Method for determining perception area of multi-angle radar, and method for processing perception data

Abstract

The application discloses a multi-angle radar sensing area determination method and a sensing data processing method, and relates to the technical field of radars. The multi-angle radar sensing area determination method comprises the following steps: acquiring at least one overlapping area included in original sensing areas corresponding to at least two radars in a vehicle; updating the original sensing areas corresponding to the at least two radars based on the at least one overlapping area, so as to obtain target sensing areas corresponding to the at least two radars; and the target sensing areas corresponding to the at least two radars have no overlapping area. In this way, the utilization rate of overall resources of the multi-angle radar can be improved.

Description

Technical Field

[0001] This application relates to the field of radar technology, and in particular to a method for determining the sensing area and a method for processing sensing data of a multi-angle radar. Background Technology

[0002] When multiple angular radars are used in combination (such as millimeter-wave radars installed on both sides of the front and rear bumpers of a vehicle), the field of view (FOV) of two adjacent radars often overlaps at a distance from the vehicle. This can lead to redundant consumption of radar resources, thereby reducing the overall utilization rate of radar resources. Summary of the Invention

[0003] This application provides a method for determining the sensing area and a sensing data processing method for a multi-angle radar, which can improve the overall resource utilization of the multi-angle radar.

[0004] In a first aspect, embodiments of this application provide a method for determining the sensing area of ​​a multi-angle radar, the method comprising:

[0005] Acquire at least one overlapping region among the original perception regions corresponding to at least two radars in the vehicle;

[0006] Based on each overlapping region, update the original perception regions corresponding to at least two radars to obtain the target perception regions corresponding to at least two radars; there are no overlapping regions in the target perception regions corresponding to at least two radars.

[0007] By employing the embodiments of this application, since there is no overlap in the target perception areas corresponding to the at least two radars, the same object can be avoided from being repeatedly perceived by different radars. Thus, the redundant consumption of radar resources can be minimized, and the overall resource utilization rate of the multi-angle radar can be improved.

[0008] In one optional implementation of the first aspect, updating the original sensing regions corresponding to at least two radars based on each overlapping region to obtain the target sensing regions corresponding to at least two radars includes: determining the boundary parameters corresponding to each overlapping region in at least one overlapping region; and updating the original sensing regions corresponding to each radar in at least two radars associated with the overlapping regions based on the boundary parameters to obtain the target sensing regions corresponding to each radar.

[0009] By employing this implementation method, the original sensing areas corresponding to each of the at least two radars associated with the overlapping area are updated using the boundary parameters corresponding to the overlapping area, thus allowing for a simple and quick determination of the target sensing area corresponding to each radar.

[0010] In one optional implementation of the first aspect, determining the boundary parameters corresponding to the overlapping region includes: determining the boundary parameters corresponding to the overlapping region based on the installation angle and field of view of each radar corresponding to the overlapping region, as well as the vehicle body size information.

[0011] Using this implementation method, the boundary parameters corresponding to the overlapping area can be determined simply and quickly.

[0012] In one optional implementation of the first aspect, the vehicle body size information includes the vehicle body length; based on the mounting angle and field of view of each radar corresponding to the overlapping area, and the vehicle body size information, the boundary parameters corresponding to the overlapping area are determined, including: when the overlapping area is located on the side of the vehicle door, based on the mounting angle and field of view of each radar corresponding to the overlapping area, and the vehicle body length, the front boundary parameters and rear boundary parameters corresponding to the overlapping area are determined.

[0013] Using this implementation method, when the overlapping area is located on the side of the vehicle door, the front boundary parameters and rear boundary parameters corresponding to the overlapping area can be determined simply and quickly based on the vehicle body length.

[0014] In one optional implementation of the first aspect, the vehicle body size information includes the vehicle body width; based on the mounting angle and field of view of each radar corresponding to the overlapping area, and the vehicle body size information, the boundary parameters corresponding to the overlapping area are determined, including: when the overlapping area is located on the front side or rear side of the vehicle, based on the mounting angle and field of view of each radar corresponding to the overlapping area, and the vehicle body width, the left boundary parameters and right boundary parameters corresponding to the overlapping area are determined.

[0015] Using this implementation method, when the overlapping area is located on the front or rear side of the vehicle, the left and right boundary parameters corresponding to the overlapping area can be determined quickly and easily based on the vehicle's width.

[0016] In an optional implementation of the first aspect, the method further includes: updating the mounting angle of each radar based on the calibration angle for the vehicle to obtain the updated mounting angle; the calibration angle includes at least one of the following: pitch angle and yaw angle; determining new boundary parameters based on the updated mounting angle corresponding to each radar; the new boundary parameters are used to re-update the original sensing area corresponding to the radar.

[0017] By adopting this implementation method, the installation angle of each radar is updated based on the vehicle's calibration angle, which improves the accuracy of the installation angle corresponding to each radar. Therefore, by correcting the boundary parameters based on the updated installation angle corresponding to each radar, the accuracy of the final boundary parameters can be improved.

[0018] In an optional implementation of the first aspect, the method further includes: configuring the data reporting method for the at least two radars based on the target perception areas corresponding to each of the at least two radars, so that there is no duplicate data in the data reported by the at least two radars.

[0019] By adopting this implementation method, since the data reporting method of each radar in at least two radars is based on the target perception area configuration of each radar, and there is no overlapping area in the target perception areas corresponding to each of the at least two radars, it is possible to ensure that there is no duplicate perception data in the perception data reported by the at least two radars.

[0020] Secondly, embodiments of this application provide a perception data processing method applied to various radars in a vehicle; the method includes:

[0021] Determine the target perception area corresponding to the radar; the target perception area is obtained according to the method provided in the first aspect.

[0022] For each sensing data collected by the radar, if the sensing data is within the target sensing area corresponding to the radar, the sensing data is reported to the controller in the vehicle.

[0023] In the embodiments of this application, since there is no overlapping area in the target perception area corresponding to each radar, the radar reports the perception data to the controller in the vehicle when the perception data is in the target perception area corresponding to that radar. In this way, the data obtained by the controller in the vehicle is free of duplicate data. As a result, the controller does not need to process duplicate data, which helps to reduce the ineffective overhead of the intelligent driving domain controller's computing power.

[0024] In an optional implementation of the second aspect, the method further includes: determining the polar coordinates of the sensing data; the polar coordinates include the distance from the sensing data to the center of the radar surface, and the angle between the line connecting the sensing data to the center of the radar surface and the radar centerline; when the sensing data is located on the front or rear side of the vehicle, comparing the absolute value of the angle with the absolute value of a first angle; the first angle is the radar mounting angle; when the absolute value of the angle is less than or equal to the absolute value of the first angle, determining that the sensing data is located in the target sensing area corresponding to the radar; or, when the absolute value of the angle is greater than the absolute value of the first angle, and the projected distance of the distance in the vertical direction of the vehicle is less than or equal to the boundary parameter, determining that the sensing data is located in the target sensing area corresponding to the radar.

[0025] Using this implementation method, the sensing data within the target sensing area corresponding to the radar can be accurately determined.

[0026] In an optional implementation of the second aspect, the method further includes: determining the polar coordinates of the sensed data; the polar coordinates include the distance from the sensed data to the center of the radar surface, and the angle between the line connecting the sensed data to the center of the radar surface and the radar centerline; when the sensed data is located on the side of the vehicle door, comparing the magnitude relationship between the absolute value of the angle and the absolute value of a second angle; the second angle value is the complementary angle of the radar's mounting angle; when the absolute value of the angle is less than or equal to the absolute value of the second angle, determining that the sensed data is located in the target sensing area corresponding to the radar; or, when the absolute value of the angle is greater than the absolute value of the second angle, and the projected distance of the distance in the horizontal direction of the vehicle is less than or equal to the boundary parameter, determining that the sensed data is located in the target sensing area corresponding to the radar.

[0027] Using this implementation method, the sensing data within the target sensing area corresponding to the radar can be accurately determined.

[0028] Thirdly, embodiments of this application provide a sensing area determination device for multi-angle radar, the device comprising:

[0029] The acquisition module is used to acquire at least one overlapping region included in the original perception areas of at least two radars in the vehicle.

[0030] The update module is used to update the original perception areas corresponding to at least two radars based on each overlapping area, so as to obtain the target perception areas corresponding to at least two radars; there are no overlapping areas in the target perception areas corresponding to at least two radars.

[0031] Fourthly, embodiments of this application provide a sensing data processing device for use with radar in a vehicle, the device comprising:

[0032] The determination module is used to determine the target perception area corresponding to the radar; the target perception area is obtained based on the device provided by the third party.

[0033] The data processing module is used to report the various perception data collected by the radar to the controller in the vehicle when the perception data is within the target perception area corresponding to the radar.

[0034] Fifthly, embodiments of this application provide an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the method provided in the first aspect above.

[0035] In a sixth aspect, embodiments of this application provide a radar, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps of the method provided in the second aspect above.

[0036] In a seventh aspect, this application also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the method provided in the first aspect above, or implements the steps of the method provided in the second aspect above.

[0037] Eighthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the method provided in the first aspect above, or implements the steps of the method provided in the second aspect above.

[0038] Regarding the beneficial effects of any of the technical solutions in the second to fifth aspects mentioned above, refer to the beneficial effects of the corresponding technical solutions in the first aspect; repeated examples will not be listed here. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 This is an optional flowchart illustrating a method for determining the sensing area of ​​a multi-angle radar provided in an embodiment of this application.

[0041] Figure 2 This is a schematic diagram illustrating an optional location of four radars in a vehicle, as provided in an embodiment of this application.

[0042] Figure 3 This is an optional schematic diagram of the original sensing area of ​​a radar provided in an embodiment of this application;

[0043] Figure 4 This is a schematic diagram illustrating an optional mounting angle for the left and right rear radars in a vehicle, as provided in an embodiment of this application.

[0044] Figure 5 This is an optional schematic diagram provided in an embodiment of this application, showing an overlapping area located on the side of a vehicle door;

[0045] Figure 6 This is an optional schematic diagram provided in an embodiment of this application, showing an overlapping area located on the rear side of a vehicle;

[0046] Figure 7 This is an optional flowchart illustrating a sensing data processing method provided in an embodiment of this application;

[0047] Figure 8This is an optional schematic diagram of a left rear radar and a right rear radar provided in an embodiment of this application;

[0048] Figure 9 This is an optional schematic diagram of a left front radar and a left rear radar provided in an embodiment of this application;

[0049] Figure 10 This is another optional flowchart illustrating a sensing data processing method provided in an embodiment of this application;

[0050] Figure 11 This is a schematic diagram of an optional structure of a multi-angle radar sensing area determination device provided in an embodiment of this application;

[0051] Figure 12 This is a schematic diagram of an optional structure of a sensing data processing device provided in an embodiment of this application;

[0052] Figure 13 This is a schematic diagram of an optional structure of an electronic device provided in an embodiment of this application;

[0053] Figure 14 This is a schematic diagram of an optional structure of a radar provided in an embodiment of this application. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0055] The following describes the method for determining the sensing area of ​​a multi-angle radar provided in the embodiments of this application.

[0056] Please see Figure 1 , Figure 1 This is a schematic flowchart of an optional method for determining the sensing area of ​​a multi-angle radar according to an embodiment of this application. The method can be executed by an electronic device, which can be a terminal or a server. The terminal mentioned here may include, but is not limited to, personal computers, laptops, smartphones, tablets, IoT devices, and portable wearable devices. IoT devices may include smart TVs, smart in-vehicle devices, projection devices, etc. Portable wearable devices may include smartwatches, smart bracelets, etc. The server may be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services, etc. Figure 1 As shown, the method for determining the sensing area of ​​this multi-angle radar may include, but is not limited to, the following steps:

[0057] S101. Obtain at least one overlapping region included in the original perception regions corresponding to at least two radars in the vehicle.

[0058] In some embodiments, at least two radars can be four. The four radars can be respectively installed at the front left, front right, rear left, and rear right corners of the vehicle. For an example, please refer to [link to example description]. Figure 2 , Figure 2 This is a schematic diagram illustrating one possible location of four radars in a vehicle, as provided in an embodiment of this application. Figure 2 As shown, L represents the length of the vehicle; W represents the width of the vehicle; two radars are deployed on the front and rear sides of the vehicle, respectively. The two radars on the front side include a left front corner radar and a right front corner radar; the two radars on the rear side include a left rear corner radar and a right rear corner radar.

[0059] The field of view (FOV) corresponding to the original sensing area of ​​each radar can be 120°~150°.

[0060] In some embodiments, prior to step S101, the electronic device may further determine at least one overlapping region included in the original sensing areas corresponding to at least two radars in the vehicle. Optionally, the electronic device determining at least one overlapping region included in the original sensing areas corresponding to at least two radars in the vehicle may include: determining the original sensing areas corresponding to at least two radars in the vehicle; determining at least one intersection region corresponding to at least two original sensing areas using the arc segment angle method; and using the at least one intersection region as at least one overlapping region.

[0061] Among them, the arc segment angle method is a core algorithm in radar network spatial analysis for accurately calculating the overlapping part of the detection area of ​​multiple radars. It can transform the complex geometric intersection problem into a problem of logical judgment and search of simple arc segments by discretization processing that turns curves into straight lines.

[0062] For example, the original sensing areas corresponding to at least two radars can be seen in... Figure 3 . Figure 3 This is an optional schematic diagram of the original sensing area of ​​a radar provided in an embodiment of this application. For example... Figure 3 As shown, the vehicle includes four radars, each with a field of view (FOV) of 120 degrees corresponding to its initial sensing area. At the far end, there is overlap between the initial sensing areas of adjacent radars.

[0063] S102. Based on each overlapping region, update the original perception regions corresponding to at least two radars to obtain the target perception regions corresponding to at least two radars; there are no overlapping regions in the target perception regions corresponding to at least two radars.

[0064] In one alternative implementation, the electronic device updates the original sensing regions corresponding to at least two radars based on each overlapping region to obtain the target sensing regions corresponding to at least two radars. This can be achieved by: dividing the overlapping regions into at least two sub-regions; ensuring that the at least two sub-regions do not overlap; and updating the original sensing regions corresponding to each radar based on the at least two sub-regions to obtain the target sensing regions corresponding to each radar.

[0065] For example, suppose at least two radars are Figure 3 If the left front radar and left rear radar have at least one overlapping area, designated as overlapping area 1, the electronic device can divide overlapping area 1 into sub-area 1 and sub-area 2. Then, based on sub-area 1 and sub-area 2, the electronic device can update the original perception areas corresponding to the left front radar and left rear radar respectively, obtaining the target perception areas corresponding to the left front radar and left rear radar respectively. Specifically, updating the original perception areas corresponding to the left front radar and left rear radar based on sub-area 1 and sub-area 2 can be done in several ways: assigning sub-area 1 to the left front radar and sub-area 2 to the left rear radar; assigning sub-area 1 to the left rear radar and sub-area 2 to the left front radar; assigning both sub-area 1 and sub-area 2 to the left front radar simultaneously; or assigning both sub-area 1 and sub-area 2 to the left rear radar simultaneously, etc.

[0066] In another alternative implementation, the electronic device updates the original sensing areas corresponding to at least two radars based on each overlapping area to obtain the target sensing areas corresponding to at least two radars. This can be achieved by: determining the target radar associated with each overlapping area from the at least two radars; associating each overlapping area with the target radar to update the original sensing areas corresponding to at least two radars to obtain the target sensing areas corresponding to at least two radars.

[0067] By employing the embodiments of this application, since there is no overlap in the target perception areas corresponding to the at least two radars, the same object can be avoided from being repeatedly perceived by different radars. Thus, the redundant consumption of radar resources can be minimized, and the overall resource utilization rate of the multi-angle radar can be improved.

[0068] In one alternative implementation, Figure 1In step S102 of the multi-angle radar sensing area determination method shown, the electronic device updates the original sensing areas corresponding to at least two radars based on each overlapping area to obtain the target sensing areas corresponding to at least two radars. This can be done by: determining the boundary parameters corresponding to each overlapping area; and updating the original sensing areas corresponding to each radar based on the boundary parameters for each of the at least two radars associated with the overlapping area to obtain the target sensing areas corresponding to each radar.

[0069] In some embodiments, the electronic device determines the boundary parameters corresponding to the overlapping region by: determining the boundary parameters corresponding to the overlapping region based on the installation angle and field of view of each radar corresponding to the overlapping region, as well as the vehicle's body size information. This allows for a simple and quick determination of the boundary parameters corresponding to the overlapping region.

[0070] The installation angle of the radar is the angle between the normal to the radar surface and the vertical center plane of the vehicle.

[0071] In this application, the field of view refers to the angular range that the radar can scan or detect in the horizontal direction. That is, the field of view in this application can also be called the horizontal field of view. For example, assuming that the horizontal field of view of the radar in the vehicle is 120 degrees, this means that the radar can detect targets within a range of 60 degrees to the left and right in front of the vehicle.

[0072] For example, please see Figure 4 , Figure 4 This is a schematic diagram illustrating an optional mounting angle for the left and right rear radars in a vehicle, as provided in an embodiment of this application. Figure 4 As shown, the left and right rear radars have the same mounting angle, α; the left and right rear radars also have the same field of view, 120 degrees; where α + β = 90 degrees; W represents the vehicle's width.

[0073] Optionally, the vehicle's dimensions may include the vehicle's length and width.

[0074] In this embodiment, the vehicle body size information includes the vehicle's body length. The electronic device determines the boundary parameters corresponding to the overlapping area based on the mounting angle and field of view of each radar corresponding to the overlapping area, as well as the vehicle's body size information. Specifically, if the overlapping area is located on the side of the vehicle's door, the front and rear boundary parameters corresponding to the overlapping area are determined based on the mounting angle and field of view of each radar corresponding to the overlapping area, and the vehicle's body length. Thus, when the overlapping area is located on the side of the vehicle's door, the front and rear boundary parameters corresponding to the overlapping area can be determined simply and quickly based on the vehicle's body length.

[0075] Please see Figure 5 , Figure 5 This is an optional schematic diagram provided by an embodiment of this application, showing an overlapping area located on the side of a vehicle door. For example... Figure 5 As shown, the overlapping area is the overlapping area in the original perception areas of the left front radar and the left rear radar; α1 represents the mounting angle of the left rear radar, and β1 represents the complementary angle of the mounting angle of the left rear radar, where α1+β1=90 degrees; α2 represents the mounting angle of the left front radar, and β2 represents the complementary angle of the mounting angle of the left front radar, where α2+β2=90 degrees; the field of view of both the left front radar and the left rear radar is FOV; H represents the minimum distance from the overlapping area in the perception areas of the left front radar and the left rear radar to the vehicle door.

[0076] Optionally, the electronic device determines the front and rear boundary parameters of the overlapping area based on the mounting angle and field of view of each radar corresponding to the overlapping area, as well as the vehicle body length. This can be achieved by determining the front and rear boundary parameters of the overlapping area based on the complementary angle of the mounting angle of each radar, the field of view, and the vehicle body length.

[0077] Optionally, each radar includes a front left radar and a rear left radar. The electronic equipment determines the front boundary parameters and rear boundary parameters corresponding to the overlapping area based on the complementary angle of the mounting angle of each radar, the field of view, and the vehicle body length. This can be achieved by: obtaining the minimum distance (denoted as the first minimum distance) from the overlapping area corresponding to the front left radar and the rear left radar to the vehicle door; determining a first target angle based on the complementary angle of the mounting angle of the front left radar and the field of view, and determining the front boundary parameters based on the first minimum distance and the tangent of the first target angle; determining a second target angle based on the complementary angle of the mounting angle of the rear left radar and the field of view, and determining the rear boundary parameters based on the first minimum distance and the tangent of the second target angle; wherein the sum of the front boundary parameters and the rear boundary parameters is the vehicle body length.

[0078] The following examples illustrate the radars corresponding to the overlapping regions. Figure 5 Taking the left front radar and left rear radar shown as examples, this paper explains the process by which electronic equipment determines the front boundary parameters and rear boundary parameters corresponding to the overlapping area based on the complementary angle of the installation angle of each radar, the field of view angle, and the vehicle body length.

[0079] When determining the front and rear boundary parameters of the overlapping area based on the complementary angle of the installation angle of each radar, the field of view, and the vehicle body length, the electronic equipment can use the following formula (1).

[0080] (1)

[0081] In formula (1), H represents the minimum distance from the overlapping area of ​​the original perception areas of the left front radar and the left rear radar to the vehicle door. (See also...) Figure 5 In this context, H represents the front boundary parameter; L1 represents the rear boundary parameter; L represents the vehicle length; and FOV represents the field of view of the left front radar and the left rear radar. This represents the complementary angle of the installation angle of the left front radar; This represents the complementary angle of the installation angle of the left rear radar.

[0082] In this embodiment, the electronic device's vehicle dimensions include the vehicle's width. Based on the mounting angles and field of view of each radar corresponding to the overlapping area, and the vehicle's dimensions, the electronic device determines the boundary parameters corresponding to the overlapping area. Specifically, if the overlapping area is located on the front or rear side of the vehicle, the left and right boundary parameters are determined based on the mounting angles and field of view of each radar corresponding to the overlapping area, and the vehicle's width. Thus, when the overlapping area is located on the front or rear side of the vehicle, the left and right boundary parameters can be quickly and easily determined based on the vehicle's width.

[0083] Please see Figure 6 , Figure 6 This is an optional schematic diagram provided in an embodiment of this application, showing an overlapping area located on the rear side of a vehicle. For example... Figure 6 As shown, the overlapping area is the overlapping area in the original perception areas of the left and right rear radars; the mounting angle of the left rear radar is α1, and the complementary angle of the mounting angle of the left rear radar is β1, where α1+β1=90 degrees; the mounting angle of the right rear radar is α4, and the complementary angle of the mounting angle of the right rear radar is β4, where α4+β4=90 degrees; the field of view of both the left and right rear radars is FOV; H represents the minimum distance from the overlapping area in the perception areas of the left and right rear radars to the rear of the vehicle.

[0084] Optionally, each radar includes a left rear radar and a right rear radar; the electronic equipment determines the left boundary parameters and right boundary parameters corresponding to the overlapping area based on the mounting angle and field of view of each radar corresponding to the overlapping area, as well as the vehicle's body width. This can be achieved by: obtaining the minimum distance (denoted as the second minimum distance) from the overlapping area corresponding to the left rear radar and the right rear radar to the rear of the vehicle; determining a third target angle based on the mounting angle and field of view of the left rear radar, and determining the left boundary parameters based on the tangent of the second minimum distance and the third target angle; determining a fourth target angle based on the mounting angle and field of view of the left rear radar, and determining the right boundary parameters based on the tangent of the second minimum distance and the fourth target angle; wherein the sum of the left boundary parameters and the right boundary parameters is the vehicle's body width.

[0085] The following examples illustrate the radars corresponding to the overlapping regions. Figure 6 Taking the left and right rear radars shown as examples, this paper explains the process by which the electronic equipment determines the left and right boundary parameters of the overlapping area based on the complementary angle of the installation angle of each radar, the field of view, and the width of the vehicle body.

[0086] When determining the left and right boundary parameters of the overlapping area based on the complementary angle of the installation angle of each radar, the field of view, and the width of the vehicle body, the electronic equipment can use the following formula (2).

[0087] (2)

[0088] In formula (2), H represents the minimum distance from the overlapping area of ​​the original perception areas of the left and right rear radars to the rear of the vehicle. (See also...) Figure 6 In this context, H represents the left boundary parameter; W1 represents the right boundary parameter; W represents the vehicle width; and FOV represents the field of view of the left and right rear radars respectively. This indicates the installation angle of the left rear radar; This indicates the installation angle of the right rear radar.

[0089] From formula (2), it can be concluded that when the installation angles of the left and right radars are the same, i.e., α1=α4, the left boundary parameter = the right boundary parameter = the vehicle width / 2.

[0090] In this embodiment, the electronic device can also update the mounting angles of each radar based on the calibration angle for the vehicle, obtaining updated mounting angles. The calibration angle includes at least one of the following: pitch angle and yaw angle. Based on the updated mounting angles corresponding to each radar, new boundary parameters are determined. The new boundary parameters are used to re-update the original sensing area corresponding to the radar. In this way, by updating the mounting angles of each radar based on the vehicle's calibration angle, the accuracy of the mounting angles corresponding to each radar can be improved. Therefore, by re-determining the boundary parameters based on the updated mounting angles corresponding to each radar, the accuracy of the final boundary parameters can be improved.

[0091] Optionally, the electronic device corrects the boundary parameters based on the updated mounting angles corresponding to each radar. This can be done by determining the boundary parameters corresponding to the overlapping area based on the field of view and updated mounting angles of each radar corresponding to the overlapping area, as well as the vehicle's body size information.

[0092] By employing this implementation method, the original sensing areas corresponding to each of the at least two radars associated with the overlapping area are updated using the boundary parameters corresponding to the overlapping area, thus allowing for a simple and quick determination of the target sensing area corresponding to each radar.

[0093] In one alternative implementation, Figure 1 In the multi-angle radar sensing area determination method shown, the electronic equipment can also configure the data reporting method of at least two radars based on the target sensing areas corresponding to each of the at least two radars, so that there is no duplicate data in the data reported by the at least two radars.

[0094] In some embodiments, the electronic device configures the data reporting method for at least two radars based on the target perception areas corresponding to each of the at least two radars. This may involve: acquiring boundary parameters for determining the target perception areas corresponding to each of the at least two radars; and configuring the data reporting method for the at least two radars based on the boundary parameters.

[0095] Optionally, the electronic device can configure the data reporting method for at least two radars based on the boundary parameters, which can be: writing the boundary parameters into at least two radars.

[0096] In other embodiments, the electronic device is configured with respect to the data reporting method of at least two radars based on the target perception areas corresponding to each of the at least two radars. This may involve writing the target perception areas corresponding to each of the at least two radars into the at least two radars.

[0097] By adopting this implementation method, since the data reporting method of each radar in at least two radars is based on the target perception area configuration of each radar, and there is no overlapping area in the target perception areas corresponding to each of the at least two radars, it is possible to ensure that there is no duplicate perception data in the perception data reported by the at least two radars.

[0098] The perception data processing method provided in the embodiments of this application is described below.

[0099] Please see Figure 7 , Figure 7 This is an optional flowchart illustrating a perception data processing method provided in an embodiment of this application. This method can be executed by radar in a vehicle. Figure 7 As shown, the sensor data processing method may include, but is not limited to, the following steps:

[0100] S701. Determine the target perception area corresponding to the radar; wherein, the target perception areas corresponding to each radar in the vehicle do not overlap.

[0101] The target perception area is obtained based on the perception area determination method for multi-angle radar described earlier. In other words, the method for determining the target perception area corresponding to the radar can be found in the previous description, and will not be repeated here.

[0102] In some embodiments, before step S701, the radar may also acquire boundary parameters configured by the electronic device; the radar determines the target perception area corresponding to the radar by updating the original perception area corresponding to the radar based on the boundary parameters to obtain the target perception area corresponding to the radar. That is, the electronic device can write the boundary parameters into the radar's software so that the radar updates the corresponding original perception area based on the boundary parameters.

[0103] In other embodiments, the radar determines its target perception area by acquiring the target perception area of ​​the radar configured in the electronic device. In other words, the electronic device can directly write the target perception area corresponding to the radar into the radar's software.

[0104] S702. For each sensing data collected by the radar, if the sensing data is within the target sensing area corresponding to the radar, report the sensing data to the controller in the vehicle.

[0105] Correspondingly, the radar may not report the sensing data to the controller in the vehicle if the sensing data is not within the target sensing area corresponding to the radar.

[0106] In some embodiments, after acquiring sensing data, the radar can determine the location information of the sensing data; based on the location information, it can determine whether the sensing data is within the target sensing area corresponding to the radar.

[0107] Optionally, the location information of the sensing data may include the Cartesian coordinates (three-dimensional spatial coordinates) of the sensing data in the radar coordinate system, the polar coordinates in a local spherical coordinate system based on the radar itself, etc.

[0108] In the embodiments of this application, since there is no overlapping area in the target perception area corresponding to each radar, the radar reports the perception data to the controller in the vehicle when the perception data is in the target perception area corresponding to that radar. In this way, the data obtained by the controller in the vehicle is free of duplicate data. As a result, the controller does not need to process duplicate data, which helps to reduce the ineffective overhead of the intelligent driving domain controller's computing power.

[0109] In one alternative implementation, Figure 7In the perception data processing method shown, the radar can also determine the polar coordinates of the perception data; the polar coordinates include the distance from the perception data to the center of the radar surface, and the angle between the line connecting the perception data to the center of the radar surface and the radar centerline; when the perception data is located on the front or rear side of the vehicle, the absolute value of the angle is compared with the absolute value of a first angle; the first angle is the radar mounting angle; when the absolute value of the angle is less than or equal to the absolute value of the first angle, it is determined that the perception data is in the target perception area corresponding to the radar; or, when the absolute value of the angle is greater than the absolute value of the first angle, and the projected distance of the distance in the vertical direction of the vehicle is less than or equal to the boundary parameter, it is determined that the perception data is in the target perception area corresponding to the radar.

[0110] The following section describes the process by which the radar determines whether the perceived data is within the radar's target perception area when the perceived data is located at the rear of the vehicle.

[0111] Please see Figure 8 , Figure 8 This is an optional schematic diagram illustrating the correspondence between a left rear radar and a right rear radar, as provided in an embodiment of this application. Figure 8 As shown, the sensing data collected by the left rear radar (for example, sensing data A, i.e.) Figure 8 The distance from the sensing data A to the center of the radar surface included in the polar coordinates of the data corresponding to point A in the data can be denoted as LA. The angle between the line connecting the sensing data A to the center of the left rear radar surface and the center line of the left rear radar can be denoted as θ1. Following the clockwise direction and taking the center line of the left rear radar as the reference, the field of view angle corresponding to the left rear radar can be denoted as [-FOV / 2, FOV / 2]. The installation angle of the left rear radar is α1. The left boundary parameter corresponding to the left rear radar is, for example, W1. Since the sensing data A is within the left half of the field of view angle of the left rear radar, -FOV / 2≤θ1≤0. For the perceived data A, the left rear radar can first determine the relationship between θ1 and -α1. If θ1 ≥ -α1, i.e., |θ1| ≤ |α1|, then the left rear radar can determine that the perceived data A is in the target perception area corresponding to the left rear radar. If θ1 < -α1, i.e., |θ1| > |-α1|, then the left rear radar can further determine the projection distance of LA in the vertical direction of the vehicle, i.e., LA*Cos(π / 2-θ1+α1), or whether LA*Sinω1=LA*Sin(π / 2-(π / 2-θ1+α1))=LA*Sin(θ1-α1) is less than or equal to the left boundary parameter W1. If yes, then the perceived data A is in the target perception area corresponding to the radar. If no, then the perceived data A is not in the target perception area corresponding to the radar.

[0112] like Figure 8 As shown, the sensing data collected by the right rear radar (for example, sensing data D′, i.e.) Figure 8 The distance from the sensing data D′ to the center of the radar surface included in the polar coordinates of the data D′ in the middle can be denoted as LD′. The angle between the line connecting the sensing data D′ to the center of the right rear radar surface and the center line of the right rear radar can be denoted as θ4. In the clockwise direction, with the center line of the right rear radar as the reference, the field of view of the right rear radar can be denoted as [-FOV / 2, FOV / 2]. The installation angle of the right rear radar is α4. The right boundary parameter of the right rear radar is, for example, W2. Since the sensing data D′ is within the right half of the field of view of the right rear radar, 0≤θ4≤FOV / 2. For the perceived data D′, the right rear radar can first determine the relationship between θ4 and α4. If θ4≤α4, that is, |θ4|≤|α4|, then the right rear radar can determine that the perceived data D′ is in the target perception area corresponding to the right rear radar. If θ4>α4, then the right rear radar can further determine the projection distance of LD′ in the vertical direction of the vehicle, that is, LD′*Cos(π / 2-θ4+α), or whether LD′*Sinω4′=LD′*Sin(π / 2-(π / 2-θ4+α4))=LD′*Sin(θ4-α4) is less than or equal to the right boundary parameter W2. If yes, then the perceived data D′ is determined to be in the target perception area corresponding to the radar. If no, then the perceived data D′ is determined not to be in the target perception area corresponding to the radar.

[0113] In some embodiments, when the sensing data is located at the front of the vehicle, the process by which the radar determines whether the sensing data is within the target sensing area corresponding to the radar can be found in the previous description of the process by which the radar determines whether the sensing data is within the target sensing area corresponding to the radar when the sensing data is located at the rear of the vehicle, and will not be repeated here.

[0114] Using this implementation method, the sensing data within the target sensing area corresponding to the radar can be accurately determined.

[0115] In one alternative implementation, Figure 7 In the perception data processing method shown, the radar can also determine the polar coordinates of the perception data; the polar coordinates include the distance from the perception data to the center of the radar surface, and the angle between the line connecting the perception data to the center of the radar surface and the radar centerline; when the perception data is located on the side of the vehicle door, the absolute value of the angle and the absolute value of the second angle are compared; the second angle is the complementary angle of the radar's mounting angle; if the absolute value of the angle is less than or equal to the absolute value of the second angle, it is determined that the perception data is in the target perception area corresponding to the radar; or, if the absolute value of the angle is greater than the absolute value of the second angle, and the projected distance of the distance in the horizontal direction of the vehicle is less than or equal to the boundary parameter, it is determined that the perception data is in the target perception area corresponding to the radar.

[0116] The following describes the process by which the radar determines whether the sensing data is within the radar's target sensing area when the sensing data is located on the left side of the vehicle door.

[0117] Please see Figure 9 , Figure 9 This is an optional schematic diagram illustrating the correspondence between a left front radar and a left rear radar, as provided in an embodiment of this application. Figure 9 As shown, H represents the minimum distance from the overlapping area of ​​the perception regions of the left front radar and the left rear radar to the vehicle door. The perception data collected by the left front radar (e.g., perception data B) Figure 9 The distance from the sensing data B to the center of the radar surface included in the polar coordinates of the data corresponding to point B can be denoted as LB. The angle between the line connecting the sensing data B to the center of the left front radar surface and the center line of the left front radar can be denoted as θ2. Following the clockwise direction and taking the center line of the left front radar as the reference, the field of view angle corresponding to the left front radar can be denoted as [-FOV / 2, FOV / 2]. The installation angle of the left front radar is α2, and the complementary angle of the installation angle is β2. The front boundary parameter corresponding to the left front radar is, for example, L1. Since the sensing data B is within the left half of the field of view angle of the left front radar, -FOV / 2≤θ2≤0. For the perceived data B, the left front radar can first determine the relationship between θ2 and -β2. If θ2 ≥ -β2, i.e., |θ2| ≤ |β2|, then the left front radar can determine that the perceived data B is in the target perception area corresponding to the left front radar. If θ2 < -β2, i.e., |θ2| > |β2|, then the left front radar can further determine the projection distance of LB in the horizontal direction of the vehicle, i.e., LB*Cos(π / 2-θ2+β2), or whether LB*sinw2=LB*sin(π / 2-(π / 2-θ2+β2))=LB*sin(θ2-β2) is less than or equal to the front boundary parameter L1. If yes, then the perceived data B is determined to be in the target perception area corresponding to the radar. If no, then the perceived data B is determined not to be in the target perception area corresponding to the radar.

[0118] like Figure 9 As shown, the sensing data collected by the left rear radar (for example, sensing data A′, i.e.) Figure 9The distance from the sensing data A′ to the center of the radar surface included in the polar coordinates of the data A′ in the diagram can be denoted as LA′. The angle between the line connecting the sensing data A′ to the center of the left rear radar surface and the center line of the left rear radar can be denoted as θ1′. Following the clockwise direction and taking the center line of the left rear radar as the reference, the field of view of the left rear radar can be denoted as [-FOV / 2, FOV / 2]. The installation angle of the left rear radar is α1, and the complementary angle of the installation angle is β1. The rear boundary parameter of the left rear radar is, for example, L2. Since the sensing data A′ is located within the right half of the field of view of the left rear radar, 0≤θ1′≤FOV / 2. For the perceived data A′, the left rear radar can first determine the relationship between θ1′ and β1. If θ1′≤β1, that is, |θ1′|≤|β1|, then the left rear radar can determine that the perceived data A′ is in the target perception area corresponding to the left rear radar. If θ1′>β1, that is, |θ1′|>|β1|, then the left rear radar can further determine the projection distance of LA′ in the horizontal direction of the vehicle, that is, LA′*Cos(π / 2-θ1′+β1), or whether LA′*sinw1′=LA′*sin(π / 2-(π / 2-θ1′+β1))=LA′*sin(θ1′-β1) is less than or equal to the rear boundary parameter L2. If yes, then the perceived data A′ is determined to be in the target perception area corresponding to the radar. If no, then the perceived data A′ is determined not to be in the target perception area corresponding to the radar.

[0119] In some embodiments, when the sensing data is located on the right side of the vehicle, the process by which the radar determines whether the sensing data is within the target sensing area corresponding to the radar can be found in the previous description of the process by which the radar determines whether the sensing data is within the target sensing area corresponding to the radar when the sensing data is located on the left side of the vehicle, and will not be repeated here.

[0120] Using this implementation method, the sensing data within the target sensing area corresponding to the radar can be accurately determined.

[0121] The following is combined with Figure 10 This paper provides an overall description of the perception data processing method provided in the embodiments of this application. Please refer to [link to relevant documentation]. Figure 10 , Figure 10 This is another optional flowchart illustrating a perceptual data processing method provided in an embodiment of this application. For example... Figure 10 As shown, the method may include, but is not limited to, the following steps:

[0122] S1001, The electronic device acquires at least one overlapping area included in the original perception areas corresponding to at least two radars in the vehicle.

[0123] In an optional implementation, the relevant description of step S1001 can be found in the description of step S101 above, and will not be repeated here.

[0124] S1002. For each overlapping area, the electronic equipment determines the boundary parameters corresponding to the overlapping area based on the installation angle and field of view of each radar corresponding to the overlapping area, as well as the vehicle body size information.

[0125] In some embodiments, the vehicle body size information includes the vehicle body length; the electronic device determines the boundary parameters corresponding to the overlapping area based on the mounting angle and field of view of each radar corresponding to the overlapping area, as well as the vehicle body size information. This can be achieved by determining the front boundary parameters and rear boundary parameters corresponding to the overlapping area based on the mounting angle and field of view of each radar corresponding to the overlapping area, as well as the vehicle body length, when the overlapping area is located on the side of the vehicle door.

[0126] In some embodiments, the electronic device's body size information includes the vehicle's body width; the electronic device determines the boundary parameters corresponding to the overlapping area based on the mounting angle and field of view of each radar corresponding to the overlapping area, as well as the vehicle's body size information. This can be achieved by determining the left and right boundary parameters corresponding to the overlapping area based on the mounting angle and field of view of each radar corresponding to the overlapping area, as well as the vehicle's body width, when the overlapping area is located on the front or rear side of the vehicle.

[0127] S1003, The electronic equipment sends boundary parameters to the radar in the vehicle, and the radar receives the boundary parameters accordingly.

[0128] S1004. The radar updates the original sensing area based on the boundary parameters to obtain the corresponding target sensing area; there is no overlap in the target sensing areas of each radar.

[0129] S1005, Radar acquires and senses data.

[0130] S1006. When the radar senses the target within the radar's corresponding sensing area, it reports the sensing data to the controller in the vehicle, and the controller in the vehicle receives the sensing data accordingly.

[0131] In some embodiments, the radar can also determine the polar coordinates of the sensed data; the polar coordinates include the distance from the sensed data to the center of the radar surface, and the angle between the line connecting the sensed data to the center of the radar surface and the radar centerline; when the sensed data is located on the front or rear side of the vehicle, the absolute value of the angle is compared with the absolute value of a first angle; the first angle is the radar mounting angle; when the absolute value of the angle is greater than the absolute value of the first angle, the sensed data is determined to be in the target sensing area corresponding to the radar; or, when the absolute value of the angle is less than or equal to the absolute value of the first angle, and the projected distance of the distance in the vertical direction of the vehicle is less than or equal to the boundary parameter, the sensed data is determined to be in the target sensing area corresponding to the radar.

[0132] In some embodiments, the radar can also determine the polar coordinates of the sensed data; the polar coordinates include the distance from the sensed data to the center of the radar surface, and the angle between the line connecting the sensed data to the center of the radar surface and the radar centerline; when the sensed data is located on the side of the vehicle door, the absolute value of the angle and the absolute value of the second angle are compared; the second angle is the complementary angle of the radar's mounting angle; if the absolute value of the angle is greater than the absolute value of the second angle, the sensed data is determined to be in the target sensing area corresponding to the radar; or, if the absolute value of the angle is less than or equal to the absolute value of the second angle, and the projected distance of the distance in the horizontal direction of the vehicle is less than or equal to the boundary parameter, the sensed data is determined to be in the target sensing area corresponding to the radar.

[0133] In this embodiment, since there is no overlapping area in the target perception area corresponding to each radar, on the one hand, the same object can be avoided from being repeatedly perceived by different radars, thereby minimizing the redundant consumption of radar resources and improving the overall resource utilization rate of the multi-angle radar; on the other hand, when the radar perceives data within the target perception area corresponding to that radar, it reports the perception data to the controller in the vehicle. This ensures that the data obtained by the controller in the vehicle is free of duplicate data, thus eliminating the need for the controller to process duplicate data and reducing the ineffective overhead of the intelligent driving domain controller's computing power.

[0134] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0135] Based on the same inventive concept, this application also provides a multi-angle radar sensing area determination device for implementing the multi-angle radar sensing area determination method described above. The solution provided by this device is similar to the solution described in the above method. Therefore, the specific limitations in one or more multi-angle radar sensing area determination device embodiments provided below can be found in the limitations of the multi-angle radar sensing area determination method described above, and will not be repeated here.

[0136] Please see Figure 11 , Figure 11 This is a schematic diagram of an optional structure of a multi-angle radar sensing area determination device provided in an embodiment of this application. For example... Figure 11 As shown, the sensing area determination device of this multi-angle radar may include, but is not limited to:

[0137] The acquisition module 1101 is used to acquire at least one overlapping region included in the original perception areas of at least two radars in the vehicle.

[0138] The update module 1102 is used to update the original perception areas corresponding to at least two radars based on each overlapping area, so as to obtain the target perception areas corresponding to at least two radars; there are no overlapping areas in the target perception areas corresponding to at least two radars.

[0139] In some embodiments, the apparatus may further include a determining module; when the updating module 1102 updates the original sensing regions corresponding to at least two radars based on each overlapping region to obtain the target sensing regions corresponding to at least two radars, the determining module is used to determine the boundary parameters corresponding to each overlapping region; specifically, the updating module 1102 is used to update the original sensing regions corresponding to each radar of the at least two radars associated with the overlapping regions based on the boundary parameters to obtain the target sensing regions corresponding to each radar.

[0140] In some embodiments, when determining the boundary parameters corresponding to the overlapping region, the determining module is specifically used to: determine the boundary parameters corresponding to the overlapping region based on the installation angle and field of view of each radar corresponding to the overlapping region, as well as the vehicle body size information.

[0141] In some embodiments, the vehicle body size information includes the vehicle body length; when the determining module determines the boundary parameters corresponding to the overlapping area based on the mounting angle and field of view of each radar corresponding to the overlapping area and the vehicle body size information, it is specifically used to: when the overlapping area is located on the side of the vehicle door, determine the front boundary parameters and rear boundary parameters corresponding to the overlapping area based on the mounting angle and field of view of each radar corresponding to the overlapping area and the vehicle body length.

[0142] In some embodiments, the vehicle body size information includes the vehicle body width; when the determining module determines the boundary parameters corresponding to the overlapping area based on the mounting angle and field of view of each radar corresponding to the overlapping area, and the vehicle body size information, it is specifically used to: when the overlapping area is located on the front side or rear side of the vehicle, determine the left boundary parameters and right boundary parameters corresponding to the overlapping area based on the mounting angle and field of view of each radar corresponding to the overlapping area, and the vehicle body width.

[0143] In some embodiments, the updating module 1102 is further configured to update the mounting angle of each radar based on the calibration angle for the vehicle, thereby obtaining the updated mounting angle; the calibration angle includes at least one of the following: pitch angle and yaw angle; the determining module is further configured to determine new boundary parameters based on the updated mounting angle corresponding to each radar; the new boundary parameters are used to re-update the original sensing area corresponding to the radar.

[0144] In some embodiments, the device further includes a configuration module for configuring the data reporting method of at least two radars based on the target perception areas corresponding to each of the at least two radars, so that there is no duplicate data in the data reported by the at least two radars.

[0145] It is understood that the specific implementation of each module in the multi-angle radar sensing area determination device provided in this application embodiment and the beneficial effects that can be achieved can be referred to the description of the aforementioned multi-angle radar sensing area determination method embodiment, and will not be repeated here.

[0146] Based on the same inventive concept, this application also provides a sensing data processing apparatus for implementing the sensing data processing method described above. The solution provided by this apparatus is similar to the implementation scheme described in the above method; therefore, the specific limitations in one or more sensing data processing apparatus embodiments provided below can be found in the limitations of the sensing data processing method described above, and will not be repeated here.

[0147] Please see Figure 12 , Figure 12 This is a schematic diagram of an optional structure of a sensing data processing device provided in an embodiment of this application. For example... Figure 12 As shown, the sensing data processing device may include, but is not limited to:

[0148] The determination module 1201 is used to determine the target perception area corresponding to the radar; the target perception area is obtained according to the device provided by the third party.

[0149] The data processing module 1202 is used to report the perception data collected by the radar to the controller in the vehicle when the perception data is within the target perception area corresponding to the radar.

[0150] In some embodiments, the determining module 1201 is further configured to determine the polar coordinates of the sensing data; the polar coordinates include the distance from the sensing data to the center of the radar surface, and the angle between the line connecting the sensing data to the center of the radar surface and the radar centerline; when the sensing data is located on the front or rear side of the vehicle, the absolute value of the angle is compared with the absolute value of a first angle; the first angle is the installation angle of the radar; when the absolute value of the angle is less than or equal to the absolute value of the first angle, the sensing data is determined to be in the target sensing area corresponding to the radar; or, when the absolute value of the angle is greater than or equal to the absolute value of the first angle, and the projected distance of the distance in the vertical direction of the vehicle is less than or equal to the boundary parameter, the sensing data is determined to be in the target sensing area corresponding to the radar.

[0151] In some embodiments, the determining module 1201 is further configured to determine the polar coordinates of the sensing data; the polar coordinates include the distance from the sensing data to the center of the radar surface, and the angle between the line connecting the sensing data to the center of the radar surface and the radar centerline; when the sensing data is located on the side of the vehicle door, the absolute value of the angle and the absolute value of the second angle are compared; the second angle is the complementary angle of the radar's mounting angle; when the absolute value of the angle is less than or equal to the absolute value of the second angle, the sensing data is determined to be in the target sensing area corresponding to the radar; or, when the absolute value of the angle is greater than the absolute value of the second angle, and the projected distance of the distance in the horizontal direction of the vehicle is less than or equal to the boundary parameter, the sensing data is determined to be in the target sensing area corresponding to the radar.

[0152] It is understood that the specific implementation of each module in the sensing data processing device provided in this application embodiment and the beneficial effects that can be achieved can be referred to the description of the foregoing sensing data processing method embodiment, and will not be repeated here.

[0153] Each module in the aforementioned multi-angle radar's sensing area determination device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in hardware or independently of the processor in the vehicle-mounted terminal device, or stored in software within the memory of the multi-angle radar's sensing area determination device, so that the processor can call and execute the corresponding operations of each module.

[0154] In one exemplary embodiment, an electronic device is provided, the internal structure of which can be shown as follows: Figure 13 As shown, this electronic device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a method for determining the sensing area of ​​a multi-angle radar. The display unit is used to form a visually visible image and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the electronic device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads installed inside the electronic device.

[0155] Those skilled in the art will understand that Figure 13 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the electronic device to which the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0156] Each module in the aforementioned sensing data processing device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of the vehicle-mounted terminal device in hardware form or stored in the memory of the sensing data processing device in software form, so that the processor can call and execute the corresponding operations of each module.

[0157] In one exemplary embodiment, a radar is provided whose internal structure diagram can be as follows: Figure 14As shown, the radar includes a processor and a memory. The processor provides computational and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. When the computer program is executed by the processor, it implements a sensing data processing method.

[0158] Those skilled in the art will understand that Figure 14 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the radar to which the present application is applied. A specific radar may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0159] In one exemplary embodiment, this application provides an electronic device including a memory and a processor, wherein the memory stores a computer program; when the processor executes the computer program, it implements the steps in the above-described method for determining the sensing area of ​​a multi-angle radar.

[0160] In one exemplary embodiment, this application provides a radar including a memory and a processor, wherein the memory stores a computer program; when the processor executes the computer program, it implements the steps in the above-described sensing data processing method.

[0161] In one exemplary embodiment, this application provides a computer-readable storage medium having a computer program stored thereon. When executed by a processor, the computer program implements the steps in the described method for determining the sensing area of ​​a multi-angle radar, or implements the steps in the described sensing data processing method.

[0162] In one exemplary embodiment, this application provides a computer program product, including a computer program. When executed by a processor, the computer program implements the steps in the described method for determining the sensing area of ​​a multi-angle radar, or implements the steps in the described sensing data processing method.

[0163] It should be noted that the data involved in this application (including but not limited to data used for analysis, data stored, data displayed, etc.) are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0164] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0165] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0166] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for determining the sensing area of ​​a multi-angle radar, characterized in that, The method includes: Acquire at least one overlapping region among the original perception regions corresponding to at least two radars in the vehicle; For each of the overlapping regions, based on the installation angle and field of view of each of the radars corresponding to the overlapping regions, as well as the vehicle body size information, the boundary parameters corresponding to the overlapping regions are determined; For each of the at least two radars associated with the overlapping region, the original sensing region corresponding to each radar is updated based on the boundary parameters to obtain the target sensing region corresponding to each radar; there is no overlapping region in the target sensing regions corresponding to the at least two radars. Based on the target perception area corresponding to each of the at least two radars, the data reporting method of the at least two radars is configured so that any one of the at least two radars reports the perception data to the controller in the vehicle when the perception data collected is within the target perception area corresponding to the radar. The vehicle body size information includes the vehicle's body length and body width; The step of determining the boundary parameters corresponding to the overlapping region based on the installation angle and field of view of each radar corresponding to the overlapping region, and the vehicle's body size information, includes: When the overlapping area is located on the door side of the vehicle, based on the mounting angle and field of view of each radar corresponding to the overlapping area, and the vehicle length, the front boundary parameters and rear boundary parameters corresponding to the overlapping area are determined using the following formula: Wherein, H represents the minimum distance from the overlapping area in the original perception areas of the left front radar and the left rear radar to the vehicle door; L1 represents the front boundary parameter; L2 represents the rear boundary parameter; L represents the vehicle length; FOV represents the field of view angle of the left front radar and the left rear radar respectively. This represents the complementary angle of the mounting angle of the left front radar; This represents the complementary angle of the mounting angle of the left rear radar; When the overlapping area is located on the front or rear side of the vehicle, the left and right boundary parameters corresponding to the overlapping area are determined using the following formula, based on the mounting angle and field of view of each radar corresponding to the overlapping area, and the vehicle width: Wherein, H represents the minimum distance from the overlapping area in the original perception areas of the left and right rear radars to the rear of the vehicle; W1 represents the left boundary parameter; W2 represents the right boundary parameter; W represents the vehicle width; FOV represents the field of view angle of the left and right rear radars respectively. This indicates the installation angle of the left rear radar; This indicates the installation angle of the right rear radar.

2. The method according to claim 1, characterized in that, The method further includes: Based on the calibration angle for the vehicle, the installation angle of each radar is updated to obtain the updated installation angle; the calibration angle includes at least one of the following: pitch angle and yaw angle; Based on the updated installation angle corresponding to each radar, new boundary parameters are determined; the new boundary parameters are used to update the original sensing area corresponding to the radar.

3. A method for processing sensory data, characterized in that, Radar applied to vehicles; the method includes: Determine the target perception area corresponding to the radar; the target perception area is obtained according to the method of claim 1 or 2. For each sensing data collected by the radar, if the sensing data is within the target sensing area corresponding to the radar, the sensing data is reported to the controller in the vehicle.

4. The method according to claim 3, characterized in that, The method further includes: Determine the polar coordinates of the sensing data; the polar coordinates include the distance from the sensing data to the surface center of the radar, and the angle between the line connecting the sensing data to the surface center of the radar and the centerline of the radar; When the sensed data is located at the front or rear of the vehicle, the absolute value of the included angle and the absolute value of the first angle are compared; the first angle is the installation angle of the radar. If the absolute value of the included angle is less than or equal to the absolute value of the first angle, the sensing area is determined to be within the target sensing area corresponding to the radar; or, if the absolute value of the included angle is greater than the absolute value of the first angle, and the projected distance of the distance in the vertical direction of the vehicle is less than or equal to the boundary parameter corresponding to the radar, the sensing data is determined to be within the target sensing area corresponding to the radar.

5. The method according to claim 3, characterized in that, The method further includes: Determine the polar coordinates of the sensing data; the polar coordinates include the distance from the sensing data to the surface center of the radar, and the angle between the line connecting the sensing data to the surface center of the radar and the centerline of the radar; When the sensed data is located on the side of the vehicle door, the absolute value of the included angle and the absolute value of the second angle are compared; the second angle value is the complementary angle of the mounting angle of the radar surface. If the absolute value of the included angle is less than or equal to the absolute value of the second angle, the sensing area is determined to be within the target sensing area corresponding to the radar; or, if the absolute value of the included angle is greater than the absolute value of the second angle, and the projected distance of the distance in the horizontal direction of the vehicle is less than or equal to the boundary parameter corresponding to the radar, the sensing data is determined to be within the target sensing area corresponding to the radar.

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