Vehicle-mounted radar monitoring method, radar device and radar equipment

Abstract

The invention belongs to the related technical field of radars, and particularly relates to a vehicle-mounted radar monitoring method, a radar device and radar equipment. On a vehicle-mounted radar, a first radar is connected with at least one second radar, and the first radar continuously receives second operation data of the second radar; performing analysis processing on the second operation data to generate analysis data; judging the current radar state of the second radar according to the analysis data; and when the current radar state is abnormal, the first radar sends a first reset signal to the second radar to reset the second radar, and the second radar is corrected according to the second operation data. Through mutual data monitoring between radars, the radar can be reset in time when the radar is abnormal, and the abnormal radar is reset and calibrated by monitoring the data returned by the radar, so that a vehicle is prevented from being returned to a factory for maintenance, and the stability of intelligent driving is improved.

Description

Technical Field

[0001] The present invention belongs to the field of radar-related technology, and in particular relates to a vehicle-mounted radar monitoring method, a radar device and radar equipment. Background Art

[0002] As the core sensor of intelligent driving perception systems, automotive corner radars are primarily installed at the four corners of the vehicle, responsible for short- to medium-range environmental monitoring. They are indispensable in scenarios such as automated parking, lane change assistance (LCA), and blind spot monitoring (BSD). With the advent of the era of intelligent assisted driving vehicles, the use of millimeter-wave corner radar sensors is becoming increasingly frequent and important.

[0003] To prevent problems with on-board corner radars, existing technologies typically employ a master control system to monitor the radar's status in real time, preventing malfunctions during use. This monitoring typically involves periodically transmitting broadcasts from the radar, which the master control system then receives in real time to ensure proper operation.

[0004] However, this method cannot send and receive messages when the corner radar fails and is completely shut down. This means that when the vehicle's corner radar fails to shut down completely, the vehicle is forced to return to the factory for repairs. At the same time, when the vehicle travels to areas with poor signals or strong signal interference, the on-board corner radar cannot be calibrated by the main control system or receive messages from the main control system, which will also reduce the vehicle's driving reliability. Summary of the Invention

[0005] To address the aforementioned issues, the present invention provides a vehicle-mounted radar monitoring method, radar device, and radar equipment. By enabling mutual monitoring between radars and waking them up via a reset signal when a radar shuts down abnormally, the vehicle can be prevented from returning to the factory for repair. Furthermore, through mutual monitoring and data storage between radars, radars can be automatically calibrated and paired independently of the main control system, increasing the reliability of intelligent driving.

[0006] The purpose of the present invention is achieved through the following technical solutions:

[0007] In a first aspect, the present invention provides a vehicle-mounted radar monitoring method, comprising:

[0008] Establishing a connection between the first radar and at least one second radar, and the first radar continuously receiving second operating data of the second radar;

[0009] parsing the second operating data to generate parsed data; and determining a current radar state of the second radar according to the parsed data;

[0010] When the current radar state is abnormal, the first radar sends a first reset signal to the second radar to reset the second radar, and calibrates the second radar according to the second operating data.

[0011] The system establishes a connection between a first radar and at least one second radar on a vehicle-mounted radar. The first radar continuously receives the second radar's second operating data, analyzes the second operating data, and generates analytical data. The analytical data then determines the second radar's current radar status. When the current radar status is abnormal, the first radar sends a first reset signal to the second radar to reset it, and calibrates the second radar based on the second operating data. By monitoring the radars' mutual data, a reset can be performed immediately when an abnormality occurs. The data returned by the monitored radars allows the abnormal radar to be reset and calibrated, thus avoiding the need to return the vehicle to the factory for repairs and improving the stability of intelligent driving.

[0012] In some embodiments, the second operational data includes radar heartbeat data.

[0013] The heartbeat data is used to monitor the operating status of the radar so that the radar can be reset in time when the heartbeat data is abnormal.

[0014] In some embodiments, parsing the second operating data to generate parsed data; and determining the current radar state of the second radar based on the parsed data includes:

[0015] Continuously obtain the heartbeat data of the second radar according to a preset period;

[0016] If no heartbeat data is received within a period, the error period is recorded and the number of errors is increased; if the heartbeat data is received normally in the next period after the error period, the number of errors is reduced;

[0017] If the number of errors is greater than the preset value, the current radar status is judged to be abnormal.

[0018] By continuously monitoring the heartbeat data, the radar can be reset in time when the heartbeat data is missed or missed for a long time, thereby avoiding abnormal use of the radar.

[0019] In some embodiments, further comprising:

[0020] The operating data of the first radar and the second radar are sent to the cloud for storage and analysis;

[0021] If both the first radar and the second radar are in abnormal states, the cloud sends a second reset signal to the first radar and the second radar to reset the first radar and the second radar, and the first radar is calibrated according to the first operating data of the first radar, and the second radar is calibrated according to the second operating data.

[0022] The radar operation data is saved through the cloud so that when multiple radars fail, two radars can be reset through the cloud.

[0023] In some embodiments, further comprising:

[0024] Establishing a connection between the third radar and at least one second radar, and the third radar continuously receiving the second operating data of the second radar;

[0025] parsing the second operating data to generate parsed data; and determining a current radar state of the second radar according to the parsed data;

[0026] When the current radar state is abnormal, the third radar sends a third reset signal to the second radar;

[0027] When the second radar receives the second reset signal and the third reset signal at the same time, the second radar is reset and calibrated according to the second operating data.

[0028] By using group monitoring, we can avoid misjudgment of radar monitoring when the data of a single radar monitor fluctuates greatly, thereby improving the stability of the system.

[0029] In some embodiments, when the current radar state is abnormal, the first radar sends a first reset signal to the second radar to reset the second radar, and calibrates the second radar according to the second operating data, including:

[0030] When the current radar state is abnormal, the first radar sends a first reset signal to the second radar to reset the second radar;

[0031] After the reset is completed, the second radar sends a broadcast signal and the current second operation data to the first radar;

[0032] If the first radar receives the broadcast signal and the current second operating data at the same time, it is determined that the first radar and the second radar are connected again;

[0033] The first radar sends the last second operating data retained before the second radar is in an abnormal state to the second radar, and the second radar performs correction according to the last second operating data.

[0034] By sending the second operating data after the reset, not only can the handshake between radars be performed by sending and receiving the second operating data, but data correction and verification can also be performed through the second operating data.

[0035] In some embodiments, the first radar sends the last second operating data retained before the second radar is in an abnormal state to the second radar, and the second radar performs corrections based on the last second operating data.

[0036] After the second radar is calibrated, the second radar sends the latest second operating data to the first radar, and the first radar determines whether the second radar is reset normally based on the last second operating data and the latest second operating data;

[0037] If the difference between the latest second operating data and the last second operating data is within a preset range, the second radar is reset normally.

[0038] Whether the reset is successful is determined by determining the difference range between the latest second operating data and the last second operating data.

[0039] In a second aspect, the present invention provides a radar device, comprising:

[0040] a data acquisition module, configured to establish a connection between the first radar and at least one second radar, and for the first radar to continuously receive second operating data of the second radar;

[0041] a data analysis module, configured to analyze and process the second operating data to generate analysis data; and determine the current radar state of the second radar based on the analysis data;

[0042] The reset and correction module is used to, when the current radar state is abnormal, send a first reset signal from the first radar to the second radar to reset the second radar, and correct the second radar according to the second operating data.

[0043] In a third aspect, the present invention provides a radar device, comprising: a processor, a memory, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface communicate with each other via the communication bus;

[0044] The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform the operation of any one of the vehicle-mounted radar monitoring methods proposed in the first aspect.

[0045] In some embodiments, a reset line and a data transmission line are provided between the first radar and the second radar.

[0046] The radar transmits reset signals directly via the reset line and operating data directly via the data transmission line, thus avoiding instability when the vehicle travels into areas with poor signals or strong interference.

[0047] The beneficial effects of the vehicle-mounted radar monitoring method, radar device and radar equipment of the present invention are:

[0048] The system establishes a connection between a first radar and at least one second radar on a vehicle-mounted radar. The first radar continuously receives the second radar's second operating data, analyzes the second operating data, and generates analytical data. The analytical data then determines the second radar's current radar status. When the current radar status is abnormal, the first radar sends a first reset signal to the second radar to reset it, and calibrates the second radar based on the second operating data. By monitoring the radars' mutual data, a reset can be performed immediately when an abnormality occurs. The data returned by the monitored radars allows the abnormal radar to be reset and calibrated, thus avoiding the need to return the vehicle to the factory for repairs and improving the stability of intelligent driving.

[0049] The above description is only an overview of the technical solutions of the embodiments of the present invention. In order to more clearly understand the technical means of the embodiments of the present invention, they can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiments of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are specifically listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present invention. In addition, the same reference symbols are used to represent the same components throughout the drawings. In the drawings:

[0051] Figure 1 The process of a vehicle-mounted radar monitoring method of the present invention is as follows Figure 1 ;

[0052] Figure 2 This is a flow chart of step 200 of a vehicle-mounted radar monitoring method according to the present invention;

[0053] Figure 3 The process of a vehicle-mounted radar monitoring method of the present invention is as follows Figure 2 ;

[0054] Figure 4 Flowchart of step 100 of a vehicle-mounted radar monitoring method of the present invention;

[0055] Figure 5 This is a flow chart of step 300 of a vehicle-mounted radar monitoring method according to the present invention;

[0056] Figure 6 A framework diagram of a radar device according to the present invention;

[0057] Figure 7 A framework diagram of a radar device according to the present invention;

[0058] Figure 8 This is a structural diagram of a radar device according to the present invention. DETAILED DESCRIPTION

[0059] Exemplary embodiments of the present application will be described in greater detail below with reference to the accompanying drawings. While exemplary embodiments of the present application are illustrated, it is to be understood that the application is not limited to the embodiments described herein, but can be practiced with variation within the spirit and scope of the present application.

[0060] Embodiment 1

[0061] As shown in the drawings, the present embodiment proposes a vehicle-mounted radar monitoring method, comprising: Figures 1-5

[0062] Step 100: establishing a connection between the first radar and at least one second radar, and the first radar continuously receiving second operation data of the second radar;

[0063] Specifically, the first radar and the second radar can be left and right corner radars of the vehicle, and in other embodiments, the corner radars can also be corner radars distributed on the side of the vehicle, which is not limited in quantity. By establishing a connection between the first radar and the second radar, in some preferred embodiments, MCUs are arranged in the left and right radars, and the MCUs and certain analog or digital ports thereon can be configured as operation data sending and receiving ports for receiving operation data of the other radar. Alternatively, the communication port on the MCU can be directly used for sending and receiving, which is determined according to the type of the operation data. If the operation data is message data, the serial communication port of the MCU can be preferentially selected to send and receive data between the radars through CAN communication. If the operation data is simple pulse data, heartbeat data, etc., a certain analog port and a certain digital port can be defined to be specially used for mutual data receiving and sending between the radars. At the same time, when the first radar receives data, the corresponding second operation data can be saved according to the cycle time, and a certain number of cycles of second operation data can be set to be saved, so that in subsequent analysis of abnormalities, the second operation data of multiple cycles can be used for judgment to avoid misjudgment of the radar state caused by fluctuations in the data. It can be understood that message and level signals can be sent at the same time.

[0064] In some preferred modes, the mutual connection of the radars only needs to be established by directly connecting the ports of the MCUs between the radars through hardware connection, and through the hardware connection, only electrical signals are used for data transmission, avoiding the situation of unstable data packet loss caused by driving the vehicle to a high signal interference section.

[0065] In other embodiments, the radars can also be remotely connected through the wireless module arranged on the MCU.

[0066] Step 200: performing analysis and processing on the second operation data to generate analysis data; and determining the current radar state of the second radar according to the analysis data;

[0067] ​Specifically, the second operating data is parsed and processed. If the second operating data is message data, the message data is parsed to generate valid parsed data. If the second operating data is a pulse or electrical signal, the electrical signal or pulse is parsed to generate parsed data, and the status of the second radar is determined based on the parsed data. The message may include conventional data such as the radar's angle and power, and the data is arranged in a certain order so that another monitoring radar can determine the radar's status by decomposing the message. In some more preferred embodiments, only a heartbeat level signal can be set as data, and the level signal is periodically transmitted to monitor the radar's operating status. If the radar heartbeat signal is not received, it indicates that the radar is abnormal or has missed a beat. Using the heartbeat level signal method can reduce the radar's computing power and avoid misjudgments caused by packet loss or missing signals due to interference.

[0068] Step 300: When the current radar state is abnormal, the first radar sends a first reset signal to the second radar to reset the second radar, and calibrates the second radar according to the second operating data.

[0069] Specifically, when the radar is judged to be abnormal after analysis in step 102, such as heartbeat data is missed, message data is not within the normal range, etc., the first radar sends a reset signal to the second radar. The reset signal can be in the form of a message. In a preferred embodiment, it is a reset level signal. The MCU of the first radar can send a reset level signal to the MCU of the second radar to reset the second radar and correct the second radar according to the second operating data. The correction method is as follows: after the first radar saves the second operating data and the second radar is abnormally reset, the second radar obtains the latest saved second operating data and quickly adjusts itself according to the second operating data, such as the elevation angle and other data, to avoid a long detection window period caused by the automatic correction of the radar restart, and by referring to the latest second operating data, the adjustment error can be avoided.

[0070] It should be noted that the above only exemplifies a monitoring method in which the first radar monitors the second radar. In actual use, the second radar can monitor the first radar at the same time, or the first radar can monitor each other and other radars in the above manner.

[0071] The system establishes a connection between a first radar and at least one second radar on a vehicle-mounted radar. The first radar continuously receives the second radar's second operating data, analyzes the second operating data, and generates analytical data. The analytical data then determines the second radar's current radar status. When the current radar status is abnormal, the first radar sends a first reset signal to the second radar to reset it, and calibrates the second radar based on the second operating data. By monitoring the radars' mutual data, a reset can be performed immediately when an abnormality occurs. The data returned by the monitored radars allows the abnormal radar to be reset and calibrated, thus avoiding the need to return the vehicle to the factory for repairs and improving the stability of intelligent driving.

[0072] In some preferred embodiments, the second operating data includes radar heartbeat data.

[0073] Specifically, when the second operating data includes radar heartbeat data, the analog terminal of the first radar's MCU can be connected to the analog terminal of the second radar's MCU, and level data can be periodically sent to monitor the radar. This method can avoid monitoring via broadcast messages, which can pose a high risk of unreliability in areas with high interference. Furthermore, this method allows for forced restart and reset when the radar is stuck, frozen, unable to receive signals, or shut down, thus avoiding the need to return the radar to the factory for repair. Heartbeat data is used to monitor the radar's operating status, allowing for timely radar reset when abnormal heartbeat data is detected.

[0074] In some embodiments, parsing the second operating data to generate parsed data; and determining the current radar state of the second radar based on the parsed data includes:

[0075] Step 201: continuously acquiring heartbeat data of a second radar according to a preset period;

[0076] Specifically, the second radar heartbeat data, i.e., the level signal, is periodically acquired and sorted by period. A simpler approach is to record the period as 1 when a level signal is acquired, and 0 when no level signal is acquired. A certain amount of heartbeat data is then stored. For example, if eight consecutive periods of 11111111 are recorded, and if the ninth period is 0, the number can be 111111110.

[0077] Step 202: If no heartbeat data is received within the period, the error period is recorded and the number of errors is increased; if the heartbeat data is received normally in the next period after the error period, the number of errors is decreased;

[0078] Specifically, if no heartbeat data is received within a cycle, the time period of the cycle is recorded, such as the current time, and an error register is set in the MCU. After the error cycle is recorded, the register is incremented by 1. After a heartbeat signal is detected in the next cycle, the register is decremented by one. This method can avoid data fluctuations.

[0079] Step 203: If the number of errors is greater than the preset value, the current radar state is judged to be abnormal. Specifically, if there is no heartbeat data for multiple consecutive cycles, the value of the register will continue to increase, thereby exceeding the preset value, such as 8, then it can be judged that the radar is in an abnormal state.

[0080] By continuously monitoring the heartbeat data, the radar can be reset in time when the heartbeat data is missed or missed for a long time, thereby avoiding abnormal use of the radar.

[0081] In some embodiments, further comprising:

[0082] Step 400: Sending the operating data of the first radar and the second radar to the cloud for storage and analysis;

[0083] Specifically, the operating data of the first radar and the second radar are uploaded to the cloud periodically to avoid extreme situations where both the first radar and the second radar have problems or are operating in an abnormal state, but both are still running. It can also provide a cloud wake-up method when both the first radar and the second radar are abnormally shut down.

[0084] Furthermore, saving data allows the cloud to automatically analyze anomalies and predict impending radar anomalies based on radar data. For example, if the radar's heartbeat data is made into an operating curve and there are large fluctuations between 0 and 1, it can be predicted that the radar may be abnormal. This can prevent both radars from being shut down by giving the driver an early warning.

[0085] Step 500: If both the first radar and the second radar are in abnormal states, the cloud sends a second reset signal to the first radar and the second radar to reset the first radar and the second radar, and the first radar is calibrated according to the first operating data of the first radar, and the second radar is calibrated according to the second operating data.

[0086] Specifically, when an anomaly is detected, reset signals are sent to both the first and second radars. The cloud can wake up the radar's MCU and send a reset signal, thereby resetting the first and second radars. After the reset, the cloud sends first operating data to assist the first radar with correction, and the cloud sends second operating data to assist the second radar with correction, thus avoiding the extreme situation of multiple radars being shut down. Radar operating data is stored in the cloud, so that if multiple radars fail, the cloud can reset both radars.

[0087] In some embodiments, further comprising:

[0088] Step 101: the third radar and at least one second radar are connected, and the third radar continuously receives second operation data of the second radar;

[0089] Specifically, the establishment method of the third radar can be consistent with step 100; when establishing, the third radar and the first radar are also connected.

[0090] Step 102: the second operation data is parsed and processed to generate parsed data; and the current radar state of the second radar is judged according to the parsed data;

[0091] Specifically, this step can be consistent with step 200.

[0092] Step 103: when the current radar state is abnormal, the third radar sends a third reset signal to the second radar;

[0093] Specifically, this step can be consistent with step 300.

[0094] Step 104: when the second radar receives the second reset signal and the third reset signal at the same time, the second radar is reset, and the second radar is corrected according to the second operation data.

[0095] Specifically, when two reset signals are obtained at the same time, the second radar is reset, and the respective monitoring of the first radar and the third radar is used to avoid misjudgment caused by data fluctuation, thereby avoiding frequent reset.

[0096] Through the grouping monitoring mode, the misjudgment of radar monitoring caused by large data fluctuation is avoided, thereby improving the stability of the system.

[0097] In some embodiments, when the current radar state is abnormal, the first radar sends a first reset signal to the second radar to reset the second radar, and the second radar is corrected according to the second operation data, comprising:

[0098] Step 301: when the current radar state is abnormal, the first radar sends a first reset signal to the second radar to reset the second radar;

[0099] Specifically, when the state of the radar is abnormal, the first radar sends a first reset signal to the second radar to reset the second radar, and the reset signal can be a level signal to forcibly reset the second radar.

[0100] Step 302: after resetting, the second radar sends a broadcast signal and current second operation data to the first radar;

[0101] Specifically, after the reset is completed, the second radar sends a broadcast signal and sends the second operating data through the communication terminal. The broadcast signal is used to determine whether the second radar is infinitely connected to the first radar. It can be a communication message, such as CAN communication. The second operating data is sent through the communication terminal to ensure the stability of the second data.

[0102] Step 303: If the first radar receives the broadcast signal and the current second operating data at the same time, it is determined that the first radar and the second radar are connected again;

[0103] Specifically, when the broadcast signal and the current second operation data are obtained at the same time, it is determined that the first radar and the second radar have established a connection, that is, a wireless connection and a wired connection.

[0104] Step 304: The first radar sends the last second operating data retained before the second radar state becomes abnormal to the second radar, and the second radar performs correction according to the last second operating data.

[0105] Specifically, after receiving the second operating data, the first radar sends the last second operating data retained before the abnormality to the second radar, so that the second radar can perform correction based on the last second operating data.

[0106] Steps 301 to 304 may also use the second operating data as handshake data. By transmitting the second operating data, a handshake process between the first radar and the second radar may be implemented.

[0107] By sending the second operating data after the reset, not only can the handshake between radars be performed by sending and receiving the second operating data, but data correction and verification can also be performed through the second operating data.

[0108] In some embodiments, the first radar sends the last second operating data retained before the second radar is abnormal to the second radar, and the second radar performs correction according to the last second operating data.

[0109] Step 305: After the second radar is calibrated, the second radar sends the latest second operating data to the first radar. The first radar determines whether the second radar is reset normally based on the last second operating data and the latest second operating data.

[0110] Step 306 : If the difference between the latest second operating data and the last second operating data is within a preset range, the second radar is reset to normal.

[0111] Specifically, by comparing the latest second running data with the last second running data, it is determined whether it is within a reasonable preset range, so as to avoid the overall failure of the radar caused by the reset failure or reset error of the radar, thereby causing the radar to be used in an abnormal state or the invalid reset time to be too long. Also, through this way, when the difference between the multiple resets and the previous running data is too large, it is determined that the radar needs to be repaired. By judging the difference range of the latest second running data and the last second running data, it is determined whether the reset is successful

[0112] Embodiment 2

[0113] As shown in Figure 6 , the embodiment also provides a radar device, which comprises:

[0114] The data acquisition module 601 is configured to establish a connection between the first radar and at least one second radar, and the first radar continuously receives second running data of the second radar. The data acquisition module 601 is configured to execute step 100.

[0115] The data analysis module 602 is configured to analyze and process the second running data to generate analysis data, and determine the current radar state of the second radar according to the analysis data. The data analysis module 602 is configured to execute step 200, so that the data obtained in step 100 can be analyzed.

[0116] The reset correction module 603 is configured to send a first reset signal to the second radar to reset the second radar when the current radar state is abnormal, and correct the second radar according to the second running data. The reset correction module 603 is configured to execute step 300, so that when the radar is abnormal, the module can be used for data correction.

[0117] Embodiment 3

[0118] As shown in Figure 7 , the embodiment provides a structure diagram of the embodiment of the radar device of the present application, and the specific embodiment of the present application does not limit the specific implementation of the radar device.

[0119] The radar device can include a processor 702, a communications interface 704, a memory 706, and a communications bus 708.

[0120] Processor 702, communication interface 704, and memory 706 communicate with each other via a communication bus 708. Communication interface 704 is used to communicate with other devices, such as clients or other server network elements. Processor 702 is used to execute program 710, which may specifically perform the steps described in Example 1 for the vehicle-mounted radar monitoring method.

[0121] Specifically, the program 710 may include program code including computer-executable instructions.

[0122] Processor 702 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention. The one or more processors included in the backdrill device may be of the same type, such as one or more CPUs, or different types, such as one or more CPUs and one or more ASICs.

[0123] The memory 706 is used to store the program 710. The memory 706 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0124] like Figure 8 As shown, in some embodiments, Q5 of the first radar and P5 of the second radar are connected as a data transmission line to transfer operating data to each other. Q6 of the first radar and P6 of the second radar are connected as a reset line to transfer reset data, thereby resetting the second radar.

[0125] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system or other device. In addition, the embodiments of the present invention are not directed to any particular programming language.

[0126] In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the present invention may be practiced without these specific details. Similarly, in order to streamline the present invention and aid in understanding one or more of the various inventive aspects, in the above description of exemplary embodiments of the present invention, various features of embodiments of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. The claims that follow the detailed description are hereby expressly incorporated into that detailed description, with each claim itself serving as a separate embodiment of the present invention.

[0127] Those skilled in the art will appreciate that the modules in the devices of the embodiments can be adaptively changed and installed in one or more devices different from the embodiments. The modules, units, or components in the embodiments can be combined into one module, unit, or component, and furthermore, they can be divided into multiple submodules, subunits, or subcomponents. Except that at least some of such features and / or processes or units are mutually exclusive.

[0128] It should be noted that the above embodiments illustrate rather than limit the invention, and that alternative embodiments may be devised by a person skilled in the art without departing from the scope of the appended claims. In the claims, any reference signs placed between brackets should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention may be implemented by means of hardware comprising several different elements and by means of appropriately programmed computers. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third etc. does not indicate any order. These words may be interpreted as names. The steps in the above embodiments should not be understood as limiting the order of execution unless otherwise specified.

Claims

1. A vehicle-mounted radar monitoring method, characterized in that: include: Establishing a connection between the first radar and at least one second radar, and the first radar continuously receiving second operating data of the second radar; parsing the second operating data to generate parsed data; determining a current radar state of the second radar according to the analyzed data; When the current radar state is abnormal, the first radar sends a first reset signal to the second radar to reset the second radar, and calibrates the second radar according to the second operating data.

2. The vehicle-mounted radar monitoring method according to claim 1, characterized in that: The second operating data includes radar heartbeat data.

3. The vehicle-mounted radar monitoring method according to claim 2, characterized in that: said parsing and processing the second operation data to generate parsed data; Determining the current radar state of the second radar according to the analyzed data; comprising: continuously acquiring the heartbeat data of the second radar according to a preset period; If the heartbeat data is not received within the period, the error period is recorded and the number of errors is increased; if the heartbeat data is received normally in the next period after the error period, the number of errors is reduced; If the number of errors is greater than the preset value, the current radar status is judged to be abnormal.

4. The vehicle-mounted radar monitoring method according to claim 1, characterized in that: Also includes: Sending the operating data of the first radar and the second radar to the cloud for storage and analysis; If both the first radar and the second radar are in abnormal status, the cloud sends a second reset signal to the first radar and the second radar to reset the first radar and the second radar, and the first radar is calibrated according to the first operating data of the first radar, and the second radar is calibrated according to the second operating data.

5. The vehicle-mounted radar monitoring method according to claim 1, characterized in that: Also includes: Establishing a connection between the third radar and at least one of the second radars, and continuously receiving the second operating data of the second radar by the third radar; parsing the second operating data to generate parsed data; determining a current radar state of the second radar according to the analyzed data; When the current radar state is abnormal, the third radar sends a third reset signal to the second radar; When the second radar receives the second reset signal and the third reset signal at the same time, the second radar is reset and calibrated according to the second operating data.

6. The vehicle-mounted radar monitoring method according to claim 1, characterized in that: When the current radar state is abnormal, the first radar sends a first reset signal to the second radar to reset the second radar, and calibrates the second radar according to the second operating data, including: When the current radar state is abnormal, the first radar sends a first reset signal to the second radar to reset the second radar; After the reset is completed, the second radar sends a broadcast signal and current second operation data to the first radar; If the first radar receives the broadcast signal and the current second operating data at the same time, determining that the first radar and the second radar are reconnected; The first radar sends the last second operating data retained before the second radar is in an abnormal state to the second radar, and the second radar performs correction according to the last second operating data.

7. The vehicle-mounted radar monitoring method according to claim 6, characterized in that: The first radar sends the last second operating data retained before the second radar is in an abnormal state to the second radar, and the second radar performs correction according to the last second operating data. After the second radar is calibrated, the second radar sends the latest second operating data to the first radar, and the first radar determines whether the second radar is reset normally based on the last second operating data and the latest second operating data; If the difference between the latest second operating data and the last second operating data is within a preset range, the second radar is reset normally.

8. A radar device, characterized in that: include: a data acquisition module, configured to establish a connection between the first radar and at least one second radar, and for the first radar to continuously receive second operating data of the second radar; a data analysis module, configured to analyze and process the second operation data to generate analysis data; determining a current radar state of the second radar according to the analyzed data; The reset and correction module is used to, when the current radar state is abnormal, cause the first radar to send a first reset signal to the second radar to reset the second radar, and to correct the second radar according to second operating data.

9. A radar device, characterized in that: include: A processor, a memory, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface communicate with each other via the communication bus; The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform the operation of the vehicle-mounted radar monitoring method as described in any one of claims 1-7.

10. The radar device according to claim 9, characterized in that A reset line and a data transmission line are provided between the first radar and the second radar.

Images