Obstacle avoidance radar early warning method, device and equipment in high and low temperature environment and storage medium

Abstract

The invention discloses an obstacle avoidance radar early warning method, device and equipment in a high and low temperature environment and a storage medium, and relates to the technical field of automobile auxiliary driving, and the method comprises the steps: obtaining target information and radar working temperatures, and the target information comprises initial amplitude values corresponding to different radar working temperatures; obtaining an amplitude value calibration correspondence table according to the initial amplitude value and the radar working temperature; and carrying out obstacle avoidance early warning based on the amplitude value calibration correspondence table. According to the invention, the amplitude value calibration correspondence table is constructed according to the target amplitude detected by the obstacle avoidance radar and the radar working temperature to carry out obstacle avoidance early warning, so that the obstacle avoidance radar can work stably in high and low temperature environments and false alarms are prevented.

Description

Technical Field

[0001] The present application relates to the technical field of automotive assisted driving, and particularly to an obstacle avoidance radar warning method, device, equipment and storage medium in high and low temperature environments. Background Art

[0002] In recent years, with the advancement of automotive intelligence and networking, the safety of automobiles has always been the focus of people's attention. With the development of the domestic automotive industry, the configuration of assisted driving has become a standard configuration, and many vehicle models use the configuration of electric doors. However, some problems will occur during the user's use of electric doors. For example, when opening the door, it may hit an obstacle next to it, which is a great loss to the user. Therefore, an electric door system with an obstacle avoidance function has been introduced in the current market. However, such a system still has problems. For example, due to factors such as environmental temperature, the radio frequency performance of the obstacle avoidance radar of the electric door is affected, resulting in unstable operation and false alarms of the obstacle avoidance radar, which in turn affects the user experience and vehicle safety. Summary of the Invention

[0003] The main purpose of the present application is to provide an obstacle avoidance radar warning method, device, equipment and storage medium in high and low temperature environments, aiming to solve the technical problem of how to enable the obstacle avoidance radar to work stably in high and low temperature environments and prevent false alarms.

[0004] To achieve the above object, the present application proposes an obstacle avoidance radar warning method in high and low temperature environments, and the method includes:

[0005] Obtain target information and the radar operating temperature, where the target information includes the initial amplitude values corresponding to different radar operating temperatures;

[0006] Obtain an amplitude value calibration correspondence table according to the initial amplitude value and the radar operating temperature;

[0007] Perform obstacle avoidance warning based on the amplitude value calibration correspondence table.

[0008] In one embodiment, the step of obtaining an amplitude value calibration correspondence table according to the initial amplitude value and the radar operating temperature includes:

[0009] Use the initial amplitude value corresponding to the preset temperature as the reference amplitude value;

[0010] Obtain an amplitude value calibration correspondence table according to the radar operating temperature, the initial amplitude value, and the reference amplitude value.

[0011] In one embodiment, the step of obtaining an amplitude value calibration correspondence table according to the radar operating temperature, the initial amplitude value, and the reference amplitude value includes:

[0012] Calculate the ratio of the initial amplitude value to the reference amplitude value to obtain the amplitude value calibration coefficient of the radar operating temperature corresponding to the initial amplitude value;

[0013] Obtain the amplitude value calibration correspondence table according to the radar operating temperature and the amplitude value calibration coefficient.

[0014] In one embodiment, the step of performing obstacle avoidance warning based on the amplitude value calibration correspondence table includes:

[0015] Obtain the current operating temperature and the current amplitude value;

[0016] Obtain the current amplitude value calibration coefficient corresponding to the current operating temperature according to the amplitude value calibration correspondence table;

[0017] Obtain the calibrated amplitude value according to the current amplitude value calibration coefficient and the current amplitude value;

[0018] Perform obstacle avoidance warning based on the calibrated amplitude value.

[0019] In one embodiment, the step of performing obstacle avoidance warning based on the calibrated amplitude value includes:

[0020] Obtain the amplitude value threshold;

[0021] When the calibrated amplitude value is greater than or equal to the amplitude value threshold, perform obstacle avoidance warning.

[0022] In one embodiment, the step of obtaining the target information and the radar operating temperature includes:

[0023] Obtain the target echo signal and the radar operating temperature;

[0024] Obtain the target information according to the target echo signal.

[0025] In one embodiment, after the step of obtaining the target information according to the target echo signal, the following is further included:

[0026] Obtain the target distance and the target angle according to the target information;

[0027] Transmit the target distance and the target angle to the display host computer through the controller area network.

[0028] In addition, to achieve the above object, the present application also proposes an obstacle avoidance radar warning device in a high and low temperature environment, and the device includes:

[0029] An acquisition module, configured to acquire target information and the radar operating temperature, where the target information includes initial amplitude values corresponding to different radar operating temperatures;

[0030] A calculation module, configured to obtain an amplitude value calibration correspondence table according to the initial amplitude value and the radar operating temperature;

[0031] A control module, configured to perform obstacle avoidance warning based on the amplitude value calibration correspondence table.

[0032] In addition, to achieve the above object, the present application also provides an obstacle avoidance radar warning device in a high and low temperature environment, the device includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, the computer program is configured to implement the steps of the obstacle avoidance radar warning method in a high and low temperature environment as described above.

[0033] In addition, to achieve the above object, the present application also provides a storage medium, the storage medium is a computer-readable storage medium, a computer program is stored on the storage medium, and when the computer program is executed by a processor, it implements the steps of the obstacle avoidance radar warning method in a high and low temperature environment as described above.

[0034] In addition, to achieve the above object, the present application also provides a computer program product, the computer program product includes a computer program, and when the computer program is executed by a processor, it implements the steps of the obstacle avoidance radar warning method in a high and low temperature environment as described above.

[0035] One or more technical solutions proposed by the present application have at least the following technical effects:

[0036] Since the obstacle avoidance warning is performed by constructing an amplitude value calibration correspondence table through the amplitude of the target detected by the obstacle avoidance radar and the radar operating temperature, the technical problems that the radio frequency performance of the electric door obstacle avoidance radar is affected by factors such as environmental temperature, resulting in unstable operation and false alarms of the obstacle avoidance radar are solved. Compared with the prior art, it can enable the obstacle avoidance radar to work stably in high and low temperature environments and prevent false alarms. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings herein are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0038] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0039] Figure 1 It is a schematic flowchart provided for Embodiment 1 of the obstacle avoidance radar warning method in a high and low temperature environment of the present application;

[0040] Figure 2It is a processing flowchart for the engineering application of the obstacle avoidance radar warning method in high and low temperature environments provided in the first embodiment of this application;

[0041] Figure 3 It is a schematic flowchart provided in the second embodiment of the obstacle avoidance radar warning method in high and low temperature environments of this application;

[0042] Figure 4 It is a schematic flowchart provided in the third embodiment of the obstacle avoidance radar warning method in high and low temperature environments of this application;

[0043] Figure 5 It is a schematic flowchart provided in the fourth embodiment of the obstacle avoidance radar warning method in high and low temperature environments of this application;

[0044] Figure 6 It is a schematic flowchart of the brief process of the obstacle avoidance radar warning method in high and low temperature environments provided in the embodiment of this application;

[0045] Figure 7 It is a schematic diagram of the module structure of the obstacle avoidance radar warning device in high and low temperature environments in the embodiment of this application;

[0046] Figure 8 It is a schematic diagram of the device structure of the hardware operating environment involved in the obstacle avoidance radar warning method in high and low temperature environments in the embodiment of this application.

[0047] The realization of the purpose, functional features and advantages of this application will be further described in combination with the embodiments with reference to the accompanying drawings. Specific embodiments

[0048] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of this application and are not used to limit this application.

[0049] In order to better understand the technical solutions of this application, the following will be described in detail in combination with the accompanying drawings of the specification and specific embodiments.

[0050] The main solution of the embodiment of this application is: obtaining target information and the radar operating temperature, where the target information includes the initial amplitude values corresponding to different radar operating temperatures; obtaining an amplitude value calibration correspondence table according to the initial amplitude values and the radar operating temperature; and performing obstacle avoidance warning based on the amplitude value calibration correspondence table.

[0051] In this embodiment, for the convenience of description, the internal actuator of the obstacle avoidance radar warning system in high and low temperature environments is used as the execution subject for elaboration below.

[0052] Since factors such as environmental temperature in the prior art will affect the radio frequency performance of the electric door obstacle avoidance radar, making the obstacle avoidance radar work unstably and false alarms occur.

[0053] The present application provides a solution. By constructing a calibration correspondence table of amplitude values based on the amplitude of the target detected by the obstacle avoidance radar and the radar operating temperature, obstacle avoidance warning is carried out, which can enable the obstacle avoidance radar to work stably in high and low temperature environments and prevent false alarms.

[0054] As can be seen from the above embodiments, the present application constructs a calibration correspondence table of amplitude values based on the amplitude of the target detected by the obstacle avoidance radar and the radar operating temperature to carry out obstacle avoidance warning, solving the technical problems that factors such as environmental temperature affect the radio frequency performance of the obstacle avoidance radar for the electric door, resulting in unstable operation and false alarms of the obstacle avoidance radar, and enabling the obstacle avoidance radar to work stably in high and low temperature environments and prevent false alarms.

[0055] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication, and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of implementing the above functions. Taking the internal actuator of the obstacle avoidance radar warning system in high and low temperature environments as an example, this embodiment and the following embodiments will be described.

[0056] Based on this, the embodiment of the present application provides an obstacle avoidance radar warning method in high and low temperature environments, referring to Figure 1 , Figure 1 is a schematic flowchart of the first embodiment of the obstacle avoidance radar warning method in high and low temperature environments of the present application.

[0057] In this embodiment, the obstacle avoidance radar warning method in high and low temperature environments includes steps S10 to S30:

[0058] Step S10, obtain target information and the radar operating temperature, where the target information includes initial amplitude values corresponding to different radar operating temperatures.

[0059] It should be noted that the target information includes initial amplitude values corresponding to different radar operating temperatures, and also includes information such as the distance and angle of the target. The radar operating temperature refers to the temperature of the surrounding environment when the obstacle avoidance radar is working, and the range is generally -40°C to 120°C. In this embodiment and other embodiments, the radar operating temperature range of -40°C to 120°C is used for description.

[0060] In addition, it should be noted that the initial amplitude value is the amplitude value of the target collected by the obstacle avoidance radar in an ambient temperature range of -40°C to 120°C, which can also be referred to as the amplitude. Each initial amplitude value has a corresponding radar operating temperature. The amplitude value of the target refers to the intensity or energy magnitude of the echo signal reflected from the target received by the obstacle avoidance radar, usually expressed in the form of voltage or power, and reflects the absorption and scattering capabilities of the target object for radar waves. In a certain noise and background environment, when the amplitude value of the echo signal exceeds a certain threshold, the radar system can determine that a target has been detected. Moreover, due to different scattering characteristics of different types of targets, echo signals with different amplitude ranges will be generated, so the targets can be classified and identified. Target objects that absorb most of the energy will produce smaller signal amplitudes, while targets with stronger scattering capabilities will produce stronger signal amplitudes. By analyzing the amplitude values of the collected targets, it is possible to preliminarily understand whether there are obstacle targets and the characteristics of the target material, shape, etc.

[0061] Step S20, obtain an amplitude value calibration correspondence table according to the initial amplitude value and the radar operating temperature.

[0062] It should be noted that the amplitude value calibration correspondence table, which can also be called the temperature calibration coefficient table, is a table made by listing different radar operating temperatures and their corresponding amplitude value calibration coefficients. Each radar operating temperature in the table corresponds to an amplitude value calibration coefficient. When the obstacle avoidance radar operates at different radar operating temperatures, it can obtain the amplitude value calibration coefficient applicable to that temperature through the amplitude value calibration correspondence table, so that the amplitude values obtained by the obstacle avoidance radar for the same detected target at different radar operating temperatures are stable within a certain range.

[0063] Under different ambient temperatures, the RF performance of the obstacle avoidance radar will be affected. At low temperatures, the RF performance of the obstacle avoidance radar will slightly decline, and the amplitude value of the collected target will also slightly decrease. As the temperature rises, that is, in normal and high-temperature environments, the RF performance of the obstacle avoidance radar will significantly decline, and the amplitude value of the collected target will significantly decrease. As a result, the amplitude value of the target collected in the low-temperature environment will be greater than that in the normal and high-temperature environments, which may lead to false alarms or false detections in the low-temperature environment. That is, no obstacle is detected, but due to the large amplitude value of the target caused by the ambient temperature, it is mistakenly thought that an obstacle has been detected and an alarm is issued. Therefore, in the process of the obstacle avoidance radar comparing amplitude values and determining whether there are obstacles, it is necessary to use the calibration coefficient to correct the amplitude value error caused by temperature. The amplitude value of the target obtained by the obstacle avoidance radar at room temperature can be obtained from the initial amplitude value, and based on this amplitude value, the amplitude value calibration coefficients corresponding to other radar operating temperatures can be calculated and a table can be made.

[0064] Step S30: Perform obstacle avoidance warning based on the amplitude value calibration correspondence table.

[0065] During the process of the obstacle avoidance radar comparing the amplitude values and determining whether there are obstacles, it can use the amplitude value calibration coefficient in the amplitude value calibration correspondence table to correct the amplitude value of the collected target, so that the obstacle avoidance radar can work stably under different ambient temperature conditions and avoid false alarms or missed alarms. In engineering applications, the obtained amplitude value calibration correspondence table can be placed in the engineering code so that the obstacle avoidance radar can directly use the amplitude value calibration correspondence table to adjust the amplitude value of the target when working. As Figure 2 shown in the processing flow chart of engineering applications, including: the radar signal processing module reads the amplitude value of the target data; reads the working temperature of the radar; traverses the temperature calibration coefficient table; and obtains the target amplitude value output at the current temperature.

[0066] This embodiment and other embodiments are described by taking the obstacle avoidance radar applied to the vehicle electric door as an example.

[0067] This embodiment provides a method for obstacle avoidance radar warning in high and low temperature environments. By using the amplitude and radar working temperature of the target detected by the obstacle avoidance radar to construct an amplitude value calibration correspondence table for obstacle avoidance warning, it solves the technical problems that factors such as ambient temperature affect the radio frequency performance of the electric door obstacle avoidance radar, resulting in unstable operation and false alarms of the obstacle avoidance radar, and can enable the obstacle avoidance radar to work stably in high and low temperature environments and prevent false alarms.

[0068] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar content as the above-mentioned embodiment one can be referred to the above introduction and will not be repeated hereinafter. On this basis, please refer to Figure 3 , step S20 includes steps S21 to S22:

[0069] Step S21: Take the initial amplitude value corresponding to the preset temperature as the reference amplitude value.

[0070] It should be noted that the preset temperature refers to the normal temperature in daily life, that is, the normal temperature, generally 20°C to 25°C. This embodiment and other embodiments are described by taking 25°C as the preset temperature as an example. The reference amplitude value refers to the amplitude value (initial amplitude value) of the target collected by the obstacle avoidance radar at normal temperature.

[0071] First, organize the initial amplitude values collected by the obstacle avoidance radar at different ambient temperatures. These amplitude value data can be summarized into a data set, and then traverse the data set to screen out the initial amplitude value collected at 25°C, and take this initial amplitude value as the reference amplitude value. However, in actual data collection, the temperature value may not be accurate to 25°C, so the initial amplitude value collected when the temperature is closest to 25°C can be taken as the reference amplitude value.

[0072] Step S22, obtaining an amplitude value calibration correspondence table according to the radar operating temperature, the initial amplitude value and the reference amplitude value.

[0073] The ratio between each initial amplitude value and the reference amplitude value is calculated by the formula. This ratio can reflect the change of different initial amplitude values relative to the reference amplitude value. This calculation result can be used as the amplitude calibration coefficient of the radar operating temperature corresponding to the initial amplitude value. The amplitude calibration coefficients corresponding to multiple different radar operating temperatures are summarized and made into a clear table according to a certain format and specification. This table can intuitively show the relationship between each radar operating temperature and the corresponding amplitude calibration coefficient. By referring to the calibration coefficient in the table, the amplitude value of the target collected at different operating temperatures can be accurately adjusted, thereby improving the measurement accuracy and stability of the obstacle avoidance radar, ensuring that the obstacle avoidance radar can accurately detect targets under various operating temperature conditions and provide reliable data support for subsequent decisions and actions.

[0074] In a feasible implementation manner, step S22 includes steps S221 to S222:

[0075] Step S221, calculating the ratio of the initial amplitude value to the reference amplitude value, and obtaining an amplitude calibration coefficient of the radar operating temperature corresponding to the initial amplitude value.

[0076] The ratio of each initial amplitude value to the reference amplitude value is calculated to obtain the amplitude calibration coefficient of the radar operating temperature corresponding to the initial amplitude value. The calculation process of the amplitude calibration coefficient can be expressed by the following formula:

[0077] s=A / N

[0078] Wherein, s represents the amplitude calibration coefficient, A represents the initial amplitude value, and N represents the reference amplitude value.

[0079] Step S222, obtaining an amplitude calibration correspondence table according to the radar operating temperature and the amplitude calibration coefficient.

[0080] According to the radar operating temperature and the corresponding amplitude calibration coefficient, an amplitude calibration correspondence table can be constructed. First, clarify the various different radar operating temperatures, which cover the temperature range from -40°C to 120°C to adapt to various actual working environments. For each specific radar operating temperature, determine its corresponding amplitude calibration coefficient and record them one by one to form an ordered table structure. For example, in the table, one column is used to list the different radar operating temperatures, and the other column is used to display the corresponding amplitude calibration coefficients. The arrangement order can be in descending order or ascending order according to the numerical value of the temperature. In this way, the corresponding relationship between different operating temperatures and amplitude calibration coefficients can be clearly presented. The amplitude calibration correspondence table can be used as an important reference tool for the obstacle avoidance radar to perform automatic calibration. When the obstacle avoidance radar detects a target and obtains the amplitude value during operation, by querying this correspondence table, the corresponding amplitude calibration coefficient can be quickly found according to the current radar operating temperature. Using this calibration coefficient, the amplitude value of the collected target is calibrated, thereby reducing or eliminating the amplitude error caused by the change in operating temperature and ensuring more accurate and reliable detection and measurement of the target by the radar. In addition, the amplitude calibration correspondence table can also provide an important basis for the performance evaluation and optimization of the obstacle avoidance radar, helping engineers better understand the performance of the obstacle avoidance radar under different temperature conditions and take corresponding measures for improvement and adjustment.

[0081] By establishing an amplitude calibration correspondence table, the amplitude value collected by the obstacle avoidance radar is calibrated.

[0082] This embodiment provides an obstacle avoidance radar warning method in a high and low temperature environment, using the initial amplitude value corresponding to the preset temperature as the reference amplitude value; obtaining an amplitude calibration correspondence table based on the radar operating temperature, the initial amplitude value, and the reference amplitude value, which can enable the obstacle avoidance radar to work stably in a high and low temperature environment.

[0083] Based on the first embodiment of the present application, in the third embodiment of the present application, the same or similar content as in the above-mentioned first embodiment can be referred to the above introduction and will not be repeated hereinafter. On this basis, please refer to Figure 4 where step S30 includes steps S31 to S34:

[0084] Step S31, obtain the current operating temperature and the current amplitude value.

[0085] When obtaining the current working temperature, the ambient temperature at which the current obstacle avoidance radar operates can be collected through sensors, such as contact temperature sensors, non-contact temperature sensors, and fiber optic temperature sensors. Additionally, the temperature monitoring system of the obstacle avoidance radar itself can be utilized to measure the temperatures of key components inside the radar, such as the transmitter, receiver, and antenna, in real time, and indirectly obtain the current ambient temperature. The specific method for obtaining the current working temperature is not limited in this embodiment and other embodiments. During the operation of the obstacle avoidance radar, the amplitude values of the targets are collected in real time, and the amplitude values collected at the current moment and the radar working temperature when the amplitude values are collected are recorded, so that the obstacle avoidance radar can calibrate the amplitude values and issue obstacle avoidance warnings.

[0086] Step S32, obtain the current amplitude calibration coefficient corresponding to the current working temperature according to the amplitude value calibration table.

[0087] After obtaining the current working temperature of the obstacle avoidance radar, in the amplitude value calibration table, search for the current working temperature in the numerical order of the temperature. Since the temperature values in the table are discrete, it may not be possible to find a value exactly equal to the current working temperature. In this case, approximation processing needs to be performed according to the specific situation. The temperature closest to the current working temperature can be selected, and then the corresponding amplitude calibration coefficient is used as the current amplitude calibration coefficient of the current working temperature.

[0088] Step S33, obtain the calibrated amplitude value according to the current amplitude calibration coefficient and the current amplitude value.

[0089] After obtaining the current amplitude calibration coefficient, it can be multiplied by the current amplitude value to obtain the calibrated amplitude value. The specific calculation process can be expressed by the following formula:

[0090] x = s k ×A k

[0091] where x represents the calibrated amplitude value after calibrating the current amplitude value, s k represents the current amplitude calibration coefficient, and A k represents the current amplitude value.

[0092] Step S34, perform obstacle avoidance warning based on the calibrated amplitude value.

[0093] After completing the calibration of the amplitude value according to the corresponding amplitude value calibration table, the obstacle avoidance radar can accurately judge the information related to the obstacle corresponding to the reflected signal based on the calibrated amplitude value. At this time, the amplitude value has reduced or eliminated the amplitude value error caused by the interference of the external environment temperature.

[0094] In a feasible implementation manner, step S34 includes steps S341 to S342:

[0095] Step S341, obtain the amplitude value threshold.

[0096] It should be noted that the amplitude value threshold is a key parameter in the obstacle avoidance radar for determining whether to trigger an early warning. It is a preset amplitude numerical standard. When the amplitude of the received signal reaches or exceeds this set value, the system will consider that a specific situation has occurred and trigger corresponding actions or decisions. In the obstacle avoidance radar system, it is used to determine whether the detected reflected signal indicates the presence of an obstacle that needs attention. If the amplitude value of the reflected signal exceeds the threshold, the system will determine that there is an obstacle ahead and issue an early warning or take obstacle avoidance measures.

[0097] The amplitude value threshold is set based on the amplitude value when an obstacle is recognized under normal temperature conditions. Its setting basis includes the performance and characteristics of the device. Radars with different performance parameters need to set different thresholds due to differences in transmission power, receiving sensitivity, antenna gain, etc. For example, a radar with a strong transmission power has a relatively high threshold to avoid misjudgment. The characteristics of the target object also need to be considered, that is, the type, size, and reflection characteristics of the obstacle. For example, since the amplitude value reflected by a large metal obstacle is relatively high and the amplitude value reflected by a small plastic obstacle is relatively low, when setting the amplitude value threshold, the amplitude value threshold can be appropriately reduced to avoid the obstacle avoidance radar not recognizing small plastic obstacles.

[0098] The initial setting of the amplitude value threshold is usually carried out according to the device manual, the basic requirements of the application scenario, and empirical data, providing a basic judgment standard for the system operation. Subsequently, on-site debugging is carried out. By placing known obstacles at different distances and angles and observing the detection situation of the radar, the threshold is gradually adjusted to enable the radar to accurately detect obstacles and reduce false alarms and missed detections. Some advanced systems also have an adaptive adjustment function, which can automatically adjust the threshold according to real-time environmental changes, signal statistical characteristics, etc. For example, by analyzing the amplitude distribution of the signal, it is dynamically adjusted to adapt to environmental changes and improve the detection accuracy and reliability.

[0099] In this embodiment and other embodiments, the specific setting method and setting value of the amplitude value threshold are not limited.

[0100] When the obstacle avoidance radar performs obstacle avoidance early warning work, there will be an amplitude value threshold. The obstacle avoidance radar compares the amplitude value of the collected target with this amplitude value threshold. When the amplitude value of the target is greater than or equal to the amplitude value threshold, it indicates that an obstacle target is recognized at this time. For the safety of the vehicle and users, obstacle avoidance early warning needs to be carried out.

[0101] Step S342, when the calibrated amplitude value is greater than or equal to the amplitude value threshold, perform obstacle avoidance early warning.

[0102] When the calibrated amplitude value reaches or exceeds a pre-set amplitude value threshold, it indicates that the obstacle avoidance radar has identified an obstacle target, which can be other vehicles, pedestrians, objects on the road, etc. To avoid dangerous situations such as the collision of the vehicle's electric door, it is necessary to quickly activate the corresponding warning mechanism. An alarm sound can be emitted inside the vehicle to alert the passengers inside the vehicle, or a warning sign can be flashed on the dashboard. At the same time, the warning instruction can also be transmitted to the decision-making module of the autonomous driving to prompt the vehicle to adjust the operations such as the opening of the electric door in a timely manner, so as to ensure the safety of the vehicle and the user, achieve effective obstacle avoidance, and minimize potential safety risks.

[0103] By comparing the calibrated amplitude value with the amplitude value threshold for obstacle avoidance warning, it is possible to prevent false alarms of the obstacle avoidance radar and ensure the safety of the vehicle and the user.

[0104] This embodiment provides a method for warning an obstacle avoidance radar in a high and low temperature environment, which includes obtaining the current working temperature and the current amplitude value; obtaining the current amplitude value calibration coefficient corresponding to the current working temperature according to the amplitude value calibration table; obtaining the calibrated amplitude value according to the current amplitude value calibration coefficient and the current amplitude value; and performing obstacle avoidance warning based on the calibrated amplitude value, which can prevent false alarms of the obstacle avoidance radar and ensure the safety of the vehicle and the user.

[0105] Based on the first embodiment of the present application, in the fourth embodiment of the present application, the same or similar content as that in the above-mentioned first embodiment can be referred to the above introduction and will not be repeated hereinafter. On this basis, please refer to Figure 5 , step S10 includes steps S11 to S12:

[0106] Step S11, obtaining the target echo signal and the radar working temperature.

[0107] It should be noted that the target echo signal is the echo signal obtained by the obstacle avoidance radar from the reflected electromagnetic wave and can be used to judge the target characteristics (such as distance, azimuth, size, etc.).

[0108] The obstacle avoidance radar can use its own transmitting device to emit electromagnetic wave signals with specific frequencies and waveforms, and these electromagnetic waves propagate into the surrounding space in a certain beam shape. When the electromagnetic waves encounter a target object, induced currents will be generated on the surface of the target object based on the principle of electromagnetic induction, and then the target object becomes a new electromagnetic radiation source, radiating electromagnetic waves in all directions. A part of the electromagnetic waves will propagate back along the original propagation path, that is, forming an echo signal. The receiving antenna equipped on the obstacle avoidance radar is responsible for receiving these target echo signals. The receiving antenna has specific performance parameters such as directionality and gain, and can capture the weak echo signals returned from the target as efficiently as possible in a complex electromagnetic environment and convert them into electrical signals. Then, through the signal processing circuit inside the radar, a series of processing operations such as amplification, filtering, and mixing are performed on these electrical signals to remove the noise interference and useless frequency components among them, enhance the intensity of the useful signals, so that they can be better recognized and analyzed by the subsequent analysis module, and finally clear target echo signals that can be used to judge target characteristics (such as distance, azimuth, size, etc.) are obtained. Different types of obstacle avoidance radars, such as millimeter wave radars, lidar, etc., have differences in the electromagnetic wave frequency bands they emit, waveform characteristics, as well as the signal receiving methods and processing procedures, but the basic principle of obtaining target echo signals is generally similar.

[0109] At the same time, the obstacle avoidance radar will also collect the ambient temperature by configuring sensors or internal devices of the radar. The obstacle avoidance radar can be placed in a test environment, and the temperature of the test environment can be adjusted within the temperature range of -40°C to 120°C, allowing the obstacle avoidance radar to work at different ambient temperatures, and the collected target echo signals and the radar operating temperatures are recorded correspondingly.

[0110] Step S12, obtain target information according to the target echo signal.

[0111] By processing the target echo signal, information such as the amplitude value, distance, and angle of the target can be obtained. The amplitude value can be obtained through feature extraction. Commonly, the fast Fourier transform (FFT) is used to transform the digital signal in the time domain to the frequency domain, analyze the spectral characteristics of the signal in the frequency domain, and find the peak value at the frequency corresponding to the target echo signal. The value corresponding to this peak is a manifestation of the amplitude value of the target echo signal. Other appropriate feature extraction methods such as wavelet transform can also be used to more accurately obtain its amplitude value according to the specific characteristics of the target echo signal and the actual application scenario. After the radar emits a signal, timing starts, and when the target echo signal is received, timing stops to obtain the round-trip time of the signal. Then, based on the known constant of the propagation speed of electromagnetic waves in the air, the target distance can be calculated using the distance formula. For the target angle, including the azimuth angle and elevation angle, the azimuth angle can be determined by the monopulse angle measurement method, using multiple antenna beams at the same time to obtain the echo signal and comparing the amplitude and phase differences of the echo signals of different beams. It can also be determined by the phased array radar angle measurement method, relying on controlling the phase of the antenna element to transmit or receive signals to form different pointing beams, and determining the azimuth angle according to the beam pointing corresponding to the strongest echo signal. The elevation angle is based on the antenna beam scanning, transmitting and receiving signals at different elevation angles, and the antenna elevation angle corresponding to the maximum echo signal intensity is the target elevation angle. The specific manner of obtaining the target information in this embodiment and other embodiments is not limited.

[0112] In a feasible implementation manner, after step S12, steps S01 to S02 are included:

[0113] Step S01, obtaining the target distance and the target angle according to the target information.

[0114] It should be noted that the target distance refers to the straight-line distance between the observation point (such as the position of the radar) and the target object in a radar detection system or the like. The target angle is a parameter used to describe the azimuth of the target relative to the observation point, usually including the azimuth angle and the elevation angle. The azimuth angle refers to the horizontal angle between the starting direction from a certain reference direction (such as the due north direction) and the direction line of the target when rotating clockwise. The elevation angle refers to the angle between the target direction line and the horizontal plane, that is, the angle formed by the line of sight from the observation point to the target and the horizontal direction. Combining the target distance with information such as the azimuth angle and elevation angle of the target can accurately locate the position of the target in three-dimensional space.

[0115] Step S02, transmitting the target distance and the target angle to the display host computer through the controller area network.

[0116] It should be noted that the Controller Area Network (CAN) is a serial communication protocol bus for real-time applications. It is designed to allow devices on the network to communicate with each other without a host, featuring a multi-master architecture. Each node in the network can act as a master to send data, with equal status, and can send information on the bus according to its own needs, improving the flexibility and reliability of the system. It adopts a priority arbitration mechanism, has high real-time performance, and can ensure the timely transmission of important data to meet the requirements of high-real-time scenarios. It has functions of error detection, notification and recovery, uses differential signal transmission, has strong reliability, can ensure the accuracy and integrity of data transmission and has strong anti-interference ability. It can connect multiple nodes, generally supporting dozens to hundreds, meeting the interconnection needs of multiple devices in complex systems. It has a fast transmission speed, and its transmission rate can be selected within a certain range according to the application scenario, up to 1 Mbps (when transmitting over a short distance). Compared with other industrial buses, it has low-cost characteristics such as relatively low hardware cost, simple communication cables, relatively low cost of node devices and low development difficulty. Its working principle adopts a broadcast communication method, and each node on the bus can receive all data. When a node sends data, it will add information such as an identifier to the data to form a data frame for transmission.

[0117] In addition, it should be noted that the display host computer is a device or software at a higher level in a control system or data processing system, with powerful data processing and display functions. It usually has a good human-computer interaction interface and can display various types of information such as the system operation status, process parameters, and monitoring data in intuitive forms such as graphics, charts, and text, facilitating operators to monitor, analyze, and make decisions. The display host computer can collect, store, process, and analyze data from the lower-level machines (such as various sensors, controllers, etc.), and can also send control instructions to the lower-level machines to achieve the control and adjustment of the system. Moreover, it can perform data interaction and communication with other external systems or networks to achieve more extensive function integration and expansion.

[0118] The obtained target distance and target angle information are efficiently transmitted via the CAN network to ensure that this obstacle information is accurately and quickly transmitted to the display host computer. After receiving the target distance and target angle data transmitted from the CAN network, the display host computer will display this data on the interface and can also present this data in a clear and understandable form (such as presenting it in the form of graphics, numbers, etc. on the interface). In this way, the user can understand the possible obstacle information around the electric door detected by the obstacle avoidance radar during the opening and closing process, and then take corresponding countermeasures in advance to ensure that the electric door can be opened and closed safely and smoothly, avoiding accidents such as collisions between the electric door and obstacles.

[0119] By displaying the target distance and target angle, information about obstacles is prompted for the user, ensuring the safety of the vehicle and the user.

[0120] This embodiment provides an obstacle avoidance radar warning method in high and low temperature environments, which acquires a target echo signal and the radar operating temperature; obtains target information according to the target echo signal, and can ensure the safety of the vehicle and the user.

[0121] Exemplarily, to facilitate understanding of the implementation process of the obstacle avoidance radar warning method obtained by combining Embodiments 1, 2, 3, and 4 in high and low temperature environments, please refer to Figure 6 , Figure 6 A brief process schematic diagram of an obstacle avoidance radar warning method in high and low temperature environments is provided. Specifically:

[0122] The radar signal processing module reads the amplitude value of the target echo signal data; reads the current operating temperature of the radar; draws a change curve graph based on the radar temperature and the target amplitude; selects the target amplitude value in the normal temperature state as a reference, calculates the compensation coefficients at other temperatures; makes a table of the calculated coefficients and adds it to the software.

[0123] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the obstacle avoidance radar warning method in high and low temperature environments of this application. Based on this technical concept, more forms of simple transformations are within the protection scope of this application.

[0124] This application also provides an obstacle avoidance radar warning device in high and low temperature environments. Please refer to Figure 7 , the device includes:

[0125] An acquisition module 10, configured to acquire target information and the radar operating temperature, where the target information includes initial amplitude values corresponding to different radar operating temperatures.

[0126] A calculation module 20, configured to obtain an amplitude value calibration correspondence table according to the initial amplitude value and the radar operating temperature.

[0127] A control module 30, configured to perform obstacle avoidance warning based on the amplitude value calibration correspondence table.

[0128] In one embodiment, the calculation module 20 is further configured to use the initial amplitude value corresponding to the preset temperature as a reference amplitude value; obtain an amplitude value calibration correspondence table according to the radar operating temperature, the initial amplitude value, and the reference amplitude value.

[0129] In one embodiment, the calculation module 20 is further configured to calculate the ratio of the initial amplitude value to the reference amplitude value to obtain an amplitude value calibration coefficient of the radar operating temperature corresponding to the initial amplitude value; obtain an amplitude value calibration correspondence table according to the radar operating temperature and the amplitude value calibration coefficient.

[0130] In one embodiment, the control module 30 is further configured to obtain the current working temperature and the current amplitude value; obtain the current amplitude value calibration coefficient corresponding to the current working temperature according to the amplitude value calibration table; obtain the calibrated amplitude value according to the current amplitude value calibration coefficient and the current amplitude value; and perform obstacle avoidance warning based on the calibrated amplitude value.

[0131] In one embodiment, the control module 30 is further configured to obtain the amplitude value threshold; and perform obstacle avoidance warning when the calibrated amplitude value is greater than or equal to the amplitude value threshold.

[0132] In one embodiment, the acquisition module 10 is further configured to obtain the target echo signal and the radar working temperature; and obtain the target information according to the target echo signal.

[0133] In one embodiment, the acquisition module 10 is further configured to obtain the target distance and the target angle according to the target information; and transmit the target distance and the target angle to the display host computer through the controller area network.

[0134] The obstacle avoidance radar warning device in a high and low temperature environment provided by the present application adopts the obstacle avoidance radar warning method in a high and low temperature environment in the above embodiment, and can solve the technical problem of how to enable the obstacle avoidance radar to work stably in a high and low temperature environment and prevent false alarms. Compared with the prior art, the beneficial effects of the obstacle avoidance radar warning device in a high and low temperature environment provided by the present application are the same as those of the obstacle avoidance radar warning method in a high and low temperature environment provided by the above embodiment, and other technical features in the obstacle avoidance radar warning device in a high and low temperature environment are the same as the features disclosed in the above embodiment method, and will not be elaborated here.

[0135] The present application provides an obstacle avoidance radar warning device in a high and low temperature environment. The obstacle avoidance radar warning device in a high and low temperature environment includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the obstacle avoidance radar warning method in a high and low temperature environment in the first embodiment above.

[0136] Next, refer to Figure 8, which shows a schematic structural diagram of an obstacle avoidance radar warning device suitable for use in high and low temperature environments for implementing the embodiments of the present application. The obstacle avoidance radar warning device in the high and low temperature environments of the embodiments of the present application may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 8 The shown obstacle avoidance radar warning device in the high and low temperature environments is merely an example and should not impose any limitations on the functions and usage scope of the embodiments of the present application.

[0137] As Figure 8 shown, the obstacle avoidance radar warning device in the high and low temperature environments may include a processing device 1001 (such as a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to the programs stored in the read-only memory (ROM: Read Only Memory) 1002 or the programs loaded from the storage device 1003 into the random access memory (RAM: Random Access Memory) 1004. In the RAM 1004, various programs and data required for the operation of the obstacle avoidance radar warning device in the high and low temperature environments are also stored. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other through a bus 1005. The input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems may be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the obstacle avoidance radar warning device in the high and low temperature environments to communicate with other devices wirelessly or wiredly to exchange data. Although the figure shows an obstacle avoidance radar warning device with various systems in the high and low temperature environments, it should be understood that it is not required to implement or have all the shown systems. More or fewer systems may be alternatively implemented or had.

[0138] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes program codes for executing the methods shown in the flowcharts. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by a processing device 1001, the above functions defined in the methods of the embodiments disclosed in the present application are executed.

[0139] The obstacle avoidance radar warning device in high and low temperature environments provided by the present application adopts the obstacle avoidance radar warning method in high and low temperature environments in the above embodiments, and can solve the technical problem of how to enable the obstacle avoidance radar to work stably in high and low temperature environments and prevent false alarms. Compared with the prior art, the beneficial effects of the obstacle avoidance radar warning device in high and low temperature environments provided by the present application are the same as those of the obstacle avoidance radar warning method in high and low temperature environments provided by the above embodiments, and other technical features in the obstacle avoidance radar warning device in high and low temperature environments are the same as the features disclosed in the method of the previous embodiment, which will not be elaborated here.

[0140] It should be understood that the various parts disclosed in the present application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in a suitable manner in any one or more embodiments or examples.

[0141] As described above, only the specific embodiments of the present application are provided, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present application, and all of them should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

[0142] The present application provides a computer-readable storage medium having computer-readable program instructions (i.e., computer programs) stored thereon, and the computer-readable program instructions are used to execute the obstacle avoidance radar warning method in high and low temperature environments in the above embodiments.

[0143] The computer-readable storage medium provided by this application can be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or components, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) or flash memory, optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this embodiment, the computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, device, or component. The program code contained on the computer-readable storage medium can be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0144] The above computer-readable storage medium can be included in the obstacle avoidance radar warning device in high and low temperature environments; it can also exist independently without being assembled into the obstacle avoidance radar warning device in high and low temperature environments.

[0145] The above computer-readable storage medium carries one or more programs. When the one or more programs are executed by the obstacle avoidance radar warning device in high and low temperature environments, the obstacle avoidance radar warning device in high and low temperature environments is caused to: obtain target information and the radar operating temperature, where the target information includes initial amplitude values corresponding to different radar operating temperatures; obtain an amplitude value calibration correspondence table based on the initial amplitude values and the radar operating temperature; and perform obstacle avoidance warning based on the amplitude value calibration correspondence table.

[0146] Computer program code for performing the operations of this application can be written in one or more programming languages or combinations thereof. The above-mentioned programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (for example, by connecting through the Internet using an Internet service provider).

[0147] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code that contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, as well as combinations of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0148] The modules described in the embodiments of this application can be implemented in software or in hardware. Among them, the name of the module does not constitute a limitation on the unit itself in some cases.

[0149] The readable storage medium provided by this application is a computer-readable storage medium. The computer-readable storage medium stores computer-readable program instructions (i.e., computer programs) for performing the above-mentioned obstacle avoidance radar warning method in high and low temperature environments, and can solve the technical problem of how to achieve the stable operation of the obstacle avoidance radar in high and low temperature environments and prevent false alarms. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by this application are the same as those of the obstacle avoidance radar warning method in high and low temperature environments provided by the above embodiments, and will not be elaborated here.

[0150] The present application also provides a computer program product, including a computer program which, when executed by a processor, implements the steps of the obstacle avoidance radar warning method in the high and low temperature environment as described above.

[0151] The computer program product provided by the present application can solve the technical problem of how to enable the obstacle avoidance radar to work stably in the high and low temperature environment and prevent false alarms. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as those of the obstacle avoidance radar warning method in the high and low temperature environment provided by the above embodiments, and will not be elaborated herein.

[0152] The above are only some embodiments of the present application, and thus do not limit the patent scope of the present application. Any equivalent structural transformation made by using the content of the specification and drawings of the present application under the technical concept of the present application, or any direct / indirect application in other related technical fields, is included in the patent protection scope of the present application.

Claims

1. An obstacle avoidance radar warning method in high and low temperature environments, characterized in that, The method includes: Obtaining target information and the radar operating temperature, where the target information includes initial amplitude values corresponding to different radar operating temperatures; Obtaining an amplitude value calibration correspondence table based on the initial amplitude values and the radar operating temperature; Performing obstacle avoidance warning based on the amplitude value calibration correspondence table.

2. The method according to claim 1, characterized in that The step of obtaining the amplitude value calibration correspondence table based on the initial amplitude values and the radar operating temperature includes: Taking the initial amplitude value corresponding to a preset temperature as a reference amplitude value; Obtaining the amplitude value calibration correspondence table based on the radar operating temperature, the initial amplitude values, and the reference amplitude value.

3. The method according to claim 2, wherein The step of obtaining the amplitude value calibration correspondence table based on the radar operating temperature, the initial amplitude values, and the reference amplitude value includes: Calculating the ratio of the initial amplitude value to the reference amplitude value to obtain an amplitude value calibration coefficient for the radar operating temperature corresponding to the initial amplitude value; Obtaining the amplitude value calibration correspondence table based on the radar operating temperature and the amplitude value calibration coefficient.

4. The method according to claim 1, characterized in that, The step of performing obstacle avoidance warning based on the amplitude value calibration correspondence table includes: Obtaining the current operating temperature and the current amplitude value; Obtaining the current amplitude value calibration coefficient corresponding to the current operating temperature according to the amplitude value calibration correspondence table; Obtaining a calibrated amplitude value based on the current amplitude value calibration coefficient and the current amplitude value; Performing obstacle avoidance warning based on the calibrated amplitude value.

5. The method according to claim 4, wherein The step of performing obstacle avoidance warning based on the calibrated amplitude value includes: Obtaining an amplitude value threshold; Performing obstacle avoidance warning when the calibrated amplitude value is greater than or equal to the amplitude value threshold.

6. The method according to claim 1, wherein The step of obtaining target information and the radar operating temperature includes: Obtaining a target echo signal and the radar operating temperature; Obtaining target information based on the target echo signal.

7. The method according to claim 6, wherein After the step of obtaining target information based on the target echo signal, it further includes: Obtaining a target distance and a target angle based on the target information; Transmitting the target distance and the target angle to a display host computer through a controller area network.

8. An obstacle avoidance radar warning device in high and low temperature environments, characterized in that, The device includes: An acquisition module for obtaining target information and the radar operating temperature, where the target information includes initial amplitude values corresponding to different radar operating temperatures; A calculation module for obtaining an amplitude value calibration correspondence table based on the initial amplitude values and the radar operating temperature; A control module for performing obstacle avoidance warning based on the amplitude value calibration correspondence table.

9. An obstacle avoidance radar warning device in high and low temperature environments, characterized in that, The device includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, where the computer program is configured to implement the steps of the obstacle avoidance radar warning method in a high and low temperature environment as described in any one of claims 1 to 7.

10. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the obstacle avoidance radar warning method in a high and low temperature environment as described in any one of claims 1 to 7.

Images