Radar data processing method and device, electronic equipment and vehicle

Abstract

The invention provides a radar data processing method and device, electronic equipment and a vehicle, and the method comprises the steps: comparing the echo time corresponding to an echo signal of a reversing radar with the pre-obtained echo time of a license plate after the vehicle is powered on, and when the echo time corresponding to the echo signal of the reversing radar is smaller than or equal to the echo time of the license plate, starting the reversing radar; and discarding the echo signal of the reversing radar corresponding to the echo time. When the echo time corresponding to the echo signal of the reversing radar of the vehicle is smaller than or equal to the echo time of the license plate, the echo signal of the reversing radar corresponding to the echo time is discarded, so that the echo signal generated by the license plate can be effectively filtered, and the influence of the echo signal generated by the license plate on the detection result of the reversing radar is avoided; in addition, a radar data processing strategy does not need to be changed along with the change of the size of the license plate, and therefore the development cost is prevented from being increased, and a large amount of manpower and material resources are prevented from being consumed.

Description

Technical Field

[0001] This application relates to the field of vehicle electronics technology, and more particularly to a radar data processing method, apparatus, electronic device, and vehicle. Background Technology

[0002] With the internationalization of the automotive industry, more and more domestically produced vehicles are being exported to different countries and regions overseas. Due to differences in the size standards of vehicle license plates in various countries, their width and height often vary, leading to a typical engineering adaptation problem: reversing radar systems originally designed and calibrated for Chinese standard license plate sizes may misjudge the detected license plate as an obstacle when a wider or different-sized foreign license plate is installed, thus causing false alarms.

[0003] To address this technical issue, the common solution involves recalibrating the reversing radar before the vehicle exits. This calibration refers to adjusting the radar's parameters to ensure its detection performance meets specified requirements. However, due to space constraints in some vehicle models, even recalibration may not meet these performance requirements. In such cases, the reversing radar mounting bracket needs to be redesigned and molded. If this still doesn't meet the performance requirements, further relocation of the reversing radar on the front and rear bumpers is necessary, requiring modifications to these bumpers. Therefore, while addressing the issue of false alarms from reversing radars, this solution also incurs significant manpower and material costs. Summary of the Invention

[0004] This application provides a radar data processing method, apparatus, electronic device, vehicle, and storage medium, aiming to improve the problem that reversing radar misjudges detected license plates as obstacles due to changes in license plate size or deformation, thus causing false alarms. It also aims to improve the problem of consuming a lot of manpower and resources.

[0005] In a first aspect, embodiments of this application provide a radar data processing method applied to a vehicle equipped with a license plate, the method comprising: When the vehicle is powered on, the echo signal of the vehicle's reversing radar and the corresponding echo time are acquired. The echo time corresponding to the echo signal of the reversing radar is compared with the echo time of the license plate obtained in advance. If the echo time corresponding to the echo signal of the reversing radar is less than or equal to the echo time of the license plate, the echo signal of the reversing radar corresponding to the echo time is discarded.

[0006] Optionally, after the step of comparing the echo time corresponding to the echo signal of the reversing radar with the echo time of the pre-acquired license plate, the method further includes: If the echo time of the vehicle reversing radar is greater than the echo time of the license plate, the echo signal of the reversing radar corresponding to the echo time is reported.

[0007] Optionally, before the step of comparing the echo time corresponding to the echo signal of the reversing radar with the echo time of the pre-acquired license plate, the method further includes: Obtain the echo time of the license plate.

[0008] Optionally, the time for obtaining the echo of the license plate includes: In response to the user not placing any obstacles around the vehicle, the license plate is obscured upon receiving the first echo signal of the reversing radar and the corresponding first echo time. When the license plate is obscured and no first echo signal from the reversing radar is obtained, the first echo time corresponding to the first echo signal from the reversing radar is determined as the echo time of the license plate.

[0009] Optionally, after the step of determining that the echo time corresponding to the echo signal of the reversing radar is the echo time of the license plate, the method further includes: The echo time of the license plate is stored.

[0010] Optionally, the method further includes: After the vehicle is turned off, the echo time of the license plate is cleared.

[0011] Optionally, the method further includes: When the vehicle is powered on again, the second echo signal of the reversing radar and the corresponding second echo time are acquired. Reacquire the echo time of the license plate; The second echo time corresponding to the second echo signal of the reversing radar is compared with the echo time of the license plate that has been reacquired. If the second echo time corresponding to the second echo signal of the reversing radar is less than or equal to the echo time of the license plate that has been reacquired, the second echo signal of the reversing radar corresponding to the second echo time is discarded. If the second echo time corresponding to the second echo signal of the reversing radar is greater than the echo time of the license plate that has been reacquired, the echo signal of the reversing radar corresponding to the second echo time shall be reported.

[0012] Secondly, embodiments of this application provide a radar data processing device applied to a vehicle equipped with a license plate, the device comprising: The data acquisition module is used to acquire the echo signal and corresponding echo time of the vehicle's reversing radar when the vehicle is powered on. The echo time comparison module is used to compare the echo time corresponding to the echo signal of the reversing radar with the echo time of the license plate obtained in advance. The first radar data processing module is used to discard the echo signal of the reversing radar corresponding to the echo time when the echo time of the reversing radar echo signal is less than or equal to the echo time of the license plate.

[0013] Optionally, the device further includes: The second radar data processing module is used to report the echo signal of the reversing radar corresponding to the echo time when the echo time of the vehicle reversing radar is greater than the echo time of the license plate.

[0014] Optionally, the device further includes: The license plate echo time acquisition module is used to acquire the echo time of the license plate.

[0015] Optionally, the license plate echo time acquisition module includes: The license plate obscuring submodule is used to obscure the license plate in response to the user not placing any obstacles around the vehicle, upon obtaining the first echo signal of the reversing radar and the corresponding first echo time. The license plate echo time determination submodule is used to determine the first echo time corresponding to the first echo signal of the reversing radar as the echo time of the license plate when the license plate is obscured and the first echo signal of the reversing radar is not obtained.

[0016] Optionally, the license plate echo time acquisition module further includes: The license plate echo time storage submodule is used to store the echo time of the license plate.

[0017] Optionally, the device further includes: The license plate echo time clearing module is used to clear the echo time of the license plate after the vehicle is turned off.

[0018] Optionally, the device further includes: The data reacquisition module is used to acquire the second echo signal and the corresponding second echo time of the reversing radar when the vehicle is powered on again. The license plate echo time reacquisition module is used to reacquire the echo time of the license plate. The echo time re-comparison module is used to compare the second echo time corresponding to the second echo signal of the reversing radar with the echo time of the license plate that has been reacquired. The third radar data processing module is used to discard the second echo signal of the reversing radar corresponding to the second echo signal when the second echo time corresponding to the second echo signal of the reversing radar is less than or equal to the echo time of the license plate that has been reacquired. The fourth radar data processing module is used to report the echo signal of the reversing radar corresponding to the second echo time when the second echo time corresponding to the second echo signal of the reversing radar is greater than the echo time of the license plate that has been reacquired.

[0019] Thirdly, embodiments of this application also provide an electronic device, including: a processor; and a memory for storing processor-executable instructions, wherein the processor is configured to execute the instructions to implement the radar data processing method as described above.

[0020] Fourthly, embodiments of this application also provide a computer-readable storage medium, which, when the instructions in the computer-readable storage medium are executed by a processor of an electronic device, enables the electronic device to perform any of the radar data processing methods described above.

[0021] In this embodiment of the application, when the vehicle is powered on, the echo signal and corresponding echo time of the vehicle's reversing radar are acquired. The echo time corresponding to the echo signal of the reversing radar is compared with the echo time of the license plate that was acquired in advance. If the echo time corresponding to the echo signal of the reversing radar is less than or equal to the echo time of the license plate, the echo signal of the reversing radar corresponding to the echo time is discarded. This application compares the echo time of the vehicle's reversing radar signal with the pre-acquired echo time of the license plate after the vehicle is powered on. When the echo time of the reversing radar signal is less than or equal to the echo time of the license plate, the reversing radar echo signal corresponding to that echo time is discarded. This not only effectively filters out the echo signal generated by the license plate, avoiding its influence on the reversing radar detection results, but also solves the problem of the reversing radar misidentifying the detected license plate as an obstacle due to changes in license plate size or deformation, thus causing false alarms. Furthermore, the radar data processing strategy does not require changes due to changes in license plate size, does not require additional hardware, and does not require recalibration of the reversing radar. This avoids increased development costs caused by adding additional hardware and the significant manpower and resources wasted by recalibrating the reversing radar.

[0022] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0023] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 This is one of the flowcharts of a radar data processing method provided in an embodiment of this application; Figure 2 This is a schematic flowchart of a radar data processing method provided in an embodiment of this application; Figure 3 This is a second flowchart of a radar data processing method provided in an embodiment of this application; Figure 4 This is a structural diagram of the radar data processing device provided in the embodiments of this application; Figure 5 This is a structural diagram of the electronic device provided in the embodiments of this application. Detailed Implementation

[0024] To make the technical problems, technical solutions, and beneficial effects solved by this application clearer, the following detailed description is provided in conjunction with embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0025] In response to changes or deformation of license plates, there are usually two solutions to prevent the reversing radar from misidentifying the license plate as an obstacle and thus causing false alarms.

[0026] The first approach typically involves recalibrating the reversing radar before the vehicle exits. Reversing radar calibration refers to adjusting the radar's parameters to ensure its detection performance meets specified requirements. However, due to space limitations in some vehicle models, even recalibration may not meet these performance requirements. In such cases, the reversing radar mounting bracket needs to be redesigned and molded. If this still doesn't meet the performance requirements, further relocation of the reversing radar on the front and rear bumpers is necessary, requiring modifications to the bumpers. Therefore, this solution, while addressing the issue of false alarms from reversing radars, also incurs significant manpower and material costs.

[0027] The second method usually involves setting a lower amplitude limit in advance, and then using this lower amplitude limit to determine whether to abandon the echo signal from the obstacle.

[0028] Specifically, the amplitude of the echo signal received by the reversing radar is determined by the type, shape, and distance of the obstacle.

[0029] The farther away an obstacle is from the reversing radar, the lower the amplitude of the echo signal received by the reversing radar will be. This amplitude may even be lower than that of the echo signal of the license plate, which will cause the reversing radar to miss the echo signal of the obstacle.

[0030] For example, the echo signals received by a reversing radar have varying amplitudes, and the amplitude represents the echo intensity. The distance from the reversing radar surface to 1.5m is pre-divided into 13 ranges, each with a pre-set lower amplitude limit. The closer the range is to the reversing radar surface, the higher the lower amplitude limit. For instance, the amplitude value of the ultrasonic signal reflected from the ground is 3. To prevent the reversing radar from falsely reporting ground echo signals, the lower amplitude limit is set to 3. Echo signals from obstacles with amplitude values ​​of 3 or lower are discarded; that is, when the reversing radar receives an echo signal with an amplitude value of 3 or lower, it directly ignores the echo signals from these obstacles.

[0031] However, within the same distance range, such as the close-range segment where the license plate is located, if there is an obstacle with weak reflectivity, the distance from the reversing radar surface to the obstacle is greater than the distance from the reversing radar surface to the license plate. However, the amplitude of the echo signal from the obstacle received by the reversing radar is lower than the amplitude of the echo signal from the license plate. To prevent the reversing radar from misidentifying the license plate as an obstacle and causing a false alarm, the echo signal from the obstacle will be filtered out based on the lower amplitude limit set within that distance range. This will cause the reversing radar to miss the obstacle. Therefore, this related solution, which simply uses the set lower amplitude limit to determine whether to discard the obstacle's echo signal, will have the problem of missing obstacle echo signals.

[0032] This application provides a radar data processing method, which includes: when the vehicle is powered on, acquiring the echo signal and corresponding echo time of the vehicle's reversing radar; comparing the echo time corresponding to the reversing radar echo signal with the echo time of a pre-acquired license plate; and discarding the reversing radar echo signal corresponding to the echo time if the echo time corresponding to the reversing radar echo signal is less than or equal to the echo time of the license plate.

[0033] This application compares the echo time of the vehicle's reversing radar signal with the pre-acquired echo time of the license plate after the vehicle is powered on. When the echo time of the reversing radar signal is less than or equal to the echo time of the license plate, the reversing radar echo signal corresponding to that echo time is discarded. This not only effectively filters out the echo signal generated by the license plate, avoiding its influence on the reversing radar detection results, but also solves the problem of the reversing radar misidentifying the detected license plate as an obstacle due to changes in license plate size or deformation, thus causing false alarms. Furthermore, the radar data processing strategy does not require changes due to changes in license plate size, does not require additional hardware, and does not require recalibration of the reversing radar. This avoids increased development costs caused by adding additional hardware and the significant manpower and resources wasted by recalibrating the reversing radar.

[0034] Example 1 This application provides a radar data processing method applied to vehicles equipped with license plates. Please refer to [link / reference]. Figure 1 This includes the following steps: Step 101: After the vehicle is powered on, acquire the echo signal of the vehicle's reversing radar and the corresponding echo time.

[0035] Step 102: Compare the echo time corresponding to the echo signal of the reversing radar with the echo time of the pre-acquired license plate.

[0036] Step 103: If the echo time of the reversing radar echo signal is less than or equal to the echo time of the license plate, discard the echo signal of the reversing radar corresponding to the echo time.

[0037] In some embodiments of this application, when the vehicle is powered on, the reversing radar starts operating, sending ultrasonic signals and receiving echo signals, thus obtaining the echo signals and corresponding echo times of the reversing radar. It should be noted that in the embodiments of this application, the reversing radar is arranged on the front and rear bumpers of the vehicle, on both sides of the license plate; in other words, the reversing radar in the embodiments of this application is the reversing radar closest to the license plate.

[0038] like Figure 2As shown, a "time lower limit lock" function is added for the near-range segment. Specifically, the echo time corresponding to the echo signal of the reversing radar is compared with the pre-acquired echo time of the license plate. When the echo time corresponding to the echo signal of the reversing radar is less than or equal to the echo time of the license plate, since the reversing radar in this embodiment is the reversing radar closest to the license plate, when the echo time corresponding to the echo signal received by the reversing radar is equal to the echo time of the license plate received by the reversing radar, it indicates that the echo signal received by the reversing radar is the echo signal reflected by the license plate. When the echo time corresponding to the echo signal received by the reversing radar is less than the echo time of the license plate received by the reversing radar, it indicates that the echo signal received by the reversing radar may be the echo signal reflected by a smaller obstacle, or the echo signal reflected by an obstacle closer to the reversing radar than the license plate. Therefore, in order to avoid the influence of reflected echo signals from license plates, smaller obstacles, or obstacles closer to the reversing radar than the license plate, and to further solve the problem of the reversing radar misidentifying the detected license plate as an obstacle, thus causing false alarms, the echo signals of the reversing radar corresponding to echo times less than or equal to the license plate can be discarded.

[0039] This application compares the echo time of the vehicle's reversing radar signal with the pre-acquired echo time of the license plate after the vehicle is powered on. When the echo time of the reversing radar signal is less than or equal to the echo time of the license plate, the reversing radar echo signal corresponding to that echo time is discarded. This not only effectively filters out the echo signal generated by the license plate, avoiding its influence on the reversing radar detection results, but also solves the problem of the reversing radar misidentifying the detected license plate as an obstacle due to changes in license plate size or deformation, thus causing false alarms. Furthermore, the radar data processing strategy does not require changes due to changes in license plate size, does not require additional hardware, and does not require recalibration of the reversing radar. This avoids increased development costs caused by adding additional hardware and the significant manpower and resources wasted by recalibrating the reversing radar.

[0040] Step 102 is followed by: Step 1021: If the echo time of the vehicle reversing radar is greater than the echo time of the license plate, report the echo signal of the reversing radar corresponding to the echo time.

[0041] In some embodiments of this application, when the echo time corresponding to the echo signal of the vehicle reversing radar is greater than the echo time of the license plate, since the reversing radar in this embodiment is the reversing radar closest to the license plate, it indicates that the echo signal received by the reversing radar is the echo signal reflected by an object other than the license plate. In this case, the echo signal of the reversing radar corresponding to the echo time of the license plate can be reported normally.

[0042] This application, by accurately determining that the echo signal received by the reversing radar is a reflection signal from an object other than the license plate when the echo time of the vehicle's reversing radar echo signal is greater than the echo time of the license plate, reports the reversing radar echo signal with an echo time greater than that of the license plate. This allows subsequent obstacle identification and other functions to be performed based on the reported vehicle reversing radar echo signal, further improving the accuracy of reversing radar data processing.

[0043] The steps preceding step 102 also include: Step 1022: Obtain the echo time of the license plate.

[0044] In some embodiments of this application, in order to avoid the influence of echo signals reflected from license plates, and to further solve the problem that the reversing radar misidentifies the detected license plate as an obstacle, thereby causing false alarms, the echo time of the license plate can be obtained in advance.

[0045] This application obtains the echo time of the license plate in advance, and then determines whether to discard the echo signal of the vehicle reversing radar based on the echo time of the license plate, thereby achieving precise processing of the reversing radar data.

[0046] Step 1022 includes: Sub-step 11: In response to the user not placing any obstacles around the vehicle, the license plate is obscured upon obtaining the first echo signal and corresponding first echo time of the reversing radar.

[0047] Sub-step 12: When the license plate is obscured and the first echo signal of the reversing radar is not obtained, determine the first echo time corresponding to the first echo signal of the reversing radar as the echo time of the license plate.

[0048] In some embodiments of this application, after the vehicle is powered on, the reversing radar operates normally, that is, the vehicle reversing radar sends ultrasonic signals to the area around the vehicle, and the reversing radar receives the echo signals.

[0049] Beforehand, with no obstacles placed around the vehicle, and after obtaining the first echo signal and corresponding first echo time from the reversing radar, the license plate is covered. Sound-absorbing cotton can be used to cover the license plate. After covering the license plate, the sound-absorbing cotton absorbs the ultrasonic signal emitted by the reversing radar towards the license plate, so the reversing radar will not receive the echo signal reflected from the license plate. If the reversing radar does not receive any echo signal after covering the license plate, it means that the first echo signal previously received by the reversing radar was only the echo signal reflected back from the license plate by the ultrasonic signal emitted by the reversing radar. Therefore, the first echo time corresponding to the first echo signal of the reversing radar is the echo time of the license plate.

[0050] This application, without placing any obstacles around the vehicle and obtaining the first echo signal and corresponding first echo time of the reversing radar, covers the license plate. After covering the license plate, if the reversing radar does not receive the first echo signal, it can eliminate interference from other obstacles around the vehicle, thereby accurately determining that the previously received first echo signal is an echo signal reflected from the license plate. Furthermore, it can accurately determine the echo time of the license plate.

[0051] Of course, in addition to the above methods for obtaining the echo time of the license plate, the echo time can also be obtained through theoretical calculation. That is, the distance between the radar and the license plate depends on the specific installation position and can be obtained by measurement or theoretical calculation. In this way, the theoretical or measured spatial position relationship between the radar and the license plate can be obtained, and then the corresponding echo time of the radar can be calculated.

[0052] Substep 12 is followed by: Sub-step 13: Store the echo time of the license plate.

[0053] In some embodiments of this application, after obtaining the license plate echo time, the obtained license plate echo time can be stored within the current driving cycle of the vehicle. Specifically, the obtained license plate echo time can be stored in a register of the reversing radar system. Here, the current driving cycle of the vehicle refers to the entire process from starting the vehicle to turning it off.

[0054] This application ensures the accuracy and consistency of license plate echo times by storing them, thus preventing misprocessing of the reversing radar echo signals due to lost or incorrect license plate echo times.

[0055] The method also includes: Sub-step 21: After the vehicle is turned off, clear the echo time of the license plate.

[0056] In some embodiments of this application, in order to make the embodiments of this application compatible with license plates of different sizes (e.g., different widths) or the same license plate being deformed, when the vehicle is in a turned-off state, the echo time of the license plate stored in the register of the current driving cycle is cleared so that the echo time of the license plate can be reacquired in the next driving cycle. Based on the echo time of the reacquired license plate and the echo time corresponding to the echo signal of the reacquired vehicle reversing radar, it is determined whether to discard the echo signal of the vehicle reversing radar or to report the echo signal of the vehicle reversing radar.

[0057] This application clears the stored license plate echo time when the vehicle is off, so that the vehicle can reacquire the license plate echo time the next time it is powered on. Based on the reacquired license plate echo time and the echo time corresponding to the echo signal re-received by the vehicle's reversing radar, it determines whether to discard or report the vehicle's reversing radar echo signal. This avoids the stored license plate echo time expiring due to changes in license plate size after the vehicle is powered on again, and prevents misprocessing of the reversing radar echo signal caused by the expired stored license plate echo time.

[0058] Example 2 This application provides another radar data processing method, please refer to the embodiments therein. Figure 3 Another radar data processing method provided in this application embodiment further includes: Step 301: After the vehicle is powered on again, acquire the second echo signal of the reversing radar and the corresponding second echo time.

[0059] Step 302: Reacquire the echo time of the license plate.

[0060] Step 303: Compare the second echo time corresponding to the second echo signal of the reversing radar with the echo time of the reacquired license plate.

[0061] Step 304: If the second echo time corresponding to the second echo signal of the reversing radar is less than or equal to the echo time of the reacquired license plate, the second echo signal of the reversing radar corresponding to the second echo time is discarded.

[0062] Step 305: If the second echo time corresponding to the second echo signal of the reversing radar is greater than the echo time of the reacquired license plate, the echo signal of the reversing radar corresponding to the second echo time is reported.

[0063] In some embodiments of this application, because the embodiments of this application need to be compatible with license plates of different sizes (e.g., different widths), or the same license plate may be deformed, the time it takes for the reversing radar to receive the echo signal reflected by the license plate is also different for license plates of different widths in different driving cycles of the vehicle. That is, the echo time of the license plate is different.

[0064] Therefore, when the vehicle is powered on again, the reversing radar starts operating again, and it resumes sending ultrasonic signals and receiving reflected echo signals. At this time, the second echo signal of the reversing radar and the corresponding second echo time can be obtained.

[0065] Reacquire the echo time of the license plate. Store the reacquired license plate echo time in the register of the reversing radar system.

[0066] The second echo time corresponding to the second echo signal of the reversing radar is compared with the echo time of the reacquired license plate. If the second echo time corresponding to the second echo signal of the reversing radar is less than or equal to the echo time of the reacquired license plate, the second echo signal of the reversing radar corresponding to the second echo time is discarded.

[0067] If the second echo time corresponding to the second echo signal of the reversing radar is greater than the echo time of the reacquired license plate, the echo signal of the reversing radar corresponding to the second echo time will be reported.

[0068] This application, after powering on the vehicle again, acquires the second echo signal and corresponding second echo time of the reversing radar, reacquires the echo time of the license plate, and determines whether to discard or report the second echo signal of the reversing radar based on the reacquired license plate echo time. In other words, each time the vehicle is powered on, the echo time of the license plate is reacquired based on the size of the license plate currently installed on the vehicle (e.g., license plate width). Since the echo time differs for different license plate sizes (e.g., different widths), radar data processing relies on the reacquired license plate echo time based on the currently installed license plate. This not only solves the problem of the reversing radar misjudging the detected license plate as an obstacle, thus preventing false alarms, but also avoids missing obstacle echo signals compared to using a fixed lower limit value to determine whether to filter out obstacle echo signals, thereby solving the problem of missed obstacle detection.

[0069] This application also provides a radar data processing device 40, which is applied to a vehicle equipped with a license plate. Please refer to [link / reference]. Figure 4 ,include: The data acquisition module 410 is used to acquire the echo signal and corresponding echo time of the vehicle's reversing radar after the vehicle is powered on. The echo time comparison module 420 is used to compare the echo time corresponding to the echo signal of the reversing radar with the echo time of the pre-acquired license plate. The first radar data processing module 430 is used to discard the echo signal of the reversing radar corresponding to the echo time when the echo time of the reversing radar echo signal is less than or equal to the echo time of the license plate.

[0070] Optionally, the device further includes: The second radar data processing module is used to report the echo signal of the reversing radar corresponding to the echo time when the echo time of the vehicle reversing radar is greater than the echo time of the license plate.

[0071] Optionally, the device further includes: The license plate echo time acquisition module is used to acquire the echo time of license plates.

[0072] Optionally, the license plate echo time acquisition module includes: The license plate obscuring submodule is used to obscure the license plate in response to the user not placing any obstacles around the vehicle, upon obtaining the first echo signal and corresponding first echo time from the reversing radar. The license plate echo time determination submodule is used to determine the first echo time corresponding to the first echo signal of the reversing radar as the echo time of the license plate when the license plate is obscured and the first echo signal of the reversing radar is not obtained.

[0073] Optionally, the license plate echo time acquisition module also includes: The license plate echo time storage submodule is used to store the echo time of license plates.

[0074] Optionally, the device further includes: The license plate echo time clearing module is used to clear the license plate echo time after the vehicle is turned off.

[0075] Optionally, the device further includes: The data reacquisition module is used to acquire the second echo signal and the corresponding second echo time of the reversing radar when the vehicle is powered on again. The license plate echo time reacquisition module is used to reacquire the echo time of the license plate. The echo time re-comparison module is used to compare the second echo time corresponding to the second echo signal of the reversing radar with the echo time of the reacquired license plate. The third radar data processing module is used to discard the second echo signal of the reversing radar corresponding to the second echo signal when the second echo time is less than or equal to the echo time of the reacquired license plate. The fourth radar data processing module is used to report the echo signal of the reversing radar corresponding to the second echo time when the second echo time of the second echo signal of the reversing radar is greater than the echo time of the reacquired license plate.

[0076] This application also provides an electronic device 80, please refer to... Figure 5 It includes a processor 810 and a memory 820, wherein the memory 810 is used to store computer programs; and the processor 820 is used to execute the programs stored in the memory 810 to implement the radar data processing method described in any embodiment of this application.

[0077] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the radar data processing method described in any embodiment of this application.

[0078] In this application, "multiple" refers to two or more.

[0079] In this application, unless otherwise expressly defined, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0080] The terms “first,” “second,” “third,” “fourth,” etc., in this application (if present) are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0081] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, in this application, the character "" generally indicates that the preceding and following related objects have an "or" relationship.

[0082] Unless otherwise specified, all steps in this application may be performed sequentially or randomly. For example, if the method includes steps A and B, it means that the method may include steps A and B performed sequentially, or it may include steps B and A performed sequentially. For example, if the method may also include step C, it means that step C may be added to the method in any order. For example, the method may include steps A, B, and C, or it may include steps A, C, and B, or it may include steps C, A, and B, etc.

[0083] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A radar data processing method, applied to vehicles equipped with license plates, characterized in that, The method includes: When the vehicle is powered on, the echo signal of the vehicle's reversing radar and the corresponding echo time are acquired. The echo time corresponding to the echo signal of the reversing radar is compared with the echo time of the license plate obtained in advance. If the echo time corresponding to the echo signal of the reversing radar is less than or equal to the echo time of the license plate, the echo signal of the reversing radar corresponding to the echo time is discarded.

2. The method according to claim 1, characterized in that, After the step of comparing the echo time corresponding to the echo signal of the reversing radar with the pre-acquired echo time of the license plate, the method further includes: If the echo time of the vehicle reversing radar is greater than the echo time of the license plate, the echo signal of the reversing radar corresponding to the echo time is reported.

3. The method according to claim 1, characterized in that, Before the step of comparing the echo time corresponding to the echo signal of the reversing radar with the pre-acquired echo time of the license plate, the method further includes: Obtain the echo time of the license plate.

4. The method according to claim 3, characterized in that, The time for obtaining the echo of the license plate includes: In response to the user not placing any obstacles around the vehicle, the license plate is obscured upon receiving the first echo signal of the reversing radar and the corresponding first echo time. When the license plate is obscured and no first echo signal from the reversing radar is obtained, the first echo time corresponding to the first echo signal from the reversing radar is determined as the echo time of the license plate.

5. The method according to claim 4, characterized in that, After the step of determining that the echo time corresponding to the echo signal of the reversing radar is the echo time of the license plate, the method further includes: The echo time of the license plate is stored.

6. The method according to claim 5, characterized in that, The method further includes: After the vehicle is turned off, the echo time of the license plate is cleared.

7. The method according to claim 1, characterized in that, The method further includes: When the vehicle is powered on again, the second echo signal of the reversing radar and the corresponding second echo time are acquired. Reacquire the echo time of the license plate; The second echo time corresponding to the second echo signal of the reversing radar is compared with the echo time of the license plate that has been reacquired. If the second echo time corresponding to the second echo signal of the reversing radar is less than or equal to the echo time of the license plate that has been reacquired, the second echo signal of the reversing radar corresponding to the second echo time is discarded. If the second echo time corresponding to the second echo signal of the reversing radar is greater than the echo time of the license plate that has been reacquired, the echo signal of the reversing radar corresponding to the second echo time shall be reported.

8. A radar data processing device, applied to a vehicle equipped with a license plate, characterized in that, The device includes: The data acquisition module is used to acquire the echo signal and corresponding echo time of the vehicle's reversing radar when the vehicle is powered on. The echo time comparison module is used to compare the echo time corresponding to the echo signal of the reversing radar with the echo time of the license plate obtained in advance. The first radar data processing module is used to discard the echo signal of the reversing radar corresponding to the echo time when the echo time of the reversing radar echo signal is less than or equal to the echo time of the license plate.

9. An electronic device, characterized in that, Including processor and memory, among which Memory, used to store computer programs; A processor for executing a program stored in memory to implement the method described in any one of claims 1-7.

10. A vehicle, characterized in that, Includes the electronic device as described in claim 9.

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