Obstacle recognition method and device, vehicle and storage medium

Abstract

The embodiment of the invention provides an obstacle recognition method and device, a vehicle and a storage medium, the obstacle recognition method and device are applied to the vehicle, the vehicle is provided with an ultra wide band (UWB) anchor point supporting a radar function, the UWB anchor point communicates with a parking auxiliary controller through a controller area network (CANFD) bus, and the method comprises the steps that electromagnetic wave detection is carried out through the UWB anchor point, obstacle information of the obstacle target is obtained; and the obstacle information is sent to the parking auxiliary controller through the CANFD bus, so that the parking auxiliary controller obtains an obstacle recognition result based on the obstacle information. A UPA probe is replaced by a UWB anchor point supporting a radar function, mechanical wave detection of the UPA probe is changed into electromagnetic wave detection of the UWB anchor point, obstacle information recognized by the parking auxiliary controller is sent to the parking auxiliary controller through a CANFD bus, and the problem that the appearance of the UPA probe is perforated during ultrasonic detection is effectively solved.

Description

Technical Field

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

[0002] Currently, vehicle parking assistance is mainly based on obstacle recognition information provided by ultrasonic radar.

[0003] Ultrasonic radar uses the principle of mechanical wave radar emission for detection. For example, typically four UPA (Ultrasonic Parking Assist) sensors are installed on each of the front and rear bumpers of a vehicle. In this method, installing the UPA sensors requires openings in the rear bumper, affecting the vehicle's appearance. Summary of the Invention

[0004] In view of the above problems, an obstacle recognition method, an obstacle recognition device, a vehicle, and a computer-readable storage medium are proposed to overcome or at least partially solve the above problems, comprising:

[0005] This invention provides an obstacle recognition method applied to a vehicle, wherein the vehicle is equipped with an ultra-wideband (UWB) anchor point supporting radar functionality, and the UWB anchor point communicates with a parking assist controller via a controller area network (CANFD) bus. The method includes:

[0006] Electromagnetic wave detection is performed through the UWB anchor points to obtain obstacle information of the obstacle target;

[0007] The obstacle information is sent to the parking assist controller via the CANFD bus so that the parking assist controller can obtain obstacle recognition results based on the obstacle information.

[0008] Optionally, the UWB anchor point set on the vehicle is used for the vehicle's digital key functionality.

[0009] Optionally, the step of obtaining obstacle information of the obstacle target by performing electromagnetic wave detection through the UWB anchor point includes:

[0010] Using the UWB anchor point, electromagnetic wave detection is performed on obstacle targets within a preset coverage area to obtain obstacle information of the obstacle targets.

[0011] Optionally, the UWB antenna at the UWB anchor point has a detection range, and the method further includes:

[0012] By adjusting the placement position and tilt angle of each UWB anchor point, the detection range of the multiple UWB anchor points can be adjusted to cover the preset coverage area.

[0013] Optionally, the vehicle is also equipped with a mechanical wave APA probe, and the preset coverage area is a region formed by the APA probes located on both sides as the starting point and the ending point, respectively, and the region is perpendicular to the edge line of the vehicle body.

[0014] Optionally, the step of obtaining obstacle information of the obstacle target by performing electromagnetic wave detection through the UWB anchor point includes:

[0015] Electromagnetic wave radar pulse signals are emitted through the UWB anchor point, and the reflected pulse signals of each obstacle target in response to the electromagnetic wave radar pulse signals are received to obtain obstacle information.

[0016] Optionally, the obstacle information includes the coordinate information of the obstacle targets. The step of transmitting electromagnetic radar pulse signals through the UWB anchor point and receiving the reflected pulse signals from each obstacle target in response to the electromagnetic radar pulse signals to obtain the obstacle information includes:

[0017] The reflected pulse signals of each obstacle target in response to the electromagnetic wave radar pulse signal are received to obtain the measurement results;

[0018] The measurement results are converted to a new coordinate system to obtain the coordinate information of each obstacle target.

[0019] Optionally, the measurement results include ranging results, and the UWB anchor point has a demodulation channel; receiving the reflected pulse signals of each obstacle target in response to the electromagnetic wave radar pulse signal to obtain the measurement results includes:

[0020] The demodulation channel of the UWB anchor point receives the reflected pulse signals of each obstacle target in response to the electromagnetic wave radar pulse signal, and the ranging results of each obstacle target are obtained.

[0021] Optionally, the ranging result is used to indicate the distance between the obstacle target and the UWB anchor point; the step of receiving the reflected pulse signals of each obstacle target in response to the electromagnetic wave radar pulse signal through the demodulation channel of the UWB anchor point to obtain the ranging result of each obstacle target includes:

[0022] The demodulation channel of the UWB anchor point receives the reflected pulse signals of each obstacle target in response to the electromagnetic wave radar pulse signal;

[0023] The channel pulse response is obtained by calculating the correlation between the reflected pulse signal and the preamble in the electromagnetic wave radar pulse signal; the pulse peaks in the channel pulse response are used to indicate the presence of the obstacle target.

[0024] Using the channel impulse response value of the pulse peak, the flight time from the transmission time of the electromagnetic wave radar pulse signal to the reception of the reflected pulse signal is calculated;

[0025] The distance between the obstacle target and the UWB anchor point is calculated using the flight time.

[0026] Optionally, the measurement results include angle measurement results, and the UWB anchor point has multiple radar receiving antennas; the process of receiving the reflected pulse signals of each obstacle target in response to the electromagnetic wave radar pulse signal to obtain the measurement results includes:

[0027] The UWB anchor point receives the reflected pulse signals of each obstacle target in response to the electromagnetic wave radar pulse signal through multiple radar receiving antennas, and obtains the angle measurement results of each obstacle target.

[0028] Optionally, the plurality of radar receiving antennas are derived from a multi-group diversity antenna, which includes the same radar receiving antenna serving as a common antenna.

[0029] Optionally, the angle measurement result is used to indicate the angle between the obstacle target and the radar receiving antenna; the process of receiving the reflected pulse signals of each obstacle target in response to the electromagnetic wave radar pulse signal through multiple radar receiving antennas at the UWB anchor point to obtain the angle measurement result of each obstacle target includes:

[0030] Obtain the antenna spacing between any target radar receiving antenna and the common antenna in each component diversity antenna;

[0031] The phase difference of the reflected pulse signal of the obstacle target in response to the electromagnetic wave radar pulse signal is obtained and measured through the path of the target radar receiving antenna and the common antenna.

[0032] The angle between the obstacle target and the common antenna is calculated using the antenna spacing, the phase difference, and the signal wavelength of the reflected pulse signal.

[0033] Optionally, the first radar receiving antenna and the common antenna in the first group of diversity antennas are used to calculate the horizontal angle between the obstacle target and the common antenna; the second radar receiving antenna and the common antenna in the second group of diversity antennas are used to calculate the pitch angle between the obstacle target and the common antenna.

[0034] Optionally, the obstacle information includes the coordinate information of the obstacle target, and sending the obstacle information to the parking assist controller via the CANFD bus includes:

[0035] Each UWB anchor point sends the coordinate information of the obstacle target it has detected to the parking assist controller via the CANFD bus in the form of an information matrix.

[0036] This invention also provides an obstacle recognition device applied to a vehicle, wherein the vehicle is equipped with an ultra-wideband (UWB) anchor point supporting radar functionality, and the UWB anchor point communicates with a parking assist controller via a controller area network (CANFD) bus. The device includes:

[0037] The radar detection module is used to detect electromagnetic waves through the UWB anchor point to obtain obstacle information of the obstacle target;

[0038] An obstacle information transmission module is used to send obstacle information to the parking assist controller via the CANFD bus, so that the parking assist controller can obtain obstacle recognition results based on the obstacle information.

[0039] This invention also provides a vehicle, including a processor, a memory, and a computer program stored in the memory and capable of running on the processor. When the computer program is executed by the processor, it implements the obstacle recognition method described above.

[0040] This invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the obstacle recognition method described above.

[0041] The embodiments of the present invention have the following advantages:

[0042] In this embodiment of the invention, electromagnetic wave detection is performed using a UWB anchor point that supports radar functionality to obtain obstacle information of the target obstacle. This obstacle information is then transmitted to the parking assist controller via a CANFD bus, enabling the parking assist controller to obtain obstacle recognition results based on the obstacle information. By replacing the UPA probe with a UWB anchor point that supports radar functionality, and changing the mechanical wave detection of the UPA probe to the electromagnetic wave detection of the UWB anchor point, and transmitting the identified obstacle information to the parking assist controller via the CANFD bus, the problem of the UPA probe having an external opening during ultrasonic detection is effectively solved. Attached Figure Description

[0043] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the description of the present invention will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 This is a flowchart illustrating the steps of an obstacle recognition method according to an embodiment of the present invention;

[0045] Figure 2 This is a flowchart of another obstacle recognition method according to an embodiment of the present invention;

[0046] Figure 3 This is a schematic diagram of the setting of a UWB anchor point according to an embodiment of the present invention;

[0047] Figure 4 This is a schematic diagram of another UWB anchor point setting according to an embodiment of the present invention;

[0048] Figure 5 This is a schematic diagram of the coverage area provided in an embodiment of the present invention;

[0049] Figure 6 This is a schematic diagram of the channel impulse response provided in an embodiment of the present invention;

[0050] Figure 7 This is a schematic diagram of time-of-flight calculation based on channel impulse response provided by an embodiment of the present invention;

[0051] Figure 8 This is a schematic diagram of radar angle measurement calculation provided in an embodiment of the present invention;

[0052] Figure 9 This is a diversity diagram of multiple radar receiving antennas provided in an embodiment of the present invention;

[0053] Figure 10 This is a schematic diagram of the system framework for the obstacle detection parking assistance function provided in an embodiment of the present invention;

[0054] Figure 11 This is a schematic diagram of the system framework for the automatic parking function of the whole vehicle provided in an embodiment of the present invention;

[0055] Figure 12 This is a schematic diagram of the specific framework of the UWB anchor point module system provided in this embodiment of the invention;

[0056] Figure 13 This is a structural block diagram of an obstacle recognition device according to an embodiment of the present invention. Detailed Implementation

[0057] 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. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0058] To facilitate understanding of the present invention by those skilled in the art, the terms or nouns involved in the following embodiments of the present invention are explained below:

[0059] UWB: Ultra-Wideband.

[0060] UWB Anchor: A UWB Anchor is a fixed device used to provide a reference position in an ultra-wideband positioning system, which may include a UWB antenna.

[0061] CANFD: Controller Area Network with Flexible Data-rate.

[0062] UPA: Ultrasonic Parking Assist, which primarily uses ultrasonic waves (a type of mechanical wave) to detect obstacles around a vehicle.

[0063] FOV: Field of View, the area covered by the antenna / field of view.

[0064] PAS: Parking Assist System.

[0065] RCS: Radar Cross Section, a physical quantity that measures the ability of a target to reflect radar waves in a radar system.

[0066] CIR: Channel Impulse Response.

[0067] AOA: Angle of Arrival, refers to the angle at which a wireless signal reaches the receiving antenna.

[0068] APA: Advanced Parking Assist, which primarily uses mechanical waves (usually radar or cameras) to detect obstacles and space around the vehicle.

[0069] In related technologies, ultrasonic radar uses the principle of mechanical wave radar emission for radar detection. For example, typically four UPA (Unified Probe Amplifier) ​​sensors are installed on each of the front and rear bumpers of a vehicle. However, this method requires openings in the rear bumper, affecting the vehicle's appearance. Furthermore, for ultrasonic radar detection, the relatively small pitch angle of the UPA sensors makes it difficult to effectively identify suspended obstacles on the upper part of the vehicle. Additionally, its performance is easily affected by environmental factors such as temperature, thus compromising the accuracy of obstacle detection.

[0070] This invention replaces the UPA probe with a UWB anchor point that supports radar functionality, changing the mechanical wave detection of the UPA probe to the electromagnetic wave detection of the UWB anchor point. The detected obstacle information is sent to the parking assist controller via the CANFD bus, effectively solving the problem of the external opening of the UPA probe during ultrasonic detection. This achieves obstacle detection and parking assistance functions based on UWB technology. Furthermore, obstacle detection based on the radar principle of the UWB anchor point can effectively identify suspended obstacles on the upper part of the vehicle. The UWB anchor point is less affected by temperature, improving the accuracy of obstacle detection. Simultaneously, the UWB anchor point used for radar detection can also be the UWB anchor point used in digital key functions. By reusing the UWB digital key anchor points on the front and rear bumpers and integrating radar principles, obstacle detection and parking assistance functions are completed, replacing the traditional ultrasonic UPA probe and achieving overall vehicle cost reduction. Furthermore, the UWB anchor point can also replace the UPA probe and be combined with the APA probe to jointly complete the vehicle's automatic parking function.

[0071] Reference Figure 1 The diagram illustrates a flowchart of an obstacle recognition method according to an embodiment of the present invention, applied to a vehicle equipped with ultra-wideband (UWB) anchor points, and may include the following steps:

[0072] Step 101: Electromagnetic wave detection is performed through UWB anchor points to obtain obstacle information of the obstacle target;

[0073] The ultra-wideband (UWB) anchor point used in this embodiment of the invention has a UWB chip that supports radar functions, and can perform external obstacle detection and parking assistance functions based on the radar principle of UWB technology.

[0074] Obstacle detection can primarily be achieved through radar detection using UWB anchor points that support radar functionality.

[0075] Radar detection of UWB anchor points, which is electromagnetic wave detection, can replace the mechanical wave detection of UPA probes with electromagnetic wave detection of UWB anchor points, effectively solving the problems of UPA probes being unable to measure height, having difficulty identifying suspended obstacles, and being greatly affected by temperature when using ultrasonic detection.

[0076] In some embodiments of the present invention, electromagnetic wave detection can be performed using UWB anchor points to obtain obstacle information of the obstacle target and complete the detection of external obstacles.

[0077] Specifically, the electromagnetic wave detection performed by UWB anchor points can primarily detect obstacles within a preset coverage area, thereby obtaining obstacle information. The electromagnetic wave detection performed by UWB anchor points on obstacles within the preset coverage area ensures accurate and comprehensive acquisition of obstacle information.

[0078] In practical implementation, the placement position and tilt angle of the UWB anchor points can be adjusted to ensure that the detection range of the UWB anchor points meets the preset coverage range, thereby achieving radar detection coverage of the entire vehicle. This allows the UWB anchor points to perform electromagnetic wave detection on obstacle targets within the preset coverage range, thus achieving omnidirectional obstacle detection.

[0079] Step 102: Send obstacle information to the parking assist controller via the CANFD bus so that the parking assist controller can obtain obstacle recognition results based on the obstacle information.

[0080] In this embodiment of the invention, the UWB anchor point can communicate with the parking assist controller via the CANFD bus of the controller area network.

[0081] In some embodiments of the present invention, the UWB anchor point can provide the obstacle information it detects to the parking assist controller, i.e., the PAS parking assist system, via the CANFD bus. This allows the PAS parking assist system to combine and analyze the obstacle recognition results when the UWB anchor point is combined with the APA probe, which helps to work together with the APA probe to complete the automatic parking function of the whole vehicle.

[0082] Optionally, the UWB anchor points installed on the vehicle can be used for the vehicle's digital key function. That is, the UWB anchor points used for radar detection can also be UWB anchor points used for digital key functions. By reusing the digital key anchor points of UWB on the front and rear bumpers, and integrating radar principles to complete obstacle detection parking assistance functions, the vehicle can replace traditional ultrasonic UPA probes, thereby achieving the goal of reducing overall vehicle costs.

[0083] In this embodiment of the invention, electromagnetic wave detection is performed using a UWB anchor point that supports radar functionality to obtain obstacle information of the target obstacle. This obstacle information is then transmitted to the parking assistance controller via a CANFD bus, enabling the parking assistance controller to obtain obstacle recognition results based on the obstacle information. By replacing the UPA probe with a UWB anchor point that supports radar functionality, and changing the mechanical wave detection of the UPA probe to the electromagnetic wave detection of the UWB anchor point, and transmitting the identified obstacle information to the parking assistance controller via the CANFD bus, the problem of the UPA probe having an external opening during ultrasonic detection is effectively solved.

[0084] Reference Figure 2 The diagram illustrates a flowchart of another obstacle recognition method according to an embodiment of the present invention, which may include the following steps:

[0085] Step 201: Adjust the placement position and tilt angle of each UWB anchor point to adjust the detection range of multiple UWB anchor points to cover the preset coverage area.

[0086] In some embodiments of the present invention, electromagnetic wave detection can be performed using UWB anchor points that support radar functionality to obtain obstacle information of the obstacle target and complete the detection of external obstacles.

[0087] Specifically, the electromagnetic wave detection performed by UWB anchor points can primarily detect obstacles within a preset coverage area, thereby obtaining obstacle information. The electromagnetic wave detection performed by UWB anchor points on obstacles within the preset coverage area ensures accurate and comprehensive acquisition of obstacle information.

[0088] In practical implementation, the placement position and tilt angle of the UWB anchor points can be adjusted to ensure that the detection range of the UWB anchor points meets the preset coverage range, thereby achieving radar detection coverage of the entire vehicle. This allows the UWB anchor points to perform electromagnetic wave detection on obstacle targets within the preset coverage range, thus achieving omnidirectional obstacle detection.

[0089] In parking assist functions, the areas in front of, behind, and at the four corners of the vehicle are key areas for obstacle detection. In practical applications, UWB anchor points are typically placed at the four corners of the front and rear bumpers of the vehicle, positioned at a certain angle. Optionally, depending on the vehicle size, to ensure full coverage of the central area by the UWB anchor points, an additional UWB anchor point can be added in the middle of the front and rear bumpers.

[0090] As an example, let's take after-sales service as an example, such as... Figure 3 As shown, the positions of its UWB anchor points can be a, b, and c respectively; as another example, taking the former as an example, such as Figure 4As shown, the UWB anchor points can be located at positions d, e, and f. The front and rear bumpers can achieve the required coverage for parking assistance by arranging 2 to 3 UWB anchor points.

[0091] The coverage area required for parking assistance can mainly refer to the area formed by the mechanical wave APA probes located on both sides as the start and end points, and the area formed by the edge line perpendicular to the vehicle body at the start and end points.

[0092] For example, the placement of the mechanical wave APA probe can be as follows: Figure 3 As shown in 1 and 2, or as shown in Figure 4 As shown in Figures 3 and 4, these are located on either side of the front and rear bumpers. Taking the rear bumper as an example, the preset coverage area to be satisfied can be as follows: Figure 5 As shown, its range is within the range of, as Figure 3 As shown in Figure 1, the starting point is perpendicular to the edge line of the car body, and as shown in Figure 2... Figure 3 As shown in Figure 2, the area formed by the endpoint perpendicular to the edge line of the vehicle body is defined. The coverage distance of the area can be determined based on the antenna support structure, such as the specifications of the PVC (Polyvinyl Chloride) pipe. For example, based on a 1m long φ75mm standard PVC pipe, the coverage distance can reach more than 3m. This embodiment of the invention does not impose any limitations on this.

[0093] The UWB antenna at the UWB anchor point has a detection range. To ensure that the detection range of the UWB anchor point meets the preset coverage range, taking the following example, assuming that the antenna coverage range / field of view (FOV) of the UWB antenna design can reach ±60° to ±90°, it can be done as follows: Figure 3 The UWB anchor points are arranged at positions A, B, and C as shown. During the arrangement process, the tilt angle of each UWB anchor point can be adjusted appropriately so that the multiple detection ranges of the UWB anchor points placed at positions A, B, and C can cover the area as shown. Figure 5 The middle area shown is fully covered.

[0094] It should be noted that, as Figure 5 The shaded area shown may refer to the radar blind zone. In the electromagnetic wave detection process based on UWB anchor points, the radar detection blind zone shown can be less than 10cm, which is better than the current ultrasonic UPA probe. That is, the radar detection blind zone based on UWB anchor points is smaller than the radar detection blind zone of APAP probes. UWB technology can achieve centimeter-level ranging accuracy, thus enabling high-precision distance measurement and positioning in complex environments.

[0095] Step 202: Using UWB anchor points, electromagnetic wave detection is performed on obstacle targets within a preset coverage area to obtain obstacle information of the obstacle targets;

[0096] UWB anchors can accurately and comprehensively acquire obstacle information by detecting electromagnetic waves from obstacles within a preset coverage area.

[0097] In traditional ultrasonic radar systems, the vehicle's UPA and APA sensors primarily perform self-transmission and self-reception of radar mechanical waves and self-transmission and mutual reception of radar mechanical waves at obstacle targets. All waveform signals in the aforementioned working process are usually connected and communicated with the vehicle's parking assist controller, i.e., the PAS master controller, through interfaces such as PSI / DSI. The PAS master controller then summarizes and analyzes all sensor signals to calculate information such as obstacle coordinates, thereby realizing functions such as automatic parking.

[0098] In this embodiment of the invention, after replacing the UPA probe with a UWB anchor point, the obstacle information of the obstacle target can be mainly obtained by the UWB anchor point through self-transmission and self-reception. The measurement of the obstacle target within the preset coverage area can be achieved by a single UWB anchor point, and the obstacle information of the obstacle target does not need to be obtained with the help of the parking assist controller.

[0099] Specifically, electromagnetic wave radar pulse signals can be emitted through UWB anchor points, and the reflected pulse signals of various obstacle targets in response to the electromagnetic wave radar pulse signals can be received to obtain obstacle information.

[0100] The obstacle information mainly refers to the coordinate information of the obstacle targets, which can be obtained by coordinate system conversion based on the measurement results. In the specific implementation, after each UWB anchor point transmits an electromagnetic radar pulse signal, it can receive the reflected pulse signals of each obstacle target in response to the electromagnetic radar pulse signal, and obtain the measurement results. This allows each UWB anchor point to perform coordinate system conversion on the measurement results it has detected to obtain the coordinate information of each obstacle target.

[0101] In practical applications, UWB, as an ultra-wideband wireless carrier communication technology, can be used for high-speed data transmission, secure communication, precise positioning, radar detection, and more. The UWB anchor point used in this embodiment of the invention can be a vehicle-side UWB module used in digital key positioning functions. In this case, a UWB transceiver chip with radar functionality can be used, along with corresponding antennas and algorithm designs, to realize vehicle-side UWB radar applications for obstacle detection and parking assistance.

[0102] In some embodiments of the present invention, the measurement results obtained by the UWB anchor point may include ranging results, which can be used to indicate the distance between the obstacle target and the UWB anchor point.

[0103] Optionally, the UWB anchor point can adopt a transceiver integrated design. In this case, the demodulation channel of the UWB anchor point can receive the reflected pulse signals of each obstacle target in response to the electromagnetic wave radar pulse signal, and obtain the ranging results of each obstacle target. That is, radar ranging can be completed based on the transmission and reception of the UWB anchor point itself to obtain the distance between the obstacle target and the UWB anchor point. This facilitates subsequent coordinate system conversion of the distance between the obstacle target and the UWB anchor point to obtain the coordinate information of each obstacle target.

[0104] When the UWB anchor point adopts an integrated transceiver design, the UWB anchor point can have two independent modulation channels and demodulation channels. The modulation channel is used for the UWB anchor point to transmit electromagnetic wave radar pulse signals, and the demodulation channel is used for the UWB anchor point to receive the reflected pulse signals of electromagnetic wave radar pulse signals from various obstacle targets.

[0105] For radar ranging, i.e., the distance between the obstacle target and the UWB anchor point, it can be calculated based on the flight time from the transmission to the reception of the pulse signal.

[0106] In practical implementation, the reflected pulse signals of various obstacle targets in response to the electromagnetic wave radar pulse signal can be received through the demodulation channel of the UWB anchor point. Then, the correlation between the reflected pulse signal and the preamble in the electromagnetic wave radar pulse signal is calculated to obtain the channel pulse response. The pulse peak in the channel pulse response can be used to indicate the presence of obstacle targets. At this time, the channel pulse response value of the pulse peak can be used to calculate the flight time from the transmission time of the electromagnetic wave radar pulse signal to the reception of the reflected pulse signal. Then, the distance between the obstacle target and the UWB anchor point can be calculated using the flight time.

[0107] Specifically, in UWB radar mode, the electromagnetic radar pulse signal transmitted by the UWB anchor point can be a series of radar packet pulse signals composed of preamble codes. The receiver can simultaneously enable the reception of reflected pulse signals from obstacles in response to the electromagnetic radar pulse signal. At this time, the correlation between the reflected echo and the preamble codes can be calculated to obtain the corresponding CIR channel pulse response. The channel pulse response can be specifically described as follows: Figure 6 As shown, when there are obstacles around the UWB anchor point, a pulse peak can be generated at the corresponding position of the CIR channel impulse response. Optionally, when the surrounding objects move, the CIR value corresponding to the position of the CIR channel impulse response can change due to the Doppler effect. In this case, the target motion state of the obstacle can be estimated by analyzing the CIR spectrum.

[0108] For example, when calculating the time of flight, the channel impulse response value of the pulse peak, i.e., the CIR value, can be used to indicate the response characteristics to the input signal, including attenuation and delay. At this time, the time difference from transmission to reception (Time of Flight, ToF) can be calculated to complete the calculation. When calculating the distance, the distance of signal propagation can be calculated using the speed of light based on the aforementioned time of flight to complete the calculation of the distance between the obstacle target and the UWB anchor point.

[0109] It should be noted that normalized amplitude adjusts the amplitude of a signal or waveform to a standardized range, i.e., between 0 and 1. Optionally, a sampling rate of 1 GHz can typically be used, for example, when using a sampling rate of 1 GHz according to... Figure 7 When the signal after windowing the pulse using the Kaiser window function is sampled at the position shown in the dashed box, the UWB ranging accuracy can reach below 15cm. If interpolation calculation is performed in the radar frame sampling, by adding interpolation sampling, such as adding positions g and h for sampling, multiple sampling points exist within one pulse, allowing sampling to be performed at 1ns intervals, which can further improve the accuracy to below 5cm. Improving the sampling accuracy allows the UWB anchor point to be adjusted to replace the sampling point setting in the UPA probe scheme, thereby achieving flexibility in accuracy adjustment. This embodiment of the invention does not limit this aspect.

[0110] In some embodiments of the present invention, the measurement results obtained by the UWB anchor point may include angle measurement results, which can be used to indicate the angle between the obstacle target and the radar receiving antenna.

[0111] Optionally, the UWB anchor point can employ an antenna design. In this case, multiple radar receiving antennas at the UWB anchor point can receive the reflected pulse signals of each obstacle target in response to the electromagnetic radar pulse signal, obtaining the angle measurement results for each obstacle target. That is, based on the antenna reception, the angle of arrival of the obstacle target can be measured to obtain the angle between the obstacle target and the radar receiving antenna. This facilitates subsequent coordinate system conversion of the distance between the obstacle target and the UWB anchor point, obtaining the coordinate information of each obstacle target.

[0112] Specifically, UWB anchor points can employ a diversity antenna design, meaning the multiple radar receiving antennas at a UWB anchor point can originate from multiple sets of diversity antennas. For example, the angle between the obstacle target and the common antenna can be calculated based on the antenna spacing, phase difference, and the signal wavelength of the reflected pulse signal, thus completing radar angle measurement.

[0113] Among them, the multi-group diversity antenna may include the same radar receiving antenna as a common antenna, so that the aforementioned common antenna is used as the measurement object when measuring the angle of arrival of the obstacle target.

[0114] In practical applications, the antenna spacing between any target radar receiving antenna and the common antenna in each group of diversity antennas can be obtained. Then, the reflected pulse signal of the obstacle target in response to the electromagnetic wave radar pulse signal can be obtained. The phase difference is measured through the path of the target radar receiving antenna and the common antenna. Using the antenna spacing, phase difference and the signal wavelength of the reflected pulse signal, the angle between the obstacle target and the common antenna can be calculated.

[0115] When the UWB anchor point uses a diversity antenna for reception, it is possible to measure the AOA angle information of the target object (an obstacle target in this embodiment of the invention). For example... Figure 8 As shown, assuming the antenna spacing between any target radar receiving antenna (e.g., receiver 1) and the common antenna (e.g., receiver 2) in a certain group of diversity antennas is d, the phase difference of obstacle target A measured through the two receiving antenna paths is φ, and the signal wavelength of the reflected pulse signal is λ, the relationship between the angle θ between the obstacle target and the common antenna and the antenna spacing d and phase difference φ can be expressed as follows:

[0116]

[0117] In a practical implementation, the angle θ between the obstacle target and the common antenna can be calculated using the above formula. Optionally, the antenna spacing can typically be designed to be λ / 2, for example, approximately 1.875 cm when using the UWB Channel 9 band. However, this embodiment of the invention does not impose any limitations on this.

[0118] Optionally, when the radar receiving antenna is designed as a two-part diversity antenna consisting of horizontal and vertical components, the horizontal and vertical angles between the obstacle target and the common antenna can be calculated. Specifically, the first radar receiving antenna and the common antenna in the first diversity antenna group are used to calculate the horizontal angle between the obstacle target and the common antenna; the second radar receiving antenna and the common antenna in the second diversity antenna group are used to calculate the elevation angle between the obstacle target and the common antenna.

[0119] For example, such as Figure 9As shown, assuming a single anchor point has multiple radar receiving antennas ANT1, ANT2, and ANT3, with ANT1 and ANT2 arranged longitudinally and ANT2 and ANT3 arranged laterally, diversity can be applied to these multiple radar receiving antennas. For example, ANT1 and ANT2 can come from a first group of diversity antennas, and ANT2 and ANT3 can come from a second group of diversity antennas. ANT2 is the same radar receiving antenna included in all multiple diversity antenna groups, serving as a common antenna; that is, ANT2 can be used as a common antenna for both horizontal and elevation angle diversity reception. During radar angle measurement, the first radar receiving antenna ANT1 can be combined with the common antenna ANT2 to receive the reflected pulse signal from the obstacle target, thereby calculating the horizontal angle between the obstacle target and the common antenna. Similarly, during radar angle measurement, the second radar receiving antenna ANT3 can be combined with the common antenna ANT2 to receive the reflected pulse signal from the obstacle target, thereby calculating the elevation angle between the obstacle target and the common antenna.

[0120] A single UWB anchor point can obtain the distance and angle measurement results of obstacle targets within a preset coverage area. At this time, a single UWB anchor point can perform coordinate system conversion on the measurement results it detects to obtain the coordinate information of each obstacle target.

[0121] Specifically, by combining the horizontal angle from the angle measurement results and the distance between the obstacle target and the UWB anchor point indicated by the distance measurement results, the endpoint dimensions of the obstacle target on the X and Y horizontal planes, namely X1, X2, Y1, and Y2, can be obtained. This provides the parking assist controller with highly accurate horizontal dimension information of the obstacle. When the distance is less than 10cm, the obstacle target can be approximated as a point, i.e., X1 = X2 or Y1 = Y2. By combining the pitch angle from the angle measurement results and the distance between the obstacle target and the UWB anchor point indicated by the distance measurement results, the Z-axis height information of the obstacle can be calculated and provided to the parking assist controller to determine whether this height is within the collision alarm range.

[0122] Optionally, the radar cross section (RCS) of the obstacle target can be approximately calculated using UWB radar power field strength and distance measurements, as well as other known parameters, based on the radar equations. This RCS can then be provided to the parking assist controller as a basis for determining the type of obstacle.

[0123] Step 203: Send obstacle information to the parking assist controller via the CANFD bus.

[0124] In some embodiments of the present invention, the UWB anchor point can provide the obstacle information it detects to the parking assist controller, i.e., the PAS parking assist system, so that when the UWB anchor point is combined with the APA probe, the PAS parking assist system can combine and analyze the obstacle recognition results, which helps to work together with the APA probe to complete the automatic parking function of the whole vehicle.

[0125] In this embodiment of the invention, the UWB anchor point can communicate with the parking assist controller via the CANFD bus. In practical applications, the UWB anchor point can send obstacle information to the PAS parking assist system via the CANFD bus.

[0126] Optionally, each UWB anchor point can send the coordinate information of the obstacle targets it has detected to the parking assist controller in the form of an information matrix. The coordinate information of each obstacle target converted by a single radar anchor point can be uploaded to the parking assist controller so that the parking assist controller can perform calculations to realize subsequent obstacle detection parking assistance.

[0127] For example, the information matrix can be in the form shown in Table 1 below:

[0128]

[0129] Table 1. Obstacle Information Matrix Format

[0130] In the above example, the bus interface between a single UWB anchor point and the PAS main controller can include the transmission of obstacle information as shown in Table 1 above. A single UWB anchor point can support the transmission of obstacle information for n (e.g., 20) obstacle targets, thereby realizing multi-target detection. The transmitted obstacle information may include the coordinate information of the obstacle target, such as the endpoint dimensions of the obstacle target on the X and Y horizontal planes, i.e., X1, X2, Y1, Y2, to provide the parking assist controller with highly accurate horizontal dimension information of the obstacle; and the Z-axis height information of the obstacle to provide the parking assist controller with determining whether this height is within the collision alarm range. Optionally, the transmitted obstacle information may also include the radar cross-section (RCS) of the obstacle target to provide the parking assist controller with the basis for determining the obstacle type. This embodiment of the invention does not limit this aspect.

[0131] In some embodiments of the present invention, when a standard 1m long φ75mm PVC pipe is used as the support structure for the receiving antenna, the detection error of the UWB anchor point can be guaranteed to be below 5cm, which meets the ultrasonic UPA parking assistance standard; and for extreme vertical angle testing, it can achieve, for example, an upward α of about 20° to 30° and a downward β of about 55° to 60°, with a total vertical FOV of 75° to 90°, which is better than the 60° pitch angle of ultrasonic radar; and when the horizontal distance is above 2m, it can detect up to 155cm of PVC pipe, which is better than the horizontal distance of ultrasonic radar, and is beneficial for detecting suspended objects above 1m; and the UWB radar measurement of the near-range blind zone of obstacles provided by the embodiments of the present invention can be guaranteed to be below 10cm, which is better than ultrasonic radar UPA.

[0132] In this embodiment of the invention, by replacing the UPA probe with a UWB anchor point that supports radar functionality, and changing the mechanical wave detection of the UPA probe to the electromagnetic wave detection of the UWB anchor point, the obstacle information identified is sent to the parking assist controller via the CANFD bus. This effectively solves the problem of the external opening of the UPA probe during ultrasonic detection, and completes the vehicle exterior obstacle detection and parking assist functions based on UWB technology. Furthermore, obstacle detection based on the radar principle of the UWB anchor point can effectively identify suspended obstacles on the upper part of the vehicle. The UWB anchor point is less affected by temperature, which improves the accuracy of obstacle detection. Simultaneously, the UWB anchor point used for radar detection can also be the UWB anchor point used in the digital key function. By reusing the digital key anchor points of the front and rear bumpers with UWB, and integrating the radar principle to complete the obstacle detection parking assist function, the traditional ultrasonic UPA probe can be replaced, achieving the goal of reducing the overall vehicle cost. Furthermore, the UWB anchor point can also replace the UPA probe and be combined with the APA probe to jointly complete the automatic parking function of the entire vehicle.

[0133] In some embodiments of the present invention, to facilitate those skilled in the art to understand the vehicle exterior obstacle detection and parking assistance functions based on UWB technology, the application is described in conjunction with the following figures:

[0134] Reference Figure 10 The diagram shows a schematic of the system framework for the obstacle detection parking assistance function provided in an embodiment of the present invention.

[0135] like Figure 10 As shown, by replacing the UPA probe with a UWB anchor point, the mechanical wave detection of the UPA probe can be changed to the electromagnetic wave detection of the UWB anchor point. The obstacle information of the obstacle target detected by the radar of the UWB anchor point can be provided to the parking assist controller, i.e., the PAS parking assist system, and uploaded to the main controller of the PAS parking assist system for calculation.

[0136] Reference Figure 11 The diagram shows a schematic of the system framework for the automatic parking function of a vehicle provided in an embodiment of the present invention.

[0137] like Figure 11 As shown, by replacing the UPA probe with a UWB anchor point, the mechanical wave detection of the UPA probe can be changed to the electromagnetic wave detection of the UWB anchor point. The obstacle information of the obstacle target detected by the radar of the UWB anchor point can be provided to the parking assistance controller, i.e., the PAS parking assistance system. The PAS parking assistance system can receive the obstacle information (such as direct coordinate information) provided by the UWB anchor point and the waveform information provided by the APA probe, and combine them to calculate the final full obstacle information, i.e., obtain the obstacle recognition result, and together complete the automatic parking function of the whole vehicle.

[0138] Specifically, the specific transmission method between the APA probe and the PAS parking assist system can be implemented with reference to relevant technologies, and will not be elaborated upon in this embodiment of the invention.

[0139] For UWB anchor points that replace traditional UPA probes, UWB anchor points in digital key applications typically communicate with the vehicle via Bluetooth or Wi-Fi. However, in this embodiment of the invention, the transmission between the UWB anchor point and the PAS parking assist system can be referred to... Figure 12 The specific framework of the UWB anchor point module system provided in the embodiment of the present invention shown can be implemented through the CANFD bus, for example by designing a CAN Transceiver, to enable communication between the UWB anchor point and the PAS master controller, thereby realizing data transmission between the UWB anchor point and the PAS parking assistance system.

[0140] In specific implementations, such as Figure 12 As shown, the anchor module system based on UWB technology can include a UWB module, a CANFD bus, and a power supply. The CANFD bus can be used to enable communication between the UWB anchor and the PAS master controller; the power supply can be used to power the operation of the UWB module; the UWB module can include a microcontroller unit (MCU), a UWB antenna for transmitting (TX) electromagnetic wave radar pulse signals, such as UWB-ANT4, and a UWB antenna for receiving (RX) reflected pulse signals, such as UWB-ANT1, UWB-ANT2, and UWB-ANT3.

[0141] After receiving the reflected pulse signals from various obstacle targets in response to the electromagnetic radar pulse signal, the UWB anchor point obtains the measurement results. It then performs coordinate system conversion on the measurement results to obtain the coordinate information of each obstacle target. This coordinate information can be uploaded to the PAS main controller via the CANFD bus (CAN Transceiver). This allows the PAS parking assist system to combine and analyze the obstacle recognition results when the UWB anchor point is used in conjunction with the APA probe, facilitating the automatic parking function of the vehicle in conjunction with the APA probe. In other words, the interface form and composition of the provided UWB anchor point and PAS controller can be used in conjunction with the ultrasonic APA to complete the automatic parking function of the vehicle. It should be noted that the specific data transmission process between the UWB anchor point and the PAS parking assist system can be referred to the relevant content of the above method embodiment, and will not be elaborated upon here.

[0142] In this embodiment of the invention, based on the specific framework of the UWB anchor point module system provided above, obstacle detection and parking assistance functions can be realized.

[0143] 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.

[0144] Reference Figure 13 The diagram illustrates a structural schematic of an obstacle recognition device according to an embodiment of the present invention, applied to a vehicle. The vehicle is equipped with an ultra-wideband (UWB) anchor point that supports radar functionality. The UWB anchor point communicates with a parking assist controller via a controller area network (CANFD) bus and may include the following modules:

[0145] The radar detection module 1301 is used to perform electromagnetic wave detection through the UWB anchor point to obtain obstacle information of the obstacle target;

[0146] The obstacle information sending module 1302 is used to send the obstacle information to the parking assist controller via the CANFD bus, so that the parking assist controller can obtain the obstacle recognition result based on the obstacle information.

[0147] In an optional embodiment of the present invention, the UWB anchor point disposed on the vehicle is used for the vehicle's digital key function.

[0148] In an optional embodiment of the present invention, the radar detection module 1301 may include the following sub-modules:

[0149] The radar detection submodule is used to perform electromagnetic wave detection on obstacle targets within a preset coverage area through the UWB anchor point, and obtain obstacle information of the obstacle targets.

[0150] In an optional embodiment of the present invention, the radar detection module 1301 may further include the following sub-modules:

[0151] The anchor point placement submodule is used to adjust the detection range of multiple UWB anchor points to cover the preset coverage area by adjusting the placement position and tilt angle of each UWB anchor point.

[0152] In an optional embodiment of the present invention, the vehicle is further provided with a mechanical wave APA probe, and the preset coverage range is a region formed by the APA probes located on both sides as the starting point and the ending point, respectively, and the region formed by the edge line perpendicular to the vehicle body at the starting point and the ending point.

[0153] In an optional embodiment of the present invention, the radar detection submodule may include the following units:

[0154] The radar detection unit is used to transmit electromagnetic wave radar pulse signals through the UWB anchor point and receive the reflected pulse signals of each obstacle target in response to the electromagnetic wave radar pulse signals, thereby obtaining obstacle information.

[0155] In an optional embodiment of the present invention, the obstacle information includes the coordinate information of the obstacle target, and the radar detection unit may include the following sub-units:

[0156] The radar detection subunit is used to receive the reflected pulse signals of each obstacle target in response to the electromagnetic wave radar pulse signal, and obtain the measurement results; and to perform coordinate system conversion on the measurement results to obtain the coordinate information of each obstacle target.

[0157] In an optional embodiment of the present invention, the measurement result includes a ranging result, and the UWB anchor point has a demodulation channel; the step of receiving the reflected pulse signals of each obstacle target in response to the electromagnetic wave radar pulse signal to obtain the measurement result may include:

[0158] The demodulation channel of the UWB anchor point receives the reflected pulse signals of each obstacle target in response to the electromagnetic wave radar pulse signal, and the ranging results of each obstacle target are obtained.

[0159] In an optional embodiment of the present invention, the ranging result is used to indicate the distance between the obstacle target and the UWB anchor point; the step of receiving the reflected pulse signals of each obstacle target in response to the electromagnetic wave radar pulse signal through the demodulation channel of the UWB anchor point to obtain the ranging result of each obstacle target may include:

[0160] The demodulation channel of the UWB anchor point receives reflected pulse signals from various obstacle targets in response to the electromagnetic wave radar pulse signal; based on the correlation calculation between the reflected pulse signal and the preamble in the electromagnetic wave radar pulse signal, a channel pulse response is obtained; the pulse peak in the channel pulse response is used to indicate the presence of the obstacle target; using the channel pulse response value of the pulse peak, the flight time from the transmission time of the electromagnetic wave radar pulse signal to the reception of the reflected pulse signal is calculated; using the flight time, the distance between the obstacle target and the UWB anchor point is calculated.

[0161] In an optional embodiment of the present invention, the measurement result includes an angle measurement result, and the UWB anchor point has multiple radar receiving antennas; the step of receiving the reflected pulse signals of each obstacle target in response to the electromagnetic wave radar pulse signal to obtain the measurement result may include:

[0162] The UWB anchor point receives the reflected pulse signals of each obstacle target in response to the electromagnetic wave radar pulse signal through multiple radar receiving antennas, and obtains the angle measurement results of each obstacle target.

[0163] In an optional embodiment of the present invention, the plurality of radar receiving antennas are derived from a multi-group diversity antenna, which includes the same radar receiving antenna serving as a common antenna.

[0164] In an optional embodiment of the present invention, the angle measurement result is used to indicate the angle between the obstacle target and the radar receiving antenna; the step of receiving the reflected pulse signals of each obstacle target in response to the electromagnetic wave radar pulse signal through multiple radar receiving antennas at the UWB anchor point to obtain the angle measurement result of each obstacle target may include:

[0165] The antenna spacing between any target radar receiving antenna and the common antenna in each group of diversity antennas is obtained; the phase difference of the reflected pulse signal of the obstacle target in response to the electromagnetic wave radar pulse signal is obtained and measured through the path of the target radar receiving antenna and the common antenna; the angle between the obstacle target and the common antenna is calculated using the antenna spacing, the phase difference and the signal wavelength of the reflected pulse signal.

[0166] In an optional embodiment of the present invention, the first radar receiving antenna and the common antenna in the first group of diversity antennas are used to calculate the horizontal angle between the obstacle target and the common antenna; the second radar receiving antenna and the common antenna in the second group of diversity antennas are used to calculate the pitch angle between the obstacle target and the common antenna.

[0167] In an optional embodiment of the present invention, the obstacle information sending module 1302 may include the following sub-modules:

[0168] The obstacle information transmission submodule is used to send the coordinate information of the obstacle target detected by each UWB anchor point to the parking assist controller in the form of an information matrix via the CANFD bus.

[0169] In this embodiment of the invention, electromagnetic wave detection is performed using a UWB anchor point that supports radar functionality to obtain obstacle information of the target obstacle. This obstacle information is then transmitted to the parking assistance controller via a CANFD bus, enabling the parking assistance controller to obtain obstacle recognition results based on the obstacle information. By replacing the UPA probe with a UWB anchor point that supports radar functionality, and changing the mechanical wave detection of the UPA probe to the electromagnetic wave detection of the UWB anchor point, and transmitting the identified obstacle information to the parking assistance controller via the CANFD bus, the problem of the UPA probe having an external opening during ultrasonic detection is effectively solved.

[0170] This invention also provides a vehicle, including a processor, a memory, and a computer program stored in the memory and capable of running on the processor. When the computer program is executed by the processor, it implements the obstacle recognition method described above.

[0171] This invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the obstacle recognition method described above.

[0172] As the apparatus embodiment is basically similar to the method embodiment, it is described in a relatively simple manner. For relevant details, please refer to the description of the method embodiment.

[0173] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0174] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, embodiments of the present invention can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of the present invention can take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0175] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0176] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0177] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0178] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present invention.

[0179] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0180] The above provides a detailed description of an obstacle recognition method, an obstacle recognition device, a vehicle, and a computer-readable storage medium. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. An obstacle recognition method characterized by, The method is applied to a vehicle provided with an ultra-wideband (UWB) anchor point supporting a radar function, the UWB anchor point being in communication with a parking assistance controller through a controller area network (CAN) flexible data bus, and the method comprises the following steps: electromagnetic wave detection is performed by the UWB anchor point to obtain obstacle information of an obstacle target; the obstacle information is sent to the parking assistance controller via the CANFD bus to enable the parking assistance controller to obtain an obstacle recognition result based on the obstacle information.

2. The method of claim 1, wherein, The UWB anchor point provided on the vehicle is used for a digital key function of the vehicle.

3. The method of claim 1, wherein, The electromagnetic wave detection performed by the UWB anchor point to obtain the obstacle information of the obstacle target comprises the following steps: electromagnetic wave detection is performed by the UWB anchor point on an obstacle target in a preset coverage range to obtain the obstacle information of the obstacle target.

4. The method of claim 3, wherein, The UWB antenna of the UWB anchor point has a detection range, and the method further comprises the following steps: The detection ranges of the plurality of UWB anchor points are adjusted to cover the preset coverage range by adjusting the placement positions and placement angles of the UWB anchor points.

5. The method according to claim 3 or 4, characterized in that, The vehicle is further provided with mechanical wave (APA) probes, and the preset coverage range is a range formed by an edge line perpendicular to a vehicle body between the APA probes located on two sides as a starting point and an ending point.

6. The method of claim 1, wherein, The electromagnetic wave detection performed by the UWB anchor point to obtain the obstacle information of the obstacle target comprises the following steps: electromagnetic wave radar pulse signals are emitted by the UWB anchor point, and reflected pulse signals of each obstacle target to the electromagnetic wave radar pulse signals are received to obtain the obstacle information.

7. The method of claim 6, wherein, The obstacle information comprises coordinate information of the obstacle target, and the electromagnetic wave radar pulse signals are emitted by the UWB anchor point, and the reflected pulse signals of each obstacle target to the electromagnetic wave radar pulse signals are received to obtain the obstacle information, which comprises the following steps: the reflected pulse signals of each obstacle target to the electromagnetic wave radar pulse signals are received to obtain measurement results; coordinate system conversion is performed on the measurement results to obtain the coordinate information of each obstacle target.

8. The method of claim 7, wherein, The measurement results comprise ranging results, the UWB anchor point has a demodulation channel; the reflected pulse signals of each obstacle target to the electromagnetic wave radar pulse signals are received by the demodulation channel of the UWB anchor point to obtain the ranging results of each obstacle target. The ranging results are used to indicate distances of the obstacle targets to the UWB anchor point; the reflected pulse signals of each obstacle target to the electromagnetic wave radar pulse signals are received by the demodulation channel of the UWB anchor point to obtain the ranging results of each obstacle target, which comprises the following steps:

9. The method of claim 8, wherein, the reflected pulse signals of each obstacle target to the electromagnetic wave radar pulse signals are received by the demodulation channel of the UWB anchor point. ​ Correlation calculation is performed between the reflected pulse signal and a preamble in the electromagnetic wave radar pulse signal to obtain a channel pulse response; a pulse peak in the channel pulse response is used to indicate that the obstacle target exists; A channel pulse response value of the pulse peak is used to calculate a time of flight from a transmission time of the electromagnetic wave radar pulse signal to a reception of the reflected pulse signal; The time of flight is used to calculate a distance between the obstacle target and the UWB anchor point.

10. The method of claim 7, wherein, The measurement result includes an angle measurement result, the UWB anchor point has a plurality of radar receiving antennas; a reflected pulse signal of each obstacle target to the electromagnetic wave radar pulse signal is received to obtain a measurement result, including: An angle measurement result of each obstacle target is obtained by receiving, through the plurality of radar receiving antennas of the UWB anchor point, a reflected pulse signal of each obstacle target to the electromagnetic wave radar pulse signal.

11. The method of claim 10, wherein, The plurality of radar receiving antennas come from a plurality of groups of diversity antennas, and the same radar receiving antenna as a common antenna is included in the plurality of groups of diversity antennas.

12. The method of claim 11, wherein, The angle measurement result is used to indicate an angle between the obstacle target and the radar receiving antenna; the angle measurement result of each obstacle target is obtained by receiving, through the plurality of radar receiving antennas of the UWB anchor point, a reflected pulse signal of each obstacle target to the electromagnetic wave radar pulse signal, including: An antenna spacing between any target radar receiving antenna in each group of diversity antennas and the common antenna is obtained; A phase difference of a reflected pulse signal of the obstacle target to the electromagnetic wave radar pulse signal is obtained via a path of the target radar receiving antenna and the common antenna; The antenna spacing, the phase difference, and a signal wavelength of the reflected pulse signal are used to calculate an angle between the obstacle target and the common antenna.

13. The method according to claim 11 or 12, characterized in that, A first radar receiving antenna in a first group of diversity antennas and the common antenna are used to calculate a horizontal angle between the obstacle target and the common antenna; A second radar receiving antenna in a second group of diversity antennas and the common antenna are used to calculate a pitch angle between the obstacle target and the common antenna.

14. The method of claim 1, wherein, The obstacle information includes coordinate information of the obstacle target, and the sending of the obstacle information to the parking assistance controller via the CANFD bus includes: Each UWB anchor point sends, to the parking assistance controller via the CANFD bus, in a form of an information matrix, coordinate information of the obstacle target detected by the UWB anchor point.

15. An obstacle recognition device, characterized by The device is applied to a vehicle, the vehicle is provided with an ultra-wideband (UWB) anchor point supporting a radar function, the UWB anchor point communicates with a parking assistance controller through a controller area network (CAN) flexible data rate (FD) bus, and the device includes: A radar detection module, configured to perform electromagnetic wave detection through the UWB anchor point to obtain obstacle information of an obstacle target; An obstacle information sending module, configured to send the obstacle information to the parking assistance controller via the CANFD bus, so that the parking assistance controller obtains an obstacle recognition result based on the obstacle information.

16. A vehicle characterized by comprising: A computer program product comprising a computer readable storage medium having stored thereon computer program means, the computer program means comprising computer program instructions executable by a processor to cause the processor to carry out the method of any of claims 1 to 14 when the computer program instructions are executed by the processor.

17. A computer-readable storage medium, characterized in that, A computer readable storage medium having stored thereon a computer program, the computer program comprising computer program instructions executable by a processor to cause the processor to carry out the method of any of claims 1 to 14 when the computer program instructions are executed by the processor.

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