicle 20 when the distance between the host vehicle 10 and the preceding vehicle 20 is less than the preset distance value, the following steps are further included: When the speed of the host vehicle 10 is greater than the speed of the preceding vehicle 20, and the speed difference between the speed of the host vehicle 10 and the speed of the preceding vehicle 20 is greater than the first preset speed value, it is determined whether the duration during which the distance between the host vehicle 10 and the preceding vehicle 20 is less than the preset distance value, and the duration during which the speed of the host vehicle 10 is greater than the speed of the preceding vehicle 20 are both greater than or equal to the second preset time; When the duration during which the distance between the host vehicle 10 and the preceding vehicle 20 is less than the preset distance value, and the duration during which the speed of the host vehicle 10 is greater than the speed of the preceding vehicle 20 are both greater than or equal to the second preset time, control the radar 101 of the vehicle 100 to turn on the sensing function, and control the radar 101 of the vehicle 100 to extend from the roof 103 of the vehicle 100 to the outside of the front windshield for road condition sensing, so as to prepare for the host vehicle 10 to change lanes and overtake. Among them, the first preset time is greater than the second preset time.

[0035] Specifically, when the distance between the host vehicle 10 and the preceding vehicle 20 is less than the preset distance value, and the speed of the host vehicle 10 is greater than the speed of the preceding vehicle 20, the distance between the host vehicle 10 and the preceding vehicle 20 will gradually decrease. Therefore, to prevent the host vehicle 10 from colliding with the preceding vehicle 20, the host vehicle 10 needs to change lanes and overtake within a certain time under this driving condition.

[0036] Furthermore, when the distance between the host vehicle 10 and the preceding vehicle 20 is less than the preset distance value, the speed of the host vehicle 10 is greater than the speed of the preceding vehicle 20, the speed difference between the speed of the host vehicle 10 and the speed of the preceding vehicle 20 is greater than the first preset speed value, and the duration during which the distance between the host vehicle 10 and the preceding vehicle 20 is less than the preset distance value, as well as the duration during which the speed of the host vehicle 10 is greater than the speed of the preceding vehicle 20, are both greater than or equal to the second preset time, it is determined that the host vehicle 10 is affected by the speed of the preceding vehicle 20 and its driving speed is slow. The lane-changing and overtaking mode is selected, and the cloud platform 305 will issue an instruction to turn on the radar 101. The radar 101 extends outside the vehicle for detection and the sensing function is powered on and enabled. It detects and senses the road conditions of the adjacent lane, performs redundant calculations of the visual sensing algorithm and path planning control, and prepares for lane-changing and overtaking.

[0037] Furthermore, compared with the situation where the speed difference between the speed of the host vehicle 10 and the speed of the preceding vehicle 20 is less than or equal to the first preset speed value, when the speed difference between the speed of the host vehicle 10 and the speed of the preceding vehicle 20 is greater than the first preset speed value, if the host vehicle 10 does not change lanes or decelerate, it will collide with the preceding vehicle 20 faster. Therefore, the first preset time is greater than the second preset time, that is, when the speed difference between the speed of the host vehicle 10 and the speed of the preceding vehicle 20 is greater than the first preset speed value, the host vehicle 10 needs to prepare for lane-changing and overtaking of the host vehicle 10 faster and earlier to prevent the host vehicle 10 from colliding with the preceding vehicle 20.

[0038] In some embodiments of the present invention, the preset distance value can be 100 m, the first preset speed value can be 5 kph, and the second preset time can be 3 s. The safe distance between vehicles 100 under high-speed, medium-speed, and low-speed driving conditions is different, and when the vehicle 100 is driving on a rainy day or a slippery road surface, the safe distance should be increased. Therefore, the specific values of the preset distance value, the first preset speed value, and the second preset time can be adjusted according to the specific driving speeds of the host vehicle 10 and adjacent vehicles, road conditions, and weather conditions, etc.

[0039] Combined Figure 1 and Figure 2 As shown, after the step of determining whether the speed of the host vehicle 10 is greater than the speed of the preceding vehicle 20 when the distance between the host vehicle 10 and the preceding vehicle 20 is less than the preset distance value, the following steps are further included: When the speed of the host vehicle 10 is less than or equal to the speed of the preceding vehicle 20, control the radar 101 of the vehicle 100 to continue to sleep.

[0040] Specifically, when the speed of the vehicle 10 is equal to the speed of the vehicle 20 in front, the vehicle 10 and the vehicle 20 in front are relatively stationary, the distance between the vehicle 10 and the vehicle 20 in front can remain unchanged, and there will be no collision between the vehicle 10 and the vehicle 20 in front; when the speed of the vehicle 10 is less than the speed of the vehicle 20 in front, the distance between the vehicle 10 and the vehicle 20 in front will gradually increase, and there will be no collision between the vehicle 10 and the vehicle 20 in front either. Therefore, when the speed of the vehicle 10 is less than or equal to the speed of the vehicle 20 in front, the vehicle 10 can continue to maintain its current driving state without preparing for lane change and overtaking, and the radar 101 of the vehicle 100 can continue to sleep.

[0041] Further, when the speed of the vehicle 10 is less than or equal to the speed of the vehicle 20 in front, it is determined that the driving of the vehicle 10 is not affected by the speed of the vehicle 20 in front, and the lane change and overtaking mode can be not selected. At this time, the cloud platform 305 will not issue an instruction to turn on the radar 101, and the radar 101 will be hidden inside the roof 103 of the vehicle 100, and the vehicle 10 will not prepare for lane change and overtaking.

[0042] In some embodiments of the present invention, the preset value of the vehicle distance can be 100 m. The safe vehicle distances of the vehicle 100 under high-speed, medium-speed, and low-speed driving conditions are different, and when the vehicle 100 is driving on a rainy day or a slippery road surface, the safe vehicle distance should be increased. Therefore, the specific value of the preset vehicle distance can be adjusted according to the specific driving speeds of the vehicle 10 and the vehicle beside it, road conditions, weather conditions, etc.

[0043] Combined with Figure 6 、 Figure 7 and Figure 10 As shown, when both the duration that the distance between the vehicle 10 and the vehicle 20 in front is less than the preset vehicle distance value and the duration that the speed of the vehicle 10 is greater than the speed of the vehicle 20 in front are greater than or equal to the preset time, controlling the radar 101 of the vehicle 100 to turn on the sensing function, and controlling the radar 101 of the vehicle 100 to extend from the roof 103 of the vehicle 100 to the outside of the front windshield 104 for road condition sensing, the steps for preparing for lane change and overtaking of the vehicle 10 also include: Controlling the roof bottom plate 1032 at the bottom of the vehicle radar 101 to open; Controlling the vehicle radar 101 to move downward from inside the roof 103 and extend into the cab 102; Controlling the vehicle radar 101 to move forward and extend from the front windshield 104 to the outside of the vehicle 100 for road condition sensing.

[0044] Specifically, the ceiling bottom plate 1032 is arranged at the bottom of the radar 101. When the controller 109 of the vehicle 100 receives the radar 101 activation instruction, the controller 109 of the vehicle 100 controls the opening of the ceiling bottom plate 1032 at the bottom of the radar 101, enabling the radar 101 of the vehicle 100 to move downward from within the ceiling 103 and extend into the cab 102. After the radar 101 completes the downward movement operation, the controller then controls the radar 101 of the vehicle 100 to move forward and extend from the front windshield 104 of the vehicle 100 to the outside of the vehicle 100 for road condition perception. This not only provides support for the radar 101 through the ceiling bottom plate 1032 to ensure the stability of its structure when the radar 101 is in the sleep state, but also guarantees the feasibility of its extending out of the front windshield 104 for road condition perception when controlling the radar 101 to activate the perception function.

[0045] Combined with Figure 6 、 Figure 7 and Figure 10 As shown, the steps for controlling the radar 101 of the vehicle 100 to move forward and extend from the front windshield 104 to the outside for road condition perception further include: Controlling the opening of the window 1041 on the front windshield 104, and controlling the radar 101 of the vehicle 100 to move forward and extend through the window 1041 to the outside of the vehicle 100 for road condition perception.

[0046] Specifically, the front windshield 104 is provided with a window 1041. When the radar 101 is in the sleep state, the radar 101 will be hidden within the ceiling 103, and the radar 101 does not need to extend out of the front windshield 104, and the window 1041 is in the closed state. When controlling the radar 101 to activate the perception function, the window 1041 will open. After the radar 101 completes the downward movement operation, it then moves forward and extends through the opened window 1041 to the outside of the vehicle 100 for road condition perception. This facilitates the radar 101 to extend to the outside of the vehicle 100 for road condition perception and can prevent the situation where it is difficult for the radar 101 to extend during the forward movement due to the obstruction of the windshield.

[0047] According to the vehicle radar system of the present invention, it is applicable to the control method of the above vehicle radar system. Specifically, because the control method of the vehicle radar system is more perfect and reliable, and has good logic and practicality, applying the control method of the vehicle radar system to the vehicle radar system can improve the flexibility and reliability of the radar system. When the radar 101 is not activated, it can be hidden inside the ceiling 103 of the vehicle 100 and be in the sleep state of the perception function, thus not only not affecting the view inside the cab 102, but also reducing the occupancy of the computing power and power of the controller 109 of the vehicle 100.

[0048] The vehicle 100 according to the present invention may mainly include: a vehicle body 110, the above-mentioned radar system of the vehicle 100, and a drive motor 107. The vehicle body 110 is provided with a roof 103, the radar 101 of the vehicle 100 is arranged in the roof 103, and the drive motor 107 is transmission-connected with the radar 101 of the vehicle 100 to selectively drive the radar 101 of the vehicle 100 to move from the roof 103 to the outside of the vehicle body 110.

[0049] Specifically, a roof 103 is provided on the vehicle body 110, and a radar 101 of the vehicle 100 is provided in the roof 103. This not only allows the roof 103 to provide support for the radar 101 when the radar 101 is in a dormant state to ensure the stability of its structure, but also allows the radar 101 to have sufficient space to move. When the radar 101 is controlled to start a sensing function, the radar 101 can be extended out of the vehicle 100 to sense the road condition, thereby preventing the radar 101 from contacting the internal structure of the vehicle 100 during the extension process, which may cause difficulty in extending the radar 101 or cause wear or loosening of related structures in the vehicle 100. In addition, the utilization rate of the internal space of the vehicle 100 can be improved.

[0050] Furthermore, since the structure of the radar system is more flexible and reliable and has good working performance, applying the radar system to the vehicle 100 can not only ensure a good field of view in the cab 102, but also reduce the burden on the controller 109 in the vehicle 100, improve the overall performance of the vehicle 100, and extend the service life and service life of the battery in the vehicle 100.

[0051] Furthermore, the drive motor 107 is not only connected to the radar 101 of the vehicle 100 for transmission to provide power for the radar 101, but is also connected to the controller 109 of the vehicle 100 to receive instructions from the controller 109. When the radar 101 is controlled to start the sensing function and needs to be extended from the roof 103 of the vehicle 100 to the outside of the front windshield 104 for road condition sensing, the drive motor 107 can provide power for the radar 101. After receiving the instruction from the controller 109, the drive motor 107 first drives the radar 101 to move downward from the roof 103 into the cab 102 along a preset trajectory, and then drives the radar 101 to move forward along the preset trajectory and extend from the front windshield 104 to the outside of the vehicle 100 for road condition sensing.

[0052] In addition, the drive motor 107 can also be connected to the ceiling bottom plate 1032 in a transmission manner to selectively drive the ceiling bottom plate 1032 at the bottom of the radar 101 to open. This can provide a passage for the radar 101 to enter the cab 102 from the ceiling 103 when the radar 101 is controlled to turn on the sensing function, so that the radar 101 can move smoothly downward from the ceiling 103 and extend into the cab 102, thereby ensuring the reliability of the radar 101.

[0053] CombinationFigure 6 , Figure 7 and Figure 10 As shown in Figure 6 , Figure 7 and Figure 10 , the vehicle body 110 is further provided with a cab 102, a roof 103 is located above the cab 102, a front windshield 104 is provided on the front side of the cab 102, the vehicle body 110 is provided with a first rail member 105 and a second rail member 106. The first rail member 105 extends in the vertical direction and is located between the roof 103 and the cab 102. The second rail member 106 extends in the front-rear direction and is located between the cab 102 and the front windshield 104. The lower end of the first rail member 105 is connected to the rear end of the second rail member 106. The drive motor 107 selectively drives the radar 101 of the vehicle 100 to move on the first rail member 105 and the second rail member 106.

[0054] Specifically, a roof 103 is provided above the cab 102, a front windshield 104 is provided on the front side of the cab 102, and the radar 101 of the vehicle 100 is disposed in the roof 103. Further, the first rail member 105 extends in the vertical direction and is located between the roof 103 and the cab 102. The second rail member 106 extends in the front-rear direction and is located between the cab 102 and the front windshield 104. The lower end of the first rail member 105 is connected to the rear end of the second rail member 106. Still further, when the radar 101 is controlled to turn on the sensing function, it needs to extend from the roof 103 of the vehicle 100 to the outside of the front windshield 104 for road condition sensing. First, the drive motor 107 drives the radar 101 of the vehicle 100 to move in the vertical direction on the first rail member 105, so that the radar 101 can move downward from the roof 103 into the cab 102. Second, the drive motor 107 drives the radar 101 of the vehicle 100 to move from the first rail member 105 to the second rail member 106 and move in the front-rear direction on the second rail member 106, so that the radar 101 can move forward and extend from the front windshield 104 to the outside of the vehicle 100 for road condition sensing. In this way, the settings of the first rail member 105 and the second rail member 106 can not only provide an accurate guiding effect for the movement of the radar 101, ensuring that the radar 101 can move smoothly in the vertical direction and the front-rear direction according to a predetermined trajectory, but also prevent the radar 101 from shifting or jamming during the movement. In addition, the moving range of the radar 101 is in the space above the cab 102, which can ensure that the radar 101 has enough moving space and prevent the radar 101 from contacting the internal structure of the vehicle 100 during the extension process, resulting in difficulties in extending the radar 101 or causing collisions or looseness of the relevant structures inside the vehicle 100.

[0055] Combined with Figures 6 - 10As shown, an opening 1031 is provided at the bottom of the ceiling 103, and a ceiling bottom plate 1032 is provided at the opening 1031. The ceiling bottom plate 1032 selectively opens the opening 1031 to enable the radar 101 of the vehicle 100 to enter the cab 102 from the opening 1031; a window 1041 is provided on the front windshield 104, and a window glass 1042 is provided at the window 1041. The window glass 1042 selectively opens the window 1041 to enable the radar 101 of the vehicle 100 to extend from the window 1041 to the outside of the vehicle body 110.

[0056] Specifically, an opening 1031 is provided at the bottom of the ceiling 103, and a ceiling bottom plate 1032 is provided at the opening 1031. The radar 101 is disposed above the ceiling bottom plate 1032. When the opening 1031 at the bottom of the ceiling 103 is closed, the ceiling bottom plate 1032 can provide support for the radar 101 to ensure the stability of its structure. When it is necessary to control the radar 101 to turn on the sensing function, the opening 1031 at the bottom of the ceiling 103 is opened, so that the radar 101 can move downward from the inside of the ceiling 103 through the opening 1031 at the bottom of the ceiling 103 and extend into the cab 102, which can help the radar 101 extend outside the vehicle 100 to sense the road conditions.

[0057] Furthermore, a window 1041 is provided on the front windshield 104, and a window glass 1042 is provided at the window 1041. When the radar 101 moves to the window 1041 of the front windshield 104, the window glass 1042 is moved to open the window 1041, and the radar 101 of the vehicle 100 can extend from the window 1041 to the outside of the vehicle body 110 to sense the road conditions. This can facilitate the radar 101 to extend outside the vehicle 100 to sense the road conditions and prevent the radar 101 from being difficult to extend due to the obstruction of the windshield during the extension process.

[0058] Furthermore, a window slide rail 1043 is further provided at the bottom end of the window 1041. The window glass 1042 can slide left and right along the window slide rail 1043 to control the opening and closing of the window 1041 at the front windshield 104 by moving the window glass 1042 along the window slide rail 1043.

[0059] Furthermore, the window 1041 can also be set into two parts, a left window and a right window, and a left window glass and a right window glass are respectively provided. When it is necessary to control the radar 101 to turn on the sensing function, the left window glass will slide to the left along the window slide rail 1043 to open the left window, and the right window glass will slide to the right along the window slide rail 1043 to open the right window, so as to facilitate the radar 101 to extend outside the vehicle to detect and sense the surrounding information.

[0060] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0061] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0062] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A control method for a vehicle radar system, characterized in that, It includes the following steps: Receive the vehicle distance signal between the host vehicle (10) and the preceding vehicle (20), the host vehicle (10) speed signal, and the preceding vehicle (20) speed signal; Judge whether the vehicle distance between the host vehicle (10) and the preceding vehicle (20) is less than the preset vehicle distance value; When the vehicle distance between the host vehicle (10) and the preceding vehicle (20) is less than the preset vehicle distance value, judge whether the speed of the host vehicle (10) is greater than the speed of the preceding vehicle (20); When the speed of the host vehicle (10) is greater than the speed of the preceding vehicle (20), judge whether the duration that the vehicle distance between the host vehicle (10) and the preceding vehicle (20) is less than the preset vehicle distance value and the duration that the speed of the host vehicle (10) is greater than the speed of the preceding vehicle (20) are both greater than or equal to the preset time; When the duration that the vehicle distance between the host vehicle (10) and the preceding vehicle (20) is less than the preset vehicle distance value and the duration that the speed of the host vehicle (10) is greater than the speed of the preceding vehicle (20) are both greater than or equal to the preset time, control the radar (101) of the vehicle (100) to turn on the sensing function, and control the radar (101) of the vehicle (100) to extend from the roof (103) of the vehicle (100) to the outside of the front windshield (104) for road condition sensing, so as to prepare for the host vehicle (10) to change lanes and overtake.

2. The control method of the vehicle radar system according to claim 1, characterized in that, After the step of judging whether the speed of the host vehicle (10) is greater than the speed of the preceding vehicle (20) when the vehicle distance between the host vehicle (10) and the preceding vehicle (20) is less than the preset vehicle distance value, it further includes: When the speed of the host vehicle (10) is greater than the speed of the preceding vehicle (20) and the speed difference between the speed of the host vehicle (10) and the speed of the preceding vehicle (20) is less than or equal to the first preset speed value, judge whether the duration that the vehicle distance between the host vehicle (10) and the preceding vehicle (20) is less than the preset vehicle distance value and the duration that the speed of the host vehicle (10) is greater than the speed of the preceding vehicle (20) are both greater than or equal to the first preset time; When the duration that the vehicle distance between the host vehicle (10) and the preceding vehicle (20) is less than the preset vehicle distance value and the duration that the speed of the host vehicle (10) is greater than the speed of the preceding vehicle (20) are both greater than or equal to the first preset time, control the radar (101) of the vehicle (100) to turn on the sensing function, and control the radar (101) of the vehicle (100) to extend from the roof (103) of the vehicle (100) to the outside of the front windshield for road condition sensing, so as to prepare for the host vehicle (10) to change lanes and overtake.

3. The control method of the vehicle radar system according to claim 2, characterized in that, After the step of judging whether the speed of the host vehicle (10) is greater than the speed of the preceding vehicle (20) when the vehicle distance between the host vehicle (10) and the preceding vehicle (20) is less than the preset vehicle distance value, it further includes: When the speed of the host vehicle (10) is greater than the speed of the preceding vehicle (20) and the speed difference between the speed of the host vehicle (10) and the speed of the preceding vehicle (20) is greater than the first preset speed value, judge whether the duration that the vehicle distance between the host vehicle (10) and the preceding vehicle (20) is less than the preset vehicle distance value and the duration that the speed of the host vehicle (10) is greater than the speed of the preceding vehicle (20) are both greater than or equal to the second preset time; When the duration of the distance between the vehicle (10) and the preceding vehicle (20) being less than a preset distance value, and the duration of the speed of the vehicle (10) being greater than the speed of the preceding vehicle (20) being greater than or equal to a second preset time, the radar (101) of the control vehicle (100) is activated to have a sensing function, and the radar (101) of the control vehicle (100) is extended from the roof (103) of the vehicle (100) to the outside of the front windshield to sense the road condition, in preparation for the vehicle (10) to change lanes and overtake, wherein the first preset time is greater than the second preset time.

4. The control method of the vehicle radar system according to claim 1, wherein, When the distance between the vehicle (10) and the preceding vehicle (20) is less than a preset distance value, the step of determining whether the speed of the vehicle (10) is greater than the speed of the preceding vehicle (20) further includes: When the speed of the vehicle (10) is less than or equal to the speed of the preceding vehicle (20), the radar (101) of the control vehicle (100) continues to sleep.

5. The control method of the vehicle radar system according to claim 1, wherein When the distance between the vehicle (10) and the preceding vehicle (20) is less than the preset distance value for a duration, and the speed of the vehicle (10) is greater than the speed of the preceding vehicle (20) for a duration greater than or equal to a preset time, the radar (101) of the vehicle (100) is controlled to start a sensing function, and the radar (101) of the vehicle (100) is controlled to extend from the roof (103) of the vehicle (100) to the outside of the front windshield (104) to sense the road condition, and the step of preparing for the vehicle (10) to change lanes and overtake also includes: Controlling the roof bottom plate (1032) at the bottom of the vehicle radar (101) to open; Controlling the vehicle radar (101) to move downward from the ceiling (103) into the cab (102); The vehicle radar (101) is controlled to move forward and extend from the front windshield (104) to the outside of the vehicle (100) to sense the road condition.

6. The control method of the vehicle radar system according to claim 5, wherein, The step of controlling the radar (101) of the vehicle (100) to move forward and extend out from the front windshield (104) to the outside to sense the road condition also includes: The window (1041) on the front windshield (104) is controlled to open, and the radar (101) of the vehicle (100) is controlled to move forward through the window (1041) to extend to the outside of the vehicle (100) to sense the road condition.

7. A vehicle radar system, characterized in that , a control method for a vehicle radar system applicable to any one of claims 1-6.

8. A vehicle, characterized in that, include: A vehicle body (110), wherein the vehicle body (110) is provided with a roof (103); The radar system of a vehicle (100) according to claim 7, wherein the radar (101) of the vehicle (100) is arranged in the roof (103); A drive motor (107) is connected to the radar (101) of the vehicle (100) in a transmission manner so as to selectively drive the radar (101) of the vehicle (100) to move from inside the roof (103) to outside the vehicle body (110).

9. The vehicle according to claim 8, wherein, The vehicle body (110) is further provided with a cab (102), a roof (103) is located above the cab (102), a front windshield (104) is provided on the front side of the cab (102), the vehicle body (110) is provided with a first rail member (105) and a second rail member (106), the first rail member (105) extends in the vertical direction and is located between the roof (103) and the cab (102), the second rail member (106) extends in the front-rear direction and is located between the cab (102) and the front windshield (104), the lower end of the first rail member (105) is connected to the rear end of the second rail member (106), and the drive motor (107) selectively drives the radar (101) of the vehicle (100) to move on the first rail member (105) and the second rail member (106).

10. The vehicle according to claim 9, characterized in that, An opening (1031) is provided at the bottom of the roof (103), a roof bottom plate (1032) is provided at the opening (1031), and the roof bottom plate (1032) selectively opens the opening (1031) to enable the radar (101) of the vehicle (100) to enter the cab (102) from the opening (1031); A window (1041) is provided on the front windshield (104), a window glass (1042) is provided at the window (1041), and the window glass (1042) selectively opens the window (1041) to enable the radar (101) of the vehicle (100) to extend from the window (1041) to the outside of the vehicle body (110).

Images