Vehicle control method and device, vehicle and storage medium

Abstract

The embodiment of the invention provides a vehicle control method and device, a vehicle and a storage medium, and the method comprises the steps: enabling a millimeter-wave radar and an ultra-wideband technology module to be integrated into an electromagnetic wave sensor, enabling the electromagnetic wave sensor to have the functions of the millimeter-wave radar and the ultra-wideband technology module at the same time, reducing the excessive occupation of the vehicle assembly space, and reducing the wiring harness arrangement; meanwhile, the moving trend of the target pedestrian can be determined through the millimeter wave radar, the distance information between the vehicle and the target pedestrian can be obtained through the ultra wide band technology module, and the control instruction for the vehicle is generated based on the moving trend and the distance information, so that the vehicle assembly space is prevented from being wasted, and the vehicle assembly efficiency is improved. The monitoring data of the millimeter wave radar and the ultra wide band technology module can be referred to simultaneously in the vehicle control decision process, so that the control efficiency of the vehicle is improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to a vehicle control method, a vehicle control device, a vehicle, and a computer-readable storage medium. Background Technology

[0002] With the continuous evolution and popularization of intelligent connected vehicle technology, intelligent driving has become an important function of vehicles. Among them, intelligent vehicle control enables cars to perceive their surroundings, make decisions, and execute actions like humans.

[0003] To improve vehicle control efficiency, more sensors are needed to acquire information and improve decision-making quality, but the increase in sensors leads to a reduction in vehicle assembly space. Summary of the Invention

[0004] The present invention provides a vehicle control method, apparatus, vehicle, and computer-readable storage medium to overcome or at least partially solve the above-mentioned problems.

[0005] This invention discloses a vehicle control method applied to a vehicle equipped with one or more electromagnetic wave sensors. These electromagnetic wave sensors integrate millimeter-wave radar and ultra-wideband technology modules, including:

[0006] The millimeter-wave radar determines the movement trend of the target pedestrian, and the ultra-wideband technology module obtains the distance information between the vehicle and the target pedestrian.

[0007] Control commands for the vehicle are generated based on the movement trend and the distance information.

[0008] Optionally, the vehicle is provided with a native interface for the electromagnetic wave sensor, and the millimeter-wave radar and the ultra-wideband technology module are connected to a common wiring harness through the native interface. The common wiring harness is used to propagate the signals of the millimeter-wave radar and the ultra-wideband technology module.

[0009] Optionally, the electromagnetic wave sensor includes a shared power supply module;

[0010] The shared power supply module is used to supply power to the millimeter-wave radar and the ultra-wideband technology module.

[0011] Optionally, the electromagnetic wave sensor includes a temperature-compensated crystal oscillator and a low-dropout regulator for the millimeter-wave radar and the ultra-wideband technology module;

[0012] The low-dropout regulator is used to receive the input voltage of the shared power supply module and output voltage to the temperature-compensated crystal oscillator.

[0013] Optionally, the step of determining the movement trend of the target pedestrian using the millimeter-wave radar includes:

[0014] The millimeter-wave radar is invoked to acquire point cloud data for the target pedestrian.

[0015] The movement trend of the target pedestrian is determined using the point cloud data.

[0016] Optionally, the step of obtaining the distance information between the vehicle and the target pedestrian through the ultra-wideband technology module includes:

[0017] When the direction of travel of the target pedestrian is determined to be toward a preset target position based on the movement trend, the ultra-wideband technology module is controlled to obtain the distance information between the vehicle and the target pedestrian.

[0018] Optionally, before the steps of determining the movement trend of the target pedestrian using the millimeter-wave radar and obtaining the distance information between the vehicle and the target pedestrian using the ultra-wideband technology module, the method further includes:

[0019] A first sensing area for the millimeter-wave radar and a second sensing area for the ultra-wideband technology module are determined; wherein the sensing range of the first sensing area is greater than the sensing range of the second sensing area.

[0020] Optionally, the step of invoking the millimeter-wave radar to acquire point cloud data for the target pedestrian includes:

[0021] When it is determined that the target pedestrian has entered the first sensing area corresponding to the millimeter-wave radar, the millimeter-wave radar is controlled to acquire point cloud data for the target pedestrian.

[0022] Optionally, the step of controlling the ultra-wideband technology module to acquire the distance information between the vehicle and the target pedestrian when the direction of travel of the target pedestrian is determined to be toward a preset target position based on the movement trend includes:

[0023] When it is determined that the target pedestrian has entered the second sensing area corresponding to the ultra-wideband technology module, and the direction of the target pedestrian's movement is determined to be toward the preset target position based on the movement trend, the ultra-wideband technology module is controlled to obtain the distance information between the vehicle and the target pedestrian.

[0024] Optionally, the step of generating control commands for the vehicle based on the movement trend and the distance information includes:

[0025] The distance information and the movement trend are used to generate an unlock command and / or a start command for the vehicle.

[0026] Optionally, the step of generating an unlocking command for the vehicle based on the distance information and the movement trend, and / or initiating the command, includes:

[0027] When the direction of travel of the target pedestrian is determined to be toward the preset target location based on the movement trend, and the distance information is less than the preset distance threshold, an unlocking command and / or a start command are generated for the vehicle.

[0028] Optionally, the millimeter-wave radar includes a microcontroller unit;

[0029] The microcontroller unit is used to process the service data of the millimeter-wave radar and the ultra-wideband technology module, and the service data includes the point cloud data and the distance information.

[0030] Optionally, it also includes:

[0031] When it is determined that the target pedestrian has not entered the second sensing area, the ultra-wideband technology module is controlled to enter a sleep state.

[0032] Optionally, the step of controlling the ultra-wideband technology module to acquire distance information between the vehicle and the target pedestrian includes:

[0033] Send a wake-up signal to the ultra-wideband technology module;

[0034] The ultra-wideband technology module is controlled to respond to the wake-up signal and obtain distance information between the vehicle and the target pedestrian.

[0035] Optionally, before the step of controlling the millimeter-wave radar to acquire point cloud data for the target pedestrian when it is determined that the target pedestrian has entered the first sensing area corresponding to the millimeter-wave radar, the method further includes:

[0036] Determine the range resolution for the millimeter-wave radar;

[0037] Determine the range accuracy for the millimeter-wave radar;

[0038] Based on the range resolution and the range accuracy, the millimeter-wave radar is controlled to enter the monitoring mode.

[0039] Optionally, the step of determining the range resolution for the millimeter-wave radar includes:

[0040] Determine the radar signal bandwidth and speed of light constant of the millimeter-wave radar;

[0041] The range resolution of the millimeter-wave radar is calculated using the radar signal bandwidth and the speed of light constant.

[0042] Optionally, the step of determining the range accuracy for the millimeter-wave radar includes:

[0043] Determine the signal power, noise power, and pulse repetition frequency of the millimeter-wave radar;

[0044] The noise standard deviation is calculated using the signal power, the noise power, and the pulse repetition frequency.

[0045] The range accuracy of the millimeter-wave radar is determined using the noise standard deviation.

[0046] This invention also discloses a vehicle control device applied to a vehicle, the vehicle being equipped with one or more electromagnetic wave sensors, the electromagnetic wave sensors integrating millimeter-wave radar and ultra-wideband technology modules, including:

[0047] The target pedestrian detection module is used to determine the movement trend of the target pedestrian through the millimeter-wave radar and to obtain the distance information between the vehicle and the target pedestrian through the ultra-wideband technology module.

[0048] A control command generation module is used to generate control commands for the vehicle based on the movement trend and the distance information.

[0049] This invention also discloses a vehicle, comprising:

[0050] One or more processors;

[0051] And one or more machine-readable media thereon storing instructions, which, when executed by the one or more processors, cause the vehicle to perform one or more methods as described above.

[0052] This invention also discloses a computer-readable storage medium storing instructions that, when executed by one or more processors, cause the processors to perform the methods described in this invention.

[0053] The embodiments of the present invention have the following advantages:

[0054] This invention integrates millimeter-wave radar and ultra-wideband (UWB) technology modules into an electromagnetic wave sensor, enabling the electromagnetic wave sensor to simultaneously possess the functions of both millimeter-wave radar and UWB modules. This reduces the space occupied in vehicle assembly and minimizes wiring harness layout. Furthermore, this invention can determine the movement trend of a pedestrian using millimeter-wave radar and acquire distance information between the vehicle and the pedestrian using the UWB module. Based on the movement trend and distance information, control commands for the vehicle are generated. This avoids wasting vehicle assembly space and allows the vehicle control decision-making process to simultaneously reference monitoring data from both millimeter-wave radar and UWB modules, thereby improving vehicle control efficiency. Attached Figure Description

[0055] Figure 1 This is a structural schematic diagram of a millimeter-wave radar provided by related technologies;

[0056] Figure 2 This is a schematic diagram of an ultra-wideband positioning method provided by related technologies;

[0057] Figure 3 This is a flowchart of the steps of a vehicle control method provided in an embodiment of the present invention;

[0058] Figure 4 This is a schematic diagram of the structure of an electromagnetic wave sensor provided in an embodiment of the present invention;

[0059] Figure 5 This is a schematic flowchart of a vehicle control method provided in an embodiment of the present invention;

[0060] Figure 6 This is a schematic diagram of the installation location structure of a vehicle millimeter-wave radar provided by related technologies;

[0061] Figure 7 This is a schematic diagram of the installation location structure of an ultra-wideband technology module provided by related technologies;

[0062] Figure 8 This is a schematic diagram of the installation position structure of an electromagnetic wave sensor provided in an embodiment of the present invention;

[0063] Figure 9 This is a schematic diagram of the power supply structure and data transmission mechanism of an electromagnetic wave sensor provided in an embodiment of the present invention;

[0064] Figure 10 This is a schematic diagram of another electromagnetic wave sensor provided in an embodiment of the present invention;

[0065] Figure 11 This is a schematic diagram of a sensing area provided in an embodiment of the present invention;

[0066] Figure 12 This is a schematic diagram of a movement trend provided in an embodiment of the present invention;

[0067] Figure 13 This is a schematic diagram of another movement trend provided in an embodiment of the present invention;

[0068] Figure 14 This is a schematic diagram of the structure of another electromagnetic wave sensor provided in an embodiment of the present invention;

[0069] Figure 15 This is a flowchart of another vehicle control method provided in an embodiment of the present invention;

[0070] Figure 16 This is a structural block diagram of a vehicle control device provided in an embodiment of the present invention. Detailed Implementation

[0071] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0072] refer to Figure 1 , Figure 1 This is a schematic diagram of a millimeter-wave radar provided by related technologies. A millimeter-wave radar is a sensor that uses electromagnetic waves in the millimeter-wave frequency band to detect targets. It obtains information such as the target's distance, speed, and angle by emitting electromagnetic waves and receiving signals reflected back from the target.

[0073] The millimeter-wave radar may include a transmission link 101, which may include a transmitter 1011. In practical applications, the transmitter can be controlled to adjust the power of the transmitted signal to adapt to different detection distances and environments. The waveform type of the transmitted signal (such as linear frequency modulation signal, pulse signal, etc.) can also be configured according to different detection requirements. Then, the configured signal is amplified and transmitted.

[0074] The millimeter-wave radar may also include a receiving link 102, which may include an antenna 1021 for receiving signals reflected back from the target.

[0075] The receiving link 102 may also include a low-noise amplifier 1022 (LNA): amplifying weak received signals and improving the signal-to-noise ratio.

[0076] The low-noise amplifier 1022 can be used for mixing to convert received high-frequency signals into intermediate-frequency signals for easier subsequent processing.

[0077] The low-noise amplifier 1022 can be used for filtering, removing noise and interference signals while retaining useful signals.

[0078] The receiving link 102 may also include an analog-to-digital converter 1023 (ADC): converting analog signals into digital signals for digital signal processing.

[0079] Millimeter-wave radar may also include a hardware accelerator 103;

[0080] The hardware accelerator 103 can be used to perform range-dimensional FFT (Fast Fourier Transform): by converting the time-domain signal into a frequency-domain signal through Fourier transform, the distance information of the target can be obtained.

[0081] The hardware accelerator 103 can be used to perform velocity-dimensional FFT: by performing Fourier transform on the signals of multiple distance cells, the velocity information of the target can be obtained.

[0082] The hardware accelerator 103 can be used to perform CFAR and peak detection: using the constant false alarm rate (CFAR) detection algorithm and the peak detection algorithm to detect targets from clutter.

[0083] The hardware accelerator 103 can be used to perform DOA estimation (Direction of arrival): by processing signals from multiple receiving channels, the angle of arrival of the target is estimated, thereby determining the target's orientation.

[0084] Target tracking and clustering: The detected targets are associated and tracked to form trajectories, and multiple targets are clustered.

[0085] Millimeter-wave radar may also include a microcontroller unit 104 (MCU).

[0086] The microcontroller unit 104 can be used to perform self-calibration: periodically calibrating the system to ensure the accuracy of measurements.

[0087] The microcontroller unit 104 can be used to execute business algorithms: according to different application scenarios, it can realize specific functions, such as vehicle perception and pedestrian detection.

[0088] The microcontroller unit 104 can be used to perform waveform configuration: control the waveform configuration of the transmitter.

[0089] The microcontroller unit 104 may include a digital signal processor (DSP) for processing the data output by the DSP and performing further processing according to the requirements of the business algorithm.

[0090] The microcontroller unit 104 can communicate with the electronic control unit 105 (ECU): sending processed data to the vehicle's electronic control unit to perform various functions.

[0091] UWB (Ultra Wide Band) is a technology that does not require a carrier wave. It achieves high bandwidth (3.1 GHz to 10.6 GHz) by transmitting extremely short pulse signals (nanosecond level). This extremely short pulse signal is what brings extremely high time resolution. UWB technology also combines common distance calculation algorithms such as TWR (Two-Way Range), TOA (Time of Arrival), and TDOA (Time Difference of Arrival) to calculate distance. Due to its short response time, it can achieve extremely high distance accuracy (cm level). The UWB positioning method is as follows: Figure 2 As shown, Figure 2 This is a schematic diagram of an ultra-wideband (UWB) positioning method provided by related technologies. Target 202 is detected by multiple UWB carrier waves.

[0092] Reference Figure 3 The diagram illustrates a flowchart of a vehicle control method provided in an embodiment of the present invention, which may specifically include the following steps:

[0093] Step 301: Determine the movement trend of the target pedestrian using the millimeter-wave radar, and obtain the distance information between the vehicle and the target pedestrian using the ultra-wideband technology module;

[0094] Step 302: Generate control commands for the vehicle based on the movement trend and the distance information.

[0095] In specific implementations, the embodiments of the present invention can be applied to vehicles, as shown below. Figure 4 The diagram shows a structural schematic of an electromagnetic wave sensor provided in an embodiment of the present invention. In a specific implementation, a vehicle may be equipped with an electromagnetic wave sensor 400, which may include a millimeter-wave radar 401 and an ultra-wideband technology module 402.

[0096] For example, refer to Figure 5 , Figure 5 This is a flowchart illustrating a vehicle control method provided in an embodiment of the present invention; the method involves calling a millimeter-wave radar to obtain the action trend analysis results of a target pedestrian, calling an ultra-wideband technology module to sense the distance, and determining the action trend analysis results and the sensing distance as the monitoring results of the target pedestrian to generate control commands for the vehicle.

[0097] This invention integrates millimeter-wave radar and ultra-wideband (UWB) technology modules into an electromagnetic wave sensor, enabling the electromagnetic wave sensor to simultaneously possess the functions of both millimeter-wave radar and UWB modules. This reduces the space occupied in vehicle assembly and minimizes wiring harness layout. Furthermore, this invention can determine the movement trend of a pedestrian using millimeter-wave radar and acquire distance information between the vehicle and the pedestrian using the UWB module. Based on the movement trend and distance information, control commands for the vehicle are generated. This avoids wasting vehicle assembly space and allows the vehicle control decision-making process to simultaneously reference monitoring data from both millimeter-wave radar and UWB modules, thereby improving vehicle control efficiency.

[0098] Based on the above embodiments, modified embodiments of the above embodiments are proposed. It should be noted that, in order to keep the description brief, only the differences from the above embodiments are described in the modified embodiments.

[0099] In an optional embodiment of the present invention, the vehicle is provided with a native interface for the electromagnetic wave sensor, and the millimeter-wave radar and the ultra-wideband technology module are connected to a common wiring harness through the native interface. The common wiring harness is used to transmit signals from the millimeter-wave radar and the ultra-wideband technology module.

[0100] In practical applications, refer to Figure 6-7 , Figure 6 This is a schematic diagram of the installation location structure of a vehicle millimeter-wave radar provided by related technologies; Figure 7 This is a schematic diagram of the installation location structure of an ultra-wideband technology module provided by related technologies. Related technologies usually configure millimeter-wave radar and UWB modules in different parts of the vehicle body. Millimeter-wave radar and UWB modules need to be installed separately in similar locations and have separate wiring, which wastes valuable assembly space in the vehicle body.

[0101] This invention integrates millimeter-wave radar and ultra-wideband technology modules into an electromagnetic wave sensor. Only the original interface and wiring area of ​​the millimeter-wave radar need to be retained at the original vehicle mounting location. The millimeter-wave radar and ultra-wideband technology modules connect to a shared wiring harness via their original interfaces. This shared wiring harness transmits the signals from the millimeter-wave radar and ultra-wideband technology modules, thus achieving the assembly of the electromagnetic wave sensor. This saves assembly space and simplifies wiring complexity. The installation location of the electromagnetic wave sensor is as follows: Figure 8 As shown, Figure 8This is a schematic diagram of the installation location structure of an electromagnetic wave sensor provided in an embodiment of the present invention. As shown in the figure, the embodiment of the present invention integrates millimeter-wave radar and ultra-wideband technology modules into the electromagnetic wave sensor, so that the electromagnetic wave sensor can be installed using conventional millimeter-wave radar wiring. The millimeter-wave radar and ultra-wideband technology modules monitor target pedestrians to obtain monitoring results, thereby generating control commands for vehicles based on the monitoring results, and realizing vehicle control.

[0102] In an optional embodiment of the present invention, the electromagnetic wave sensor includes a shared power supply module;

[0103] The shared power supply module is used to supply power to the millimeter-wave radar and the ultra-wideband technology module.

[0104] For example, in practical applications, a DC-DC (Direct Current to Direct Current) power supply is a power converter that transforms direct current from one voltage level to another. In vehicles, DC-DC power supplies play a very important role.

[0105] PMIC (Power Management Integrated Circuit) is a highly integrated chip specifically designed to manage and control the power supply in electronic devices.

[0106] The CAN PHY (CAN Physical Layer) is a crucial component of the Controller Area Network (CAN) bus. It is responsible for converting CAN protocol data frames into physical signals and transmitting them on the bus. Simply put, the CAN PHY is the interface between the CAN bus and external devices; it converts digital signals into electrical signals and ensures reliable data transmission at the physical layer.

[0107] Both EEPROM and NOR Flash are non-volatile memories, meaning that the data they store will not be lost even when power is off. However, they differ in performance and application scenarios.

[0108] EEProm (Electrically Erasable Programmable Read-Only Memory):

[0109] Features: Each byte can be erased and programmed individually; writing speed is relatively slow, but it has a high tolerance for erase and write cycles.

[0110] Applications: Commonly used for storing configuration information, calibration data, and other data that needs to be updated frequently but cannot be lost.

[0111] NOR Flash:

[0112] Features: Fast read speed, suitable for frequent read operations, but erasure is usually performed in blocks, and the write speed is faster than EEPROM.

[0113] Features: Commonly used to store code, data tables, and other data that requires fast access.

[0114] For example, refer to Figure 9 , Figure 9 This is a schematic diagram of the power supply structure and data transmission mechanism of an electromagnetic wave sensor provided in an embodiment of the present invention, which can be installed using the wiring of a prior millimeter-wave radar.

[0115] The vehicle can be equipped with an electromagnetic wave sensor 703, which may include a millimeter-wave radar 704 and an ultra-wideband technology module 705. The electromagnetic wave sensor 703 can be connected to a DC-DC power supply 701 via a power management integrated circuit 702, thereby powering the millimeter-wave radar 704 and the ultra-wideband technology module 705. The electromagnetic wave sensor 703 can be connected to a non-volatile memory EEPROM 706 and a NOR Flash 707, respectively. The non-volatile memory EEPROM 706 can be used to store millimeter-wave radar parameter configurations, such as antenna pattern, frequency, sampling rate, and signal processing algorithm parameters. These parameters typically need to be configured during equipment manufacturing or adjusted during equipment operation. It can also store calibration data: the millimeter-wave radar system requires periodic calibration to ensure the accuracy of measurement data. Calibration data can be stored in the EEPROM. Finally, it can store fault records: the millimeter-wave radar system can record fault information during operation for fault analysis and maintenance.

[0116] NOR Flash707 can be used to store firmware programs: the firmware program of the radar system can be stored in NOR Flash so that it can be loaded when the system starts up; and to store real-time data cache: some real-time data, such as target tracking data, distance measurement data, etc., can be temporarily stored in NOR Flash for subsequent processing or analysis.

[0117] The electromagnetic wave sensor 703 can also be connected to the CAN physical layer 708 to generate control commands. The fused electromagnetic wave sensor is connected to the vehicle's CAN via the standard vehicle CAN FD communication interface. This saves on vehicle installation space and wiring compared to connecting the UWB module and millimeter wave module to the vehicle network separately.

[0118] refer to Figure 10 , Figure 10This is a schematic diagram of another electromagnetic wave sensor provided in an embodiment of the present invention.

[0119] The vehicle may be equipped with an electromagnetic wave sensor 900, which may include a millimeter-wave radar 901 and an ultra-wideband technology module 902.

[0120] In an optional embodiment of the present invention, the electromagnetic wave sensor includes a temperature-compensated crystal oscillator and a low-dropout regulator for the millimeter-wave radar and the ultra-wideband technology module;

[0121] The low-dropout regulator is used to receive the input voltage of the shared power supply module and output voltage to the temperature-compensated crystal oscillator.

[0122] The ultra-wideband technology module 902 includes an RF front-end chip, an ultra-wideband technology module antenna 905, a temperature-compensated crystal oscillator (TCXO), and a low-dropout regulator (LDO) with an accuracy greater than a preset threshold.

[0123] Optionally, the temperature-compensated crystal oscillator (TCXO) is a 38.4MHz TCXO. A frequency of 38.4MHz is divisible by other modules in the UWB system, facilitating the generation of various sub-frequencys. Furthermore, 38.4MHz is also a commonly used operating frequency for many digital signal processing chips, ensuring better compatibility with other components.

[0124] Meanwhile, the millimeter-wave radar 901 and the ultra-wideband technology module 902 should adopt low-dropout regulators (LDOs) that meet the accuracy requirements. The function of an LDO is to convert a higher voltage power supply into a stable, low-noise voltage to power the various modules in the circuit. In the UWB system, a high-precision LDO can be used to power the TCXO, which is similar to the power supply requirements of the millimeter-wave radar, which requires a power supply system with low ripple and low load pull rate. Therefore, the ultra-wideband technology module 902 can share a power supply circuit with the millimeter-wave radar 901. That is, the input voltage of the shared power supply module can be received through a low-dropout regulator to output voltage to the temperature-compensated crystal oscillator.

[0125] The millimeter-wave radar 901 may include a radar antenna 906, a microcontroller unit (MCU), a shared power supply module, and a clock unit provided by an external crystal oscillator.

[0126] The shared power supply module can be connected to the DC-DC power supply through the power management integrated circuit PMIC903. Since the power management integrated circuit PMIC903 already includes the voltage domain required by UWB, it can simultaneously power the millimeter-wave radar 901 and the ultra-wideband technology module 902.

[0127] Optionally, the millimeter-wave radar includes a microcontroller unit;

[0128] The microcontroller unit is used to process the service data of the millimeter-wave radar and the ultra-wideband technology module. The service data includes at least point cloud data and distance information.

[0129] Since UWB only requires three or more nodes to accurately calculate the distance to a target in smart entry applications, and the algorithm used only involves some basic multiplication and addition operations, and the number of operations is very limited, the MCU logic computing power required is very limited. It can directly share the MCU of the millimeter-wave radar 901 for data processing. For example, the point cloud data acquired by the millimeter-wave radar can be used to determine the movement trend of a pedestrian, thus avoiding the additional cost of a separate UWB MCU.

[0130] Therefore, the microcontroller unit (MCU) in this embodiment of the invention can be a shared MCU for millimeter-wave radar 901 and ultra-wideband technology module 902, used to process the service data of millimeter-wave radar 901 and ultra-wideband technology module 902.

[0131] The electromagnetic wave sensor 900 may include a module communication interface 904 for enabling data interaction between the electromagnetic wave sensor 900 and other devices.

[0132] In this embodiment of the invention, by including an ultra-wideband (UWB) technology module comprising an RF front-end chip, an UWB technology module antenna, a temperature-compensated crystal oscillator, and a low-dropout regulator with an accuracy greater than a preset threshold; and by including a millimeter-wave radar comprising a radar antenna, a microcontroller unit, and a shared power supply module; the microcontroller unit is used to process the service data of the millimeter-wave radar and the UWB technology module; and the shared power supply module is used to supply power to the millimeter-wave radar and the UWB technology module, the integration of the sensor modules is ensured while the production cost of the sensor modules is reduced.

[0133] In an optional embodiment of the present invention, the step of determining the movement trend of the target pedestrian by the millimeter-wave radar includes:

[0134] The millimeter-wave radar is invoked to acquire point cloud data for the target pedestrian.

[0135] The movement trend of the target pedestrian is determined using the point cloud data.

[0136] Point cloud data can be simply understood as a collection of points in three-dimensional space. Each point contains its coordinate information (X, Y, Z) in space, and some points may also contain additional information such as color and intensity. These points are like coordinate points, and when they are densely distributed together, they can completely describe the shape of an object or an entire scene. For example, each point represents the reflection point of a target pedestrian at a certain moment, containing information such as distance, angle, and speed.

[0137] The characteristics of point cloud data include:

[0138] Discreteness: Point cloud data is composed of individual points, unlike images which have continuous pixels.

[0139] Disorder: The points in a point cloud do not have a fixed order and can be arranged and combined arbitrarily.

[0140] Rich information: In addition to coordinate information, point clouds can also contain attributes such as color, intensity, and normal vectors, which can be used to represent features such as the material and surface roughness of an object.

[0141] The embodiments of the present invention can call millimeter-wave radar to acquire point cloud data of a target pedestrian, and determine the movement trend of the target pedestrian through the point cloud data.

[0142] For example, the movement trend of a target pedestrian can be determined in the following way:

[0143] 1. Point cloud data processing:

[0144] Denoising: Remove noisy points from point cloud data, such as outliers caused by sensor errors.

[0145] Segmentation: Dividing point cloud data into different objects or regions to facilitate subsequent tracking. Methods such as clustering and region growing can be used.

[0146] Feature extraction: Extracting features of the target, such as the centroid and principal axis direction, which can be used to describe the shape and orientation of the target.

[0147] 2. Analysis of the dynamic relative motion parameters between the target pedestrian and the vehicle. These dynamic relative motion parameters may include:

[0148] Relative speed: Calculates the speed of a target pedestrian relative to a vehicle, which helps predict the pedestrian's direction of movement and speed changes.

[0149] Relative distance: Calculates the distance between the target pedestrian and the vehicle, which helps determine the interaction between the pedestrian and the vehicle, such as whether a collision will occur.

[0150] Relative angle: Calculate the angle of the target pedestrian relative to the vehicle, which helps predict the pedestrian's trajectory.

[0151] 3. Target pedestrian motion trajectory fitting:

[0152] Trajectory model selection: Select an appropriate trajectory model based on the actual scenario and data characteristics, such as constant speed motion model, uniform acceleration motion model, nonlinear motion model, etc.

[0153] Parameter estimation: The parameters of the trajectory model are estimated based on historical point cloud data using methods such as least squares and Kalman filtering.

[0154] Trajectory prediction: By substituting the estimated parameters and dynamic relative motion parameters into the trajectory model, the position of the target pedestrian at a future time is predicted.

[0155] 4. Prediction Algorithm

[0156] Kalman Filter: Kalman filtering is an efficient recursive filtering algorithm that can make the optimal estimate of the system state based on the current measurement value and the state estimate of the previous time step.

[0157] Particle filtering: Particle filtering is a nonlinear filtering algorithm based on the Monte Carlo method. It is suitable for nonlinear and non-Gaussian systems and can handle more complex motion models.

[0158] Deep learning: By using deep learning models, such as recurrent neural networks (RNN) and long short-term memory networks (LSTM), the spatiotemporal features of point cloud sequences are learned, and future trajectories are directly predicted, thereby improving the efficiency of determining movement trajectories.

[0159] In an optional embodiment of the present invention, the step of obtaining the distance information between the vehicle and the target pedestrian through the ultra-wideband technology module includes:

[0160] When the direction of travel of the target pedestrian is determined to be toward a preset target position based on the movement trend, the ultra-wideband technology module is controlled to obtain the distance information between the vehicle and the target pedestrian.

[0161] For example, the driver's side door can be preset as the target position. If the target pedestrian's walking direction is towards the driver's side door, it may be an intention to open the door. At this time, the ultra-wideband technology module can be controlled to obtain the distance information between the vehicle and the target pedestrian.

[0162] In an optional embodiment of the present invention, before the steps of determining the movement trend of the target pedestrian by the millimeter-wave radar and obtaining the distance information between the vehicle and the target pedestrian by the ultra-wideband technology module, the method further includes:

[0163] A first sensing area for the millimeter-wave radar and a second sensing area for the ultra-wideband technology module are determined; wherein the sensing range of the first sensing area is greater than the sensing range of the second sensing area.

[0164] In practical applications, millimeter-wave radar and ultra-wideband technology modules can correspond to different sensing areas. As an ultra-wideband technology, UWB has the inherent advantages of high precision, low power consumption, and high security. However, its sensing distance is very limited (only a dozen meters). It can only sense targets around the vehicle body. That is, UWB can only sense targets when they are close to the vehicle body. In special circumstances such as target occlusion, rapid target approach, and clock interference jitter, it is uncertain whether UWB can make a sensing decision at the appropriate time.

[0165] Therefore, in an optional embodiment of the present invention, different sensing areas can be set for millimeter-wave radar and UWB.

[0166] refer to Figure 11 , Figure 11 This is a schematic diagram of a sensing area provided in an embodiment of the present invention.

[0167] In a specific implementation, the first sensing area 1101 can be the sensing area corresponding to the millimeter-wave radar, and the second sensing area 1102 can be the sensing area corresponding to the ultra-wideband technology module. The area of ​​the first sensing area is larger than that of the second sensing area, and the sensing range of the first sensing area is larger than that of the second sensing area.

[0168] Millimeter-wave radar can detect vehicles at a range of over 50 meters and can detect the speed of movement of targets. If the confidence level of a target (whether it is a potential vehicle user) can be predicted in advance within a range of 20 to 50 meters, UWB can be woken up in advance to prepare for data transmission when the target enters the UWB range for identification, which can give UWB more decision-making time.

[0169] Therefore, in this embodiment of the invention, when it is determined that a target pedestrian has entered the first sensing area corresponding to the millimeter-wave radar, the millimeter-wave radar can be controlled to acquire point cloud data of the target pedestrian, so as to improve the decision-making efficiency of subsequent UWB.

[0170] refer to Figure 12 , Figure 12 This is a schematic diagram of a movement trend provided in an embodiment of the present invention;

[0171] Assuming the pedestrian's target parameters are a = (1 m / s, 30 m, 30°), then a1, a2, a3, and a4 represent the pedestrian's movement trends.

[0172] When it is determined that a target pedestrian has entered the second sensing area corresponding to the ultra-wideband technology module, and the direction of the target pedestrian's movement is determined to be towards the preset target position based on the movement trend, it can be determined that the target pedestrian has entered the sensing area of ​​the MCU and may have the intention to approach the vehicle. Therefore, the ultra-wideband technology module can be controlled to obtain distance information for the target pedestrian. When the distance information meets the preset conditions, an unlocking command and / or a start command for the vehicle can be generated based on the distance information and movement trend.

[0173] Optionally, after a target pedestrian arrives at the second sensing area of ​​the UWB, if the analysis of the millimeter-wave sensing parameters of the target pedestrian by the motion curve analysis terminal indicates that the pedestrian's direction of travel is towards a preset target position, then it can be determined that the target pedestrian may have the intention to open the door. If the distance information is less than a preset distance threshold, it is determined that the target pedestrian has the intention to open the door, and at this time, the unlocking and / or starting operation can be performed. If, although the target pedestrian has arrived at the second sensing area of ​​the UWB, the analysis of the millimeter-wave sensing parameters of the target pedestrian by the motion curve analysis terminal indicates that the pedestrian's direction of travel is not towards the preset target position, then the unlocking and / or starting operation is not performed. For example, refer to... Figure 13 , Figure 13 This is a schematic diagram of another movement trend provided in an embodiment of the present invention. Assuming that the target parameter a of the pedestrian entering the first sensing area 1301 is (1m / s, 30m, 30°), then a1, a2, a3 and a4 are the movement trends of the pedestrian. Assuming that the millimeter-wave radar detection parameter a4 of the pedestrian entering the second sensing area 1302 is (0m / s, 15m, 90°), the radial velocity is 0 and the angle is close to vertical. According to the set threshold curve (speed, distance and angle are set and must meet the requirements at the same time), it is determined that the pedestrian has no intention to approach the vehicle or start the vehicle.

[0174] In this embodiment of the invention, when it is determined that a target pedestrian has entered a first sensing area corresponding to the millimeter-wave radar, the millimeter-wave radar is controlled to acquire point cloud data of the target pedestrian; the movement trend of the target pedestrian is determined using the point cloud data; when it is determined that the target pedestrian has entered a second sensing area corresponding to the ultra-wideband (UWB) technology module, and the movement trend indicates that the target pedestrian's direction of travel is towards a preset target position, the UWB technology module is controlled to acquire distance information of the target pedestrian; an unlocking command and / or a start command for the vehicle are generated using the distance information and the movement trend, thereby enabling advance prediction of the target's confidence level (whether it is a potential vehicle user). When the target pedestrian enters the UWB range for identification, the millimeter-wave radar can also provide speed and orientation perception capabilities, analyze the target's movement trend, and determine whether the target pedestrian really needs to unlock and start the vehicle. In this way, by leveraging the joint intervention of millimeter-wave radar and UWB to formulate vehicle control strategies, stronger robustness can be achieved.

[0175] refer to Figure 14 , Figure 14 This is a schematic diagram of the structure of another electromagnetic wave sensor provided in an embodiment of the present invention.

[0176] The electromagnetic wave sensor includes an ultra-wideband technology module transmission link 1401, which includes an RF front-end chip 14012 and an ultra-wideband technology module antenna 14011.

[0177] The electromagnetic wave sensor also includes millimeter-wave radar, which may include a millimeter-wave radar transmission link 1402. The millimeter-wave radar transmission link 1402 may include a transmitter 14021. In practical applications, the transmitter can be controlled to adjust the power of the transmitted signal, thereby adapting to different detection distances and environments. The waveform type of the transmitted signal (such as linear frequency modulation signal, pulse signal, etc.) can also be configured according to different detection requirements, and then the configured signal is amplified and transmitted.

[0178] The millimeter-wave radar may also include a receive link 1405 for receiving signals reflected back from the target.

[0179] The receiver link 1405 may also include a low-noise amplifier 14051 (LNA): amplifying weak received signals and improving the signal-to-noise ratio.

[0180] The low-noise amplifier 14051 can be used for mixing to convert received high-frequency signals into intermediate-frequency signals for easier subsequent processing.

[0181] The low-noise amplifier 14051 can be used for filtering, removing noise and interference signals while retaining useful signals.

[0182] The receiving link 1405 may also include an analog-to-digital converter 14052 (ADC): converting analog signals into digital signals for digital signal processing.

[0183] The millimeter-wave radar may also include a hardware accelerator 1406 and an electronic control unit 1403. The hardware accelerator 1406 is used to process algorithms related to the millimeter-wave radar, mainly signal-related algorithms such as FFT, CFAR, and DOA algorithms, as well as digital processing algorithms such as target clustering, tracking, and classification. UWB mainly calculates the target distance through the time of flight (TOA) method. This algorithm measures the flight time between the tag and three or more base stations to calculate the distance. The calculation method only requires a few multiplication and addition operations. Theoretically, the processing power requirement of the MCU1403 is not high. The flash data RAW DATA received by the UWB front end and converted by ADC can be transmitted to the MCU microcontroller unit of the millimeter-wave radar through a high-speed serial bus to calculate the distance of the target pedestrian. In this way, the remaining computing power of the millimeter-wave radar can be used to solve the UWB digital signal processing problem, which can save the UWB's own MCU.

[0184] In an optional embodiment of the present invention, when it is determined that the target pedestrian has not entered the second sensing area, the ultra-wideband technology module is controlled to be in a sleep state;

[0185] The step of controlling the ultra-wideband technology module to acquire distance information between the vehicle and the target pedestrian includes:

[0186] Send a wake-up signal to the ultra-wideband technology module;

[0187] The ultra-wideband technology module is controlled to respond to the wake-up signal and obtain distance information between the vehicle and the target pedestrian.

[0188] In practical implementation, UWB, as an ultra-wideband technology, has the inherent advantages of high precision, low power consumption, and high security. However, its sensing distance is very limited (only a dozen meters). It can only sense targets around the vehicle body. That is, UWB can only sense targets when they are close to the vehicle body. In special cases such as target occlusion, rapid target approach, or clock interference jitter, it is impossible to determine whether UWB can make a sensing decision at the appropriate time.

[0189] Millimeter-wave radar can detect vehicles at distances exceeding 50 meters and measure target speed. If we can predict the target's confidence level (whether it is a potential vehicle user) within a range of 20 to 50 meters, and send a wake-up signal to the ultra-wideband (UWB) module when it enters the UWB range for identification, and control the UWB module to receive the wake-up signal, we can control the UWB module to acquire distance information for the target pedestrian. This allows UWB to wake up in advance to prepare for data transmission, providing more decision-making time for UWB.

[0190] Meanwhile, once the target enters the UWB range, the millimeter-wave radar can also provide unique speed and orientation awareness capabilities, analyze the movement trend of the target pedestrian, and determine whether the target pedestrian really needs to unlock and / or start the vehicle. In this way, by leveraging the joint intervention of millimeter-wave radar and UWB to formulate vehicle control strategies, stronger robustness can be achieved.

[0191] Furthermore, when it is determined that the target pedestrian has not entered the second sensing area corresponding to the ultra-wideband technology module, or when it is determined based on the movement trend that the target pedestrian's direction of travel is not toward the preset target position, keeping the ultra-wideband technology module in a dormant state can effectively reduce the vehicle's energy consumption.

[0192] In an optional embodiment of the present invention, before the step of controlling the millimeter-wave radar to acquire point cloud data for the target pedestrian when it is determined that the target pedestrian has entered the first sensing area corresponding to the millimeter-wave radar, the method further includes:

[0193] Determine the range resolution for the millimeter-wave radar;

[0194] Determine the range accuracy for the millimeter-wave radar;

[0195] Based on the range resolution and the range accuracy, the millimeter-wave radar is controlled to enter the monitoring mode.

[0196] In an optional embodiment of the present invention, before the step of controlling the millimeter-wave radar to acquire point cloud data for the target pedestrian when it is determined that the target pedestrian has entered the first sensing area corresponding to the millimeter-wave radar, the method further includes:

[0197] Determine the range resolution for the millimeter-wave radar;

[0198] Determine the range accuracy for the millimeter-wave radar;

[0199] Based on the range resolution and the range accuracy, the millimeter-wave radar is controlled to enter the monitoring mode.

[0200] In practical applications, to obtain sufficient range resolution and accuracy, the sweep bandwidth of millimeter-wave radar needs to be set wide enough in monitoring mode. Taking a 3GHz bandwidth as an example, millimeter-wave radar can detect distances greater than 20 meters and provide a range resolution of 5cm and a range accuracy of 1cm. This detection range is greater than that of UWB as the second sensing range for smart access, while the resolution and accuracy fully meet the requirements of UWB as a smart access system.

[0201] Optionally, the step of determining the range resolution for the millimeter-wave radar includes:

[0202] Determine the radar signal bandwidth;

[0203] The radar signal bandwidth is input into Formula 1 to determine the range resolution, where Formula 1 is:

[0204] ΔR=c / 2B

[0205] Where ΔR is the range resolution, c is the speed of light constant, and B is the radar signal bandwidth, usually measured in Hertz.

[0206] Optionally, the step of determining the range accuracy for the millimeter-wave radar includes:

[0207] Determine the signal power, noise power, and pulse repetition frequency;

[0208] The signal power, the noise power, and the pulse repetition frequency are input into Formula 2 to determine the range accuracy for the millimeter-wave radar:

[0209]

[0210] Where, σ R σ represents the noise standard deviation, indicating the uncertainty of the measurement result. The smaller the value, the more accurate the measurement; therefore, σ can also be considered... R Where S is the range accuracy, N is the noise power, R is the pulse repetition frequency (PRF), representing the frequency of the radar's transmitted pulses; C is a constant related to the specific hardware and operating environment of the radar system; and B is the radar signal bandwidth, typically measured in Hertz (Hz). A larger bandwidth indicates a richer frequency spectrum in the signal, generally providing better resolution.

[0211] The relationship between noise and bandwidth: the larger the bandwidth, the lower the noise. This is because the larger the bandwidth, the richer the useful information in the signal, and the weaker the noise is relatively.

[0212] The relationship between noise and signal-to-noise ratio (SNR): The higher the SNR (S / N), the lower the noise. A higher SNR indicates a stronger signal and weaker noise.

[0213] The relationship between noise and pulse repetition frequency: the higher the pulse repetition frequency, the lower the noise. This is because a higher pulse repetition frequency means more signal energy is received per unit time, resulting in a higher signal-to-noise ratio.

[0214] Relationship with millimeter-wave radar monitoring modes:

[0215] In the sentinel mode of millimeter-wave radar, high-precision range measurement is typically desired. Range accuracy is closely related to noise levels: the lower the noise, the higher the accuracy of the range measurement. Therefore, the above formula can help determine the preferred range of the first sensing area.

[0216] In this embodiment of the invention, by determining the range resolution for the millimeter-wave radar, determining the range accuracy for the millimeter-wave radar, and controlling the millimeter-wave radar to enter a monitoring mode based on the range resolution and the range accuracy, the determination efficiency for the first sensing area is improved.

[0217] In an optional embodiment of the present invention, the step of generating an unlocking command for the vehicle and / or initiating the command based on the distance information and the movement trend includes:

[0218] After determining that the target pedestrian's direction of travel is toward a preset target location based on the movement trend, and determining that the target pedestrian has stopped at the target location based on the distance information, an unlocking command and / or a start command are generated for the vehicle.

[0219] For example, refer to Figure 15 , Figure 15This is a flowchart of another vehicle control method provided in this embodiment of the invention. The millimeter-wave radar enters monitoring mode. When a target pedestrian enters the first sensing area, the system analyzes the target trend. Based on the trend, it determines that the pedestrian is gradually approaching the vehicle and is about to enter the second sensing area. Through the millimeter-wave radar's tracking algorithm, if the system determines that the pedestrian is a vehicle user, it will wake up the corresponding UWB node to communicate with the target's UWB. Then, it combines data from multiple nodes to calculate the target's actual distance. The distance data obtained through UWB is fused with the data (including trends) analyzed by the millimeter-wave radar to comprehensively determine whether to unlock and / or start the vehicle. For example, after determining that the pedestrian's direction of travel is towards a preset target position based on the movement trend, it determines that the pedestrian is a vehicle user. Based on the distance information, it determines that the pedestrian has stopped at the target position. For example, if the pedestrian stays within a preset range of the driver's side door for more than a preset time, an unlock command and / or start command are generated for the vehicle, thereby improving the accuracy of intelligent entry.

[0220] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0221] Reference Figure 16 The diagram shows a structural block diagram of a vehicle control device provided in an embodiment of the present invention, which may specifically include the following modules:

[0222] The target pedestrian monitoring module 1601 is used to determine the movement trend of the target pedestrian through the millimeter-wave radar and to obtain the distance information between the vehicle and the target pedestrian through the ultra-wideband technology module.

[0223] The control command generation module 1602 is used to generate control commands for the vehicle based on the movement trend and the distance information.

[0224] As the device embodiment is basically similar to the method embodiment, the description is relatively simple, and relevant parts can be found in the description of the method embodiment.

[0225] This invention also provides a vehicle, comprising:

[0226] One or more processors; and

[0227] One or more machine-readable media storing instructions thereon, when executed by the one or more processors, cause the vehicle to perform the methods described in embodiments of the present invention.

[0228] This invention also provides a computer-readable storage medium storing a computer program. When executed by a processor, the computer program implements the various processes of the above-described vehicle control method embodiments and achieves the same technical effects. To avoid repetition, it will not be described again here. The computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0229] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of the present invention.

[0230] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed in this invention can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0231] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0232] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0233] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0234] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0235] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0236] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A vehicle control method characterized by, The method is applied to a vehicle, the vehicle is configured with one or more electromagnetic wave sensors, the electromagnetic wave sensors are integrated with millimeter wave radars and ultra-wideband technology modules, including: Determining the moving trend of a target pedestrian through the millimeter wave radars, and obtaining distance information between the vehicle and the target pedestrian through the ultra-wideband technology modules; Generating control instructions for the vehicle based on the moving trend and the distance information.

2. The method of claim 1, wherein, The vehicle is provided with a native interface for the electromagnetic wave sensors, the millimeter wave radars and the ultra-wideband technology modules are connected with a shared wire harness through the native interface, and the shared wire harness is used to propagate signals of the millimeter wave radars and the ultra-wideband technology modules.

3. The method according to claim 1 or 2, characterized in that, The electromagnetic wave sensors include a shared power supply module; The shared power supply module is used to supply power to the millimeter wave radars and the ultra-wideband technology modules.

4. The method of claim 3, wherein, The electromagnetic wave sensors include temperature compensation crystal oscillators and low-dropout voltage stabilizers for the millimeter wave radars and the ultra-wideband technology modules; The low-dropout voltage stabilizers are used to receive input voltages of the shared power supply module and output voltages to the temperature compensation crystal oscillators.

5. The method according to claim 1 or 2, characterized in that, The step of determining the moving trend of a target pedestrian through the millimeter wave radars includes: Calling the millimeter wave radars to obtain point cloud data for the target pedestrian; Determining the moving trend of the target pedestrian through the point cloud data.

6. The method of claim 5, wherein, The step of obtaining distance information between the vehicle and the target pedestrian through the ultra-wideband technology modules includes: When determining that the target pedestrian is moving towards a preset target position based on the moving trend, controlling the ultra-wideband technology modules to obtain distance information between the vehicle and the target pedestrian.

7. The method of claim 6, wherein, Before the steps of determining the moving trend of a target pedestrian through the millimeter wave radars and obtaining distance information between the vehicle and the target pedestrian through the ultra-wideband technology modules, the method further includes: Determining a first perception area for the millimeter wave radars and a second perception area for the ultra-wideband technology modules; wherein the perception range of the first perception area is greater than that of the second perception area.

8. The method of claim 7, wherein, The step of calling the millimeter wave radars to obtain point cloud data for the target pedestrian includes: When determining that the target pedestrian enters the first perception area corresponding to the millimeter wave radars, controlling the millimeter wave radars to obtain point cloud data for the target pedestrian.

9. The method of claim 8, wherein, The step of controlling the ultra-wideband technology modules to obtain distance information between the vehicle and the target pedestrian when determining that the target pedestrian is moving towards a preset target position based on the moving trend includes: When determining that the target pedestrian enters the second perception area corresponding to the ultra-wideband technology modules and that the target pedestrian is moving towards a preset target position based on the moving trend, controlling the ultra-wideband technology modules to obtain distance information between the vehicle and the target pedestrian.

10. The method of claim 1 or 2, wherein, The step of generating control instructions for the vehicle based on the moving trend and the distance information includes: generate an unlock command, and / or, a start command for the vehicle based on the distance information and the movement trend.

11. The method of claim 10, wherein, The step of generating an unlock command, and / or, a start command for the vehicle based on the distance information and the movement trend comprises: generate an unlock command, and / or, a start command for the vehicle when the movement trend of the target pedestrian is determined to be heading towards a preset target location, and the distance information is less than a preset distance threshold.

12. The method of claim 10, wherein, The millimeter wave radar comprises a microcontroller unit; The microcontroller unit is configured to process service data of the millimeter wave radar and the ultra-wideband technology module, the service data comprising the point cloud data and the distance information.

13. The method of claim 10, wherein, Further comprising: control the ultra-wideband technology module to be in a dormant state when it is determined that the target pedestrian does not enter the second sensing area.

14. The method of claim 13, wherein, The step of controlling the ultra-wideband technology module to obtain distance information between the vehicle and the target pedestrian comprises: sending a wake-up signal to the ultra-wideband technology module; controlling the ultra-wideband technology module to obtain distance information between the vehicle and the target pedestrian in response to receiving the wake-up signal.

15. The method of claim 9, wherein, Before the step of controlling the millimeter wave radar to obtain point cloud data of the target pedestrian when it is determined that the target pedestrian enters the first sensing area corresponding to the millimeter wave radar, further comprising: determining a distance resolution of the millimeter wave radar; determining a distance accuracy of the millimeter wave radar; controlling the millimeter wave radar to enter a monitoring mode based on the distance resolution and the distance accuracy.

16. The method of claim 15, wherein, The step of determining a distance resolution of the millimeter wave radar comprises: determining a radar signal bandwidth of the millimeter wave radar and a speed of light constant; calculating the distance resolution of the millimeter wave radar using the radar signal bandwidth and the speed of light constant.

17. The method of claim 16, wherein, The step of determining a distance accuracy of the millimeter wave radar comprises: determining a signal power, a noise power, and a pulse repetition frequency of the millimeter wave radar; calculating a noise standard deviation using the signal power, the noise power, and the pulse repetition frequency; determining the distance accuracy of the millimeter wave radar using the noise standard deviation.

18. A vehicle control device characterized by comprising: The device is applied to a vehicle, the vehicle being configured with one or more electromagnetic wave sensors, the electromagnetic wave sensors being integrated with a millimeter wave radar and an ultra-wideband technology module, comprising: a target pedestrian monitoring module configured to determine a movement trend of a target pedestrian by the millimeter wave radar, and to obtain distance information between the vehicle and the target pedestrian by the ultra-wideband technology module; a control instruction generation module configured to generate a control instruction for the vehicle based on the movement trend and the distance information.

19. A vehicle characterized by comprising: comprising: one or more processors; and one or more machine-readable media having instructions stored thereon that, when executed by the one or more processors, cause the vehicle to perform the method of any one of claims 1-17.

20. A computer-readable storage medium having instructions stored thereon that, when executed by one or more processors, cause the processors to perform the method of any one of claims 1-17.

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