Obstacle recognition method and apparatus, vehicle, and storage medium

Abstract

The present disclosure relates to an obstacle recognition method and apparatus, a vehicle, and a storage medium. The method is applied to a vehicle, wherein the vehicle is provided with an ultra-wideband (UWB) anchor supporting a radar function, and the UWB anchor communicates with a parking assist controller by means of a controller area network (CANFD) bus. The method comprises: performing electromagnetic wave detection by means of the UWB anchor to obtain obstacle information of an obstacle target; and sending the obstacle information to the parking assist controller by means of the CANFD bus, so that the parking assist controller obtains an obstacle recognition result on the basis of the obstacle information. By replacing a UPA probe with the UWB anchor supporting the radar function, the mechanical wave detection by the UPA probe is changed to the electromagnetic wave detection by the UWB anchor, and the recognized obstacle information is sent to the parking assist controller by means of the CANFD bus, thereby effectively solving the problem of an exterior opening for the UPA probe during ultrasonic detection.

Description

Obstacle identification method and device, vehicle and storage medium

[0001] Cross-reference to related applications

[0002] The present application claims priority to the Chinese patent application No. 202411376766.X, filed on September 29, 2024, and entitled "Obstacle identification method and device, vehicle and storage medium", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0003] The present disclosure relates to the technical field of vehicles, and in particular, to an obstacle identification method, an obstacle identification device, a vehicle and a computer readable storage medium. BACKGROUND

[0004] At present, the parking assistance of a vehicle is mainly realized by providing obstacle identification information based on ultrasonic radar.

[0005] The ultrasonic radar performs radar detection based on the principle of mechanical wave radar emission. For example, four UPA (Ultrasonic Parking Assist) probes are usually installed on the front and rear bumpers of a vehicle. In the foregoing manner, the installation of the UPA probes requires a hole to be made on the rear bumper, which affects the appearance. SUMMARY

[0006] In view of the above problems, an obstacle identification method, an obstacle identification device, a vehicle and a computer readable storage medium are provided to overcome the above problems or at least partially solve the above problems, comprising:

[0007] The embodiment of the present application provides an obstacle identification method applied to a vehicle, wherein the vehicle is provided with an ultrawideband (UWB) anchor point supporting radar function, the UWB anchor point communicates with a parking assistance controller through a controller area network (CAN) flexible data bus (CANFD), and the method comprises the following steps:

[0008] electromagnetic wave detection is performed by the UWB anchor point to obtain obstacle information of an obstacle target;

[0009] The obstacle information is sent to the parking assistance controller through the CANFD bus, so that the parking assistance controller obtains an obstacle identification result based on the obstacle information.

[0010] Optionally, the UWB anchor point arranged on the vehicle is used for a digital key function of the vehicle.

[0011] Optionally, the electromagnetic wave detection by the UWB anchor point to obtain the obstacle information of the obstacle target comprises:

[0012] The UWB anchor points detect obstacles in the target coverage range by electromagnetic waves to obtain obstacle information of the obstacles.

[0013] Optionally, the UWB antenna of the UWB anchor point has a detection range, and the method further comprises:

[0014] The detection ranges of the plurality of UWB anchor points are adjusted by adjusting the placement positions and placement angles of the UWB anchor points to cover the target coverage range.

[0015] Optionally, the vehicle is further provided with mechanical wave APA probes, and the target coverage range is a range formed by an edge line perpendicular to the vehicle body with the APA probes on both sides as the starting point and the ending point.

[0016] Optionally, the detection of obstacles in the target coverage range by the UWB anchor points by electromagnetic waves to obtain obstacle information of the obstacles comprises:

[0017] The UWB anchor points emit electromagnetic wave radar pulse signals and receive reflected pulse signals of each obstacle target to the electromagnetic wave radar pulse signals to obtain obstacle information.

[0018] Optionally, the obstacle information comprises coordinate information of the obstacle target, and the detection of obstacles in the target coverage range by the UWB anchor points by electromagnetic waves to obtain obstacle information of the obstacles comprises:

[0019] The reflected pulse signals of each obstacle target to the electromagnetic wave radar pulse signals are received to obtain measurement results.

[0020] The measurement results are converted in a coordinate system to obtain coordinate information of each obstacle target.

[0021] Optionally, the measurement results comprise ranging results, the UWB anchor point has a demodulation channel; and the receiving of the reflected pulse signals of each obstacle target to the electromagnetic wave radar pulse signals to obtain measurement results comprises:

[0022] The reflected pulse signals of each obstacle target to the electromagnetic wave radar pulse signals are received by the demodulation channel of the UWB anchor point to obtain ranging results of each obstacle target.

[0023] Optionally, the ranging result is used to indicate the distance between the obstacle target and the UWB anchor point; the reflection pulse signal of each obstacle target to the electromagnetic wave radar pulse signal is received through the demodulation channel of the UWB anchor point, and the ranging result of each obstacle target is obtained, comprising:

[0024] The reflection pulse signal of each obstacle target to the electromagnetic wave radar pulse signal is received through the demodulation channel of the UWB anchor point;

[0025] Based on the preamble in the reflection pulse signal and the electromagnetic wave radar pulse signal, the channel impulse response is obtained; the pulse peak in the channel impulse response is used to indicate the existence of the obstacle target;

[0026] Based on the channel impulse response value of the pulse peak, the time of flight from the transmission time of the electromagnetic wave radar pulse signal to the reception of the reflection pulse signal is obtained;

[0027] Based on the time of flight, the distance between the obstacle target and the UWB anchor point is obtained.

[0028] Optionally, the measurement result includes an angle measurement result, and the UWB anchor point has a plurality of radar receiving antennas; the reflection pulse signal of each obstacle target to the electromagnetic wave radar pulse signal is received, and the measurement result is obtained, comprising:

[0029] The reflection pulse signal of each obstacle target to the electromagnetic wave radar pulse signal is received through the plurality of radar receiving antennas of the UWB anchor point, and the angle measurement result of each obstacle target is obtained.

[0030] Optionally, the plurality of radar receiving antennas come from a plurality of groups of diversity antennas, and the same radar receiving antenna as a common antenna is included in the plurality of groups of diversity antennas.

[0031] Optionally, the angle measurement result is used to indicate the angle between the obstacle target and the radar receiving antenna; the reflection pulse signal of each obstacle target to the electromagnetic wave radar pulse signal is received through the plurality of radar receiving antennas of the UWB anchor point, and the angle measurement result of each obstacle target is obtained, comprising:

[0032] The antenna spacing between any target radar receiving antenna in each group of diversity antennas and the common antenna is obtained;

[0033] The phase difference of the reflection pulse signal of the obstacle target to the electromagnetic wave radar pulse signal measured through the path of the target radar receiving antenna and the common antenna is obtained;

[0034] Based on the antenna spacing, the phase difference and a signal wavelength of the reflected pulse signal, an angle of the obstacle target and the common antenna is obtained.

[0035] Optionally, a first radar receiving antenna in a first group of diversity antennas and the common antenna are used to calculate a horizontal angle of the obstacle target and the common antenna; and a second radar receiving antenna in a second group of diversity antennas and the common antenna are used to calculate a pitch angle of the obstacle target and the common antenna.

[0036] Optionally, the obstacle information includes coordinate information of the obstacle target, and the sending of the obstacle information to the parking assistance controller via the CANFD bus includes:

[0037] Each UWB anchor point sends the coordinate information of the obstacle target detected by itself to the parking assistance controller via the CANFD bus in the form of an information matrix.

[0038] The embodiment of the present application also provides an obstacle identification device, which is applied to a vehicle, the vehicle is provided with an ultra-wideband (UWB) anchor point supporting a radar function, the UWB anchor point communicates with a parking assistance controller through a controller area network (CAN) flexible data rate (CANFD) bus, and the device comprises:

[0039] A radar detection module is used for carrying out electromagnetic wave detection through the UWB anchor point to obtain obstacle information of an obstacle target.

[0040] An obstacle information sending module is used for sending the obstacle information to the parking assistance controller via the CANFD bus, so that the parking assistance controller obtains an obstacle identification result based on the obstacle information.

[0041] The embodiment of the present application also provides a vehicle, which comprises a processor, a memory and a computer program stored on the memory and capable of running on the processor, and the computer program is executed by the processor to realize the obstacle identification method.

[0042] The embodiment of the present application also provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the obstacle identification method.

[0043] The embodiment of the present application has the following advantages:

[0044] In the embodiment of the present application, the electromagnetic wave detection is performed by the UWB anchor point capable of supporting radar function, the obstacle information of the obstacle target is obtained, and the obstacle information is sent to the parking assistance controller via the CANFD bus, so that the parking assistance controller obtains the obstacle recognition result based on the obstacle information. By replacing the UPA probe with the UWB anchor point capable of supporting radar function, the mechanical wave detection of the UPA probe is changed to the electromagnetic wave detection of the UWB anchor point, and the obstacle information recognized by the UWB anchor point is sent to the parking assistance controller via the CANFD bus, thereby effectively solving the problem of appearance opening of the UPA probe in ultrasonic wave detection. BRIEF DESCRIPTION OF DRAWINGS

[0045] In order to more clearly illustrate the technical solutions of the present application, the drawings needed to be used in the description of the present application will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0046] Fig. 1 is a step flow chart of an obstacle recognition method according to an embodiment of the present application;

[0047] Fig. 2 is a step flow chart of another obstacle recognition method according to an embodiment of the present application;

[0048] Fig. 3 is a schematic diagram of the setting of a UWB anchor point according to an embodiment of the present application;

[0049] Fig. 4 is a schematic diagram of the setting of another UWB anchor point according to an embodiment of the present application;

[0050] Fig. 5 is a schematic diagram of the coverage range according to an embodiment of the present application;

[0051] Fig. 6 is a schematic diagram of the channel impulse response according to an embodiment of the present application;

[0052] Fig. 7 is a schematic diagram of the time of flight calculation based on the channel impulse response according to an embodiment of the present application;

[0053] Fig. 8 is a schematic diagram of the radar angle calculation according to an embodiment of the present application;

[0054] Fig. 9 is a schematic diagram of the diversity of multiple radar receiving antennas according to an embodiment of the present application;

[0055] Fig. 10 is a schematic diagram of the system framework of the obstacle detection parking assistance function according to an embodiment of the present application;

[0056] Fig. 11 is a schematic diagram of the system framework of the whole vehicle automatic parking function according to an embodiment of the present application;

[0057] Fig. 12 is a schematic diagram of the specific framework of the UWB anchor point module system according to an embodiment of the present application;

[0058] Fig. 13 is a structural block diagram of an obstacle recognition device according to an embodiment of the present application. DETAILED DESCRIPTION

[0059] In order to make the above objectives, features and advantages of the present application more clear and comprehensible, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0060] In order to facilitate those skilled in the art to understand the present application, the following explains the terms or names involved in the following embodiments of the present application:

[0061] UWB: Ultra-Wideband, ultra-wideband technology.

[0062] UWB anchor: UWB Anchor refers to a fixed device used to provide a reference position in an ultra-wideband positioning system, which can contain a UWB antenna.

[0063] CANFD: Controller Area Network with Flexible Data-rate, flexible data rate controller area network.

[0064] UPA: Ultrasonic Parking Assist, ultrasonic parking assist, which mainly uses ultrasonic waves (a kind of mechanical wave) to detect obstacles around the vehicle.

[0065] FOV: Field of View, antenna coverage range / field of view angle.

[0066] PAS: Parking Assist System, parking assist system.

[0067] RCS: Radar Cross Section, radar scattering cross section, a physical quantity that measures the ability of a target to reflect radar waves in a radar system.

[0068] CIR: Channel Impulse Response, channel impulse response.

[0069] AOA: Angle of Arrival, angle of arrival, which refers to the angle of arrival of a wireless signal at a receiving antenna.

[0070] APA: Advanced Parking Assist, which mainly uses mechanical waves (usually radar or camera) to detect obstacles and spaces around the vehicle.

[0071] In the related art, the ultrasonic wave radar is based on the radar emission principle of mechanical waves, and is usually implemented by installing 4 UPA probes on the front and rear bumpers of the vehicle.

[0072] The embodiment of the present application replaces the UPA probe with a UWB anchor point supporting radar function, changes the mechanical wave detection of the UPA probe to electromagnetic wave detection of the UWB anchor point, and sends the obstacle information obtained by the UWB anchor point to the parking assistance controller via the CANFD bus, effectively solving the problem of appearance opening of the UPA probe in ultrasonic wave detection, and completing the out-of-vehicle obstacle detection and parking assistance function based on the UWB technology. In addition, the obstacle detection based on the radar principle of the UWB anchor point can effectively identify the suspended obstacles on the upper half of the vehicle, and the UWB anchor point is not easily affected by temperature, which can improve the high accuracy of obstacle detection. At the same time, the UWB anchor point for radar detection can be applied to the digital key function, and by multiplexing the digital key anchor point on the front and rear bumpers, the radar principle is used to complete the obstacle detection and parking assistance function, which realizes the replacement of the traditional ultrasonic wave UPA probe and achieves the purpose of reducing the cost of the whole vehicle. Further, the UWB anchor point can also replace the UPA probe and be combined with the APA probe to complete the automatic parking function of the whole vehicle.

[0073] Referring to FIG. 1, a step flowchart of an obstacle recognition method according to an embodiment of the present application is shown, which is applied to a vehicle provided with an ultra-wideband (UWB) anchor point, and can include the following steps:

[0074] Step 101: performing electromagnetic wave detection by the UWB anchor point to obtain obstacle information of an obstacle target;

[0075] The UWB anchor point used in the embodiment of the present application has a UWB chip capable of supporting radar function, and can complete the out-of-vehicle obstacle detection and parking assistance function based on the radar principle of the UWB technology.

[0076] For obstacle detection, radar detection can be mainly realized by the UWB anchor point supporting radar function.

[0077] The radar detection of the UWB anchor point is electromagnetic wave detection, and the mechanical wave detection of the UPA probe can be changed into the electromagnetic wave detection of the UWB anchor point, so as to effectively solve the problems that the UPA probe cannot measure height, it is difficult to identify a suspended obstacle, and it is greatly affected by temperature when detecting an ultrasonic wave.

[0078] In some embodiments of the present application, electromagnetic wave detection can be performed by the UWB anchor point to obtain obstacle information of an obstacle target, and to complete the detection of an external obstacle of a vehicle.

[0079] Specifically, the electromagnetic wave detection performed by the UWB anchor point can be mainly performed on the obstacle target in the target coverage range, and then the obstacle information of the obstacle target is obtained. The electromagnetic wave detection performed by the UWB anchor point on the obstacle target in the target coverage range can ensure that the obstacle information is accurately and comprehensively obtained.

[0080] In a specific implementation, the placement position and the placement tilt angle of the UWB anchor point can be adjusted to ensure that the detection range of the UWB anchor point meets the target coverage range, to realize the radar detection coverage of the whole vehicle, so that the UWB anchor point performs electromagnetic wave detection on the obstacle target in the target coverage range, and then the omnidirectional obstacle detection is realized.

[0081] In step 102, the obstacle information is sent to the parking assistance controller via the CANFD bus, so that the parking assistance controller obtains an obstacle recognition result based on the obstacle information.

[0082] In the embodiment of the present application, the UWB anchor point can communicate with the parking assistance controller through the controller area network (CAN) FD bus.

[0083] In some embodiments of the present application, the UWB anchor point can provide the obstacle information obtained by the UWB anchor point to the parking assistance controller via the CANFD bus, that is, the PAS parking assistance system, so that in the case that the UWB anchor point is combined with the APA probe, the PAS parking assistance system can obtain the obstacle recognition result by combined analysis and calculation, which is helpful to jointly complete the automatic parking function of the whole vehicle with the APA probe.

[0084] Optionally, the UWB anchor point arranged on the vehicle can be used for the digital key function of the vehicle. That is, the UWB anchor point used for radar detection can be a UWB anchor point applied to the digital key function, and by multiplexing the UWB anchor point before and after the radar, the radar principle is fused to complete the obstacle detection and parking assistance function, the traditional ultrasonic UPA probe is replaced, and the purpose of reducing the cost of the whole vehicle is achieved.

[0085] In the embodiment of the present application, the UWB anchor point capable of supporting radar function is used for electromagnetic wave detection to obtain the obstacle information of the obstacle target, and the obstacle information is sent to the parking assistance controller via the CANFD bus, so that the parking assistance controller obtains the obstacle recognition result based on the obstacle information. By replacing the UPA probe with the UWB anchor point capable of supporting radar function, the mechanical wave detection of the UPA probe is changed to the electromagnetic wave detection of the UWB anchor point, and the obstacle information recognized by the UWB anchor point is sent to the parking assistance controller via the CANFD bus, thereby effectively solving the problem of appearance opening of the UPA probe in ultrasonic wave detection.

[0086] Referring to FIG. 2, a step flowchart of another obstacle recognition method according to an embodiment of the present application is shown, which can include the following steps:

[0087] In step 201, the placement position and placement tilt angle of each UWB anchor point are adjusted to adjust the detection range of the plurality of UWB anchor points to cover the target coverage range.

[0088] In some embodiments of the present application, the UWB anchor point capable of supporting radar function is used for electromagnetic wave detection to obtain the obstacle information of the obstacle target, thereby completing the detection of the external obstacle.

[0089] Specifically, the electromagnetic wave detection performed by the UWB anchor point can be mainly performed on the obstacle target in the target coverage range, thereby obtaining the obstacle information of the obstacle target. The electromagnetic wave detection performed by the UWB anchor point on the obstacle target in the target coverage range can ensure accurate and comprehensive acquisition of the obstacle information.

[0090] In a specific implementation, the placement position and placement tilt angle of the UWB anchor point can be adjusted to ensure that the detection range of the UWB anchor point meets the target coverage range, thereby realizing radar detection coverage of the whole vehicle, so that the UWB anchor point performs electromagnetic wave detection on the obstacle target in the target coverage range, thereby realizing omnidirectional obstacle detection.

[0091] In the parking assistance function, the front and rear directions of the vehicle and the positions of the four corners are the key areas for obstacle detection. In actual application, the UWB anchor point can be usually arranged at the positions of the four corners of the front and rear bumpers of the vehicle and placed at a certain tilt angle. Optionally, according to the different sizes of the vehicle, in order to ensure the full coverage of the UWB anchor point to the central region, an additional UWB anchor point can be arranged at the middle position of the front and rear bumpers.

[0092] As an example, as shown in FIG. 3, the positions of the UWB anchors of the front bumper can be positions a, b, and c respectively; as another example, as shown in FIG. 4, the positions of the UWB anchors of the rear bumper can be positions d, e, and f respectively. The front bumper and the rear bumper can achieve the coverage range required for parking assistance through the arrangement of 2-3 UWB anchors.

[0093] The coverage range required for parking assistance can refer to the area range formed by the edge line perpendicular to the vehicle body with the mechanical wave APA probe on both sides as the starting point and the ending point.

[0094] For example, the arrangement positions of the mechanical wave APA probes can be 1 and 2 as shown in FIG. 3, or 3 and 4 as shown in FIG. 4, i.e., on both sides of the front bumper and the rear bumper. Taking the rear bumper as an example, the target coverage range to be met can be as shown in FIG. 5, which is the area range formed by the edge line perpendicular to the vehicle body with 1 as the starting point and 2 as the ending point as shown in FIG. 3. The coverage distance of the area range can be determined based on the specifications of the antenna support structure, for example, a PVC (Polyvinyl Chloride) pipe. For example, based on a 1m long φ75mm standard PVC pipe, the coverage distance reaches more than 3m, which is not limited in the embodiments of the present application.

[0095] The UWB antenna of the UWB anchor has a detection range. In order to ensure that the detection range of the UWB anchor meets the target coverage range, taking the rear bumper as an example, assuming that the antenna coverage range / field of view FOV of the UWB antenna design can reach a range of ±60°-±90°, at this time, the UWB anchors can be arranged according to positions A, B, and C as shown in FIG. 3. During the arrangement, the tilt angles of the UWB anchors can be appropriately adjusted, so that the multiple detection ranges of the UWB anchors placed at positions A, B, and C can cover the full coverage of the middle area as shown in FIG. 5.

[0096] It should be noted that the shadow area as shown in FIG. 5 can refer to a radar blind area. In the electromagnetic wave detection process based on the UWB anchor, the radar detection blind area shown can be less than 10cm, which is superior to the current ultrasonic wave UPA probe, i.e., the radar detection blind area of the UWB anchor is smaller than the radar detection blind area of the APA probe. The UWB technology can achieve centimeter-level ranging accuracy, so as to achieve high-precision distance measurement and positioning in a complex environment.

[0097] In step 202, the UWB anchor is used to perform electromagnetic wave detection on the obstacle target in the target coverage range, and obstacle information of the obstacle target is obtained.

[0098] The electromagnetic wave detection of the UWB anchor point on the obstacle target in the target coverage range can ensure that the obstacle information is accurately and comprehensively obtained.

[0099] In the traditional ultrasonic radar system, the UPA probe and the APA probe of the whole vehicle mainly perform radar mechanical wave self-receiving and self-interception and self-emission mutual interception on the obstacle target, all the waveform signals in the foregoing working process are usually connected and communicated with the parking auxiliary controller (PAS master) of the whole vehicle through the PSI / DSI interface, and the PAS master collects and analyzes all the sensor signals, and then calculates the obstacle coordinate information, so as to realize the automatic parking function.

[0100] After the UWB anchor point is used to replace the UPA probe in the embodiment of the application, the obstacle information of the obstacle target of the UWB anchor point can be mainly realized through self-receiving, and the measurement of the obstacle target in the target coverage range can be realized through a single UWB anchor point, and the obstacle information of the obstacle target does not need to be obtained by means of the parking auxiliary controller.

[0101] Specifically, the UWB anchor point can emit an electromagnetic wave radar pulse signal, and receive a reflection pulse signal of each obstacle target to the electromagnetic wave radar pulse signal, to obtain the obstacle information.

[0102] The obstacle information mainly refers to the coordinate information of the obstacle target, and the coordinate information of the obstacle target can be obtained based on coordinate system conversion of the measurement result. In the specific implementation, after each UWB anchor point emits an electromagnetic wave radar pulse signal, it can receive a reflection pulse signal of each obstacle target to the electromagnetic wave radar pulse signal, to obtain a measurement result, so that each UWB anchor point can perform coordinate system conversion on the measurement result detected by itself, to obtain the coordinate information of each obstacle target.

[0103] In actual application, UWB is a kind of ultra-wideband wireless carrier communication technology, and the application range includes high-speed data transmission, secret communication, precise positioning, radar detection, etc. The UWB anchor point used in the embodiment of the application can be a UWB module applied to the vehicle end of the digital key positioning function, at this time, a UWB transceiver chip containing a radar function can be used, and corresponding antennas and algorithm design are matched to realize the vehicle end UWB radar application for obstacle detection and parking assistance.

[0104] In some embodiments of the application, the measurement result detected by the UWB anchor point can include a ranging result, and the ranging result can be used to indicate the distance between the obstacle target and the UWB anchor point.

[0105] Optionally, the UWB anchor point can adopt a transceiver integrated design, at this time, the reflection pulse signal of each obstacle target to the electromagnetic wave radar pulse signal can be received through the demodulation channel of the UWB anchor point, and the ranging result of each obstacle target is obtained. That is, the radar ranging can be completed based on the transmission and reception of the UWB anchor point itself to obtain the distance between the obstacle target and the UWB anchor point, which is convenient for subsequent coordinate system conversion of the distance between the obstacle target and the UWB anchor point to obtain the coordinate information of each obstacle target.

[0106] When the UWB anchor point is based on the transceiver integrated design, the UWB anchor point can have two independent modulation channels and demodulation channels inside, wherein the modulation channel is used for the UWB anchor point to emit the electromagnetic wave radar pulse signal, and the demodulation channel is used for the UWB anchor point to receive the reflection pulse signal of each obstacle target to the electromagnetic wave radar pulse signal.

[0107] For radar ranging, that is, the distance between the obstacle target and the UWB anchor point, the flight time from emission to reception of the pulse signal can be calculated.

[0108] In a specific implementation, the reflection pulse signal of each obstacle target to the electromagnetic wave radar pulse signal can be received through the demodulation channel of the UWB anchor point, and then the correlation calculation based on the reflection pulse signal and the preamble in the electromagnetic wave radar pulse signal is performed to obtain the channel impulse response. The pulse peak in the channel impulse response can be used to indicate the presence of an obstacle target, at this time, the flight time from the emission time of the electromagnetic wave radar pulse signal to the reception of the reflection pulse signal can be calculated based on the channel impulse response value of the pulse peak, and then the distance between the obstacle target and the UWB anchor point is calculated based on the flight time.

[0109] Specifically, in the UWB radar mode, the electromagnetic wave radar pulse signal transmitted by the UWB anchor point can be a series of radar packet pulse signals composed of Preamble preambles, and the receiving end can be enabled at the same time to receive the reflection pulse signal of the electromagnetic wave radar pulse signal via the obstacle target. At this time, the correlation calculation of the aforementioned echo after reflection of the obstacle target and the aforementioned Preamble preamble is performed to obtain the corresponding CIR channel impulse response. The channel impulse response can be as shown in FIG. 6. When there is an obstacle target around the UWB anchor point, a pulse peak can be generated at the corresponding position of the CIR channel impulse response. Optionally, when the surrounding object moves, due to the Doppler effect, the CIR value at the corresponding position of the CIR channel impulse response can change, at this time, the target motion state of the obstacle target can also be estimated by analyzing the CIR spectrum.

[0110] Exemplarily, in the calculation of the time of flight, the channel impulse response value of the pulse peak, i.e., the CIR value, can be used to indicate the response characteristics of the input signal, including attenuation and delay, at which time the time difference (time of flight, ToF) from transmission to reception can be calculated to complete the calculation of the time of flight; in the distance calculation, the distance of signal propagation can be calculated according to the aforementioned time of flight and the speed of light to complete the distance calculation of the obstacle target and the UWB anchor point.

[0111] It should be noted that the normalized amplitude can adjust the amplitude of the signal or waveform to a standardized range, i.e., between 0 and 1. Optionally, a 1GHz sampling rate can be generally used. When the 1GHz sampling rate is used, for example, when the signal after the pulse is windowed according to the Kaiser window function in FIG. 7, i.e., the position shown in the dashed box is sampled, the UWB ranging accuracy can be below 15 cm. If interpolation calculation is performed in radar frame sampling, the sampling precision can be further improved to below 5 cm by increasing the interpolation sampling mode, for example, by increasing the positions g and h for sampling. There are multiple sampling points in one pulse, which can enable sampling at an interval of 1 ns. The sampling precision can be improved, the UWB anchor point can be used to replace the sampling point in the UPA probe scheme, and the flexibility of accuracy adjustment can be realized. The embodiments of the present application are not limited in this regard.

[0112] In some embodiments of the present application, the measurement result obtained by the UWB anchor point can include an angle measurement result, which can be used to indicate the angle of the obstacle target and the radar receiving antenna.

[0113] Optionally, the UWB anchor point can use an antenna design. At this time, the reflection pulse signal of each obstacle target to the electromagnetic wave radar pulse signal can be received by multiple radar receiving antennas of the UWB anchor point to obtain the angle measurement result of each obstacle target. That is, the angle of arrival measurement of the obstacle target can be completed based on the reception of the antenna to obtain the angle of the obstacle target and the radar receiving antenna, which is convenient for subsequent coordinate system conversion of the distance between the obstacle target and the UWB anchor point to obtain the coordinate information of each obstacle target.

[0114] Specifically, the UWB anchor point can use a diversity antenna design, i.e., the multiple radar receiving antennas of the UWB anchor point can come from multiple groups of diversity antennas. Exemplarily, the angle of the obstacle target and the common antenna can be calculated according to the antenna spacing, the phase difference, and the signal wavelength of the reflection pulse signal to complete radar angle measurement.

[0115] Among the multiple groups of diversity antennas, the same radar receiving antenna can be included as a common antenna to take the aforementioned defined common antenna as the measurement object in the angle of arrival measurement of the obstacle target.

[0116] In actual application, the antenna spacing between any target radar receiving antenna in each group of diversity antennas and the common antenna can be acquired, then the reflected pulse signal of the obstacle target to the electromagnetic wave radar pulse signal is acquired, the phase difference measured via the passageway of the target radar receiving antenna and the common antenna, so as to calculate the angle of the obstacle target and the common antenna by using the antenna spacing, the phase difference and the signal wavelength of the reflected pulse signal.

[0117] When the UWB anchor point uses the diversity antenna to receive, the measurement of the AOA angle information of the target (the obstacle target in the embodiment of the present application) can be completed. As shown in FIG. 8, assuming that the antenna spacing between any target radar receiving antenna (for example, receiver 1) in each group of diversity antennas and the common antenna (for example, receiver 2) is d, the phase difference measured via the passageway of the two receiving antennas by the obstacle target A is φ, the signal wavelength of the reflected pulse signal is λ, and the relationship between the angle θ of the obstacle target and the common antenna and the antenna spacing d and the phase difference φ can be expressed as follows:

[0118] In specific implementation, the angle θ of the obstacle target and the common antenna can be calculated via the above formula. Optionally, the antenna spacing can be designed as λ / 2, for example, the UWB Channel9 frequency band is used, about 1.875 cm, and the embodiment of the present application is not limited to this.

[0119] Optionally, when the radar receiving antenna is designed as two groups of horizontal and vertical diversity antennas, the horizontal angle and the pitch angle of the obstacle target and the common antenna can be calculated. Specifically, the first radar receiving antenna in the first group of diversity antennas and the common antenna can be used to calculate the horizontal angle of the obstacle target and the common antenna, and the second radar receiving antenna in the second group of diversity antennas and the common antenna can be used to calculate the pitch angle of the obstacle target and the common antenna.

[0120] As shown in FIG. 9, for example, assuming that a single anchor point has multiple radar receiving antennas ANT1, ANT2 and ANT3, ANT1 and ANT2 are longitudinally arranged, and ANT2 and ANT3 are transversely arranged, the multiple radar receiving antennas can be divided into groups, for example, ANT1 and ANT2 can come from a first group of diversity antennas, ANT2 and ANT3 can come from a second group of diversity antennas, and ANT2 is the same radar receiving antenna included in both groups as a common antenna, i.e., ANT2 can be used as a common antenna for horizontal and elevation angle diversity reception. When performing radar angle measurement, the first radar receiving antenna ANT1 can be combined with the common antenna ANT2 to receive the reflected pulse signal of the obstacle target, so as to calculate the horizontal angle of the obstacle target with respect to the common antenna; when performing radar angle measurement, the second radar receiving antenna ANT3 can be combined with the common antenna ANT2 to receive the reflected pulse signal of the obstacle target, so as to calculate the elevation angle of the obstacle target with respect to the common antenna.

[0121] The single UWB anchor point can obtain the ranging result and the angle measurement result of the obstacle target in the target coverage range, and can then convert the measurement result detected by itself into a coordinate system to obtain the coordinate information of each obstacle target.

[0122] Specifically, the horizontal angle in the angle measurement result and the distance of the obstacle target from the UWB anchor point indicated by the ranging result can be combined to obtain the end point size of the obstacle target in the X and Y horizontal planes, i.e., X1, X2, Y1 and Y2, so as to provide the parking assistance controller with the size information of the obstacle in the horizontal direction with high accuracy. In the case where the distance is less than 10 cm, the obstacle target can be approximated as a point, i.e., X1=X2 or Y1=Y2. The elevation angle in the angle measurement result and the distance of the obstacle target from the UWB anchor point indicated by the ranging result can be combined to obtain the Z-direction height information of the obstacle, which is provided to the parking assistance controller to determine whether the height is within the collision warning range.

[0123] Optionally, the radar cross section (RCS) of the obstacle target can also be calculated based on the radar equation by combining the UWB radar receiving power field strength and the distance measurement, as well as other known parameters of the anchor point, so as to provide the parking assistance controller with the obstacle type judgment basis.

[0124] In step 203, the obstacle information is sent to the parking assistance controller via the CANFD bus.

[0125] In some embodiments of the present application, the UWB anchor point can provide the obstacle information detected by it to the parking assistance controller, i.e., the PAS parking assistance system, so that the PAS parking assistance system can combine and analyze the obstacle recognition results calculated in the case of the UWB anchor point combined with the APA probe to help complete the automatic parking function of the whole vehicle together with the APA probe.

[0126] In the embodiments of the present application, the UWB anchor point can communicate with the parking assistance controller through the controller area network CANFD bus. In actual application, the UWB anchor point can send the obstacle information to the PAS parking assistance system through the CANFD bus.

[0127] Optionally, each UWB anchor point can send the coordinate information of the obstacle target detected by it to the parking assistance controller in the form of an information matrix. The coordinate information of each obstacle target converted by a single radar anchor point can be uploaded to the parking assistance controller for calculation to realize subsequent obstacle detection and parking assistance.

[0128] For example, the information matrix form can be as shown in Table 1 below:

[0129] Table 1: Obstacle information matrix form

[0130] In the above example, the bus interface of a single UWB anchor point and the PAS master can contain the transmission of obstacle information as shown in Table 1 above. A single UWB anchor point can support the transmission of obstacle information of n (for example, 20) obstacle targets, thereby realizing multi-target detection. The transmitted obstacle information can include the coordinate information of the obstacle target, for example, including the end point size of the obstacle target on the X and Y horizontal planes, i.e., X1, X2, Y1, Y2, to provide the parking assistance controller with higher-precision size information of the obstacle in the horizontal direction; and the Z-direction height information of the obstacle to provide the parking assistance controller with a judgment on whether this height is in the collision warning range. Optionally, the transmitted obstacle information can also include the radar cross section RCS of the obstacle target to provide the parking assistance controller as a basis for judging the type of the obstacle. The embodiments of the present application are not limited in this regard.

[0131] In some embodiments of the present application, when a standard 1m long PVC pipe with a φ75mm specification is used as a support structure for the receiving antenna, the detection error of the UWB anchor point can be guaranteed to be below 5cm, which can meet the ultrasonic UPA parking assistance standard; and for the extreme vertical angle test, it can achieve, for example, upward a about 20°-30°, downward β about 55°-60°, and a total vertical FOV of 75°-90°, which is superior to the 60° pitch angle of the ultrasonic radar; and when the horizontal distance is above 2m, the highest measurable distance is 155cm for the PVC pipe, which is superior to the horizontal distance of the ultrasonic radar and is conducive to realizing the detection of objects suspended above 1m; and the UWB radar measurement of the obstacle near distance blind area provided by the embodiments of the present application can be guaranteed to be below 10cm, which is superior to the ultrasonic radar UPA.

[0132] In the embodiments of the present application, by replacing the UPA probe with a UWB anchor point supporting radar function, changing the mechanical wave detection of the UPA probe to electromagnetic wave detection of the UWB anchor point, and sending the obstacle information identified by the UWB anchor point to the parking assistance controller via the CANFD bus, the problem of appearance opening of the UPA probe during ultrasonic detection is effectively solved, and the out-of-vehicle obstacle detection and parking assistance function based on UWB technology is completed. In addition, the obstacle detection based on the radar principle of the UWB anchor point can effectively identify the suspended obstacles on the upper half of the vehicle, and the UWB anchor point is not easily affected by temperature, which can improve the detection accuracy of the obstacles. At the same time, the UWB anchor point used for radar detection can be applied to the digital key function, and by multiplexing the UWB digital key anchor point before and after, the radar principle is fused to complete the obstacle detection and parking assistance function, which realizes the replacement of the traditional ultrasonic UPA probe and achieves the purpose of reducing the cost of the whole vehicle. Further, the UWB anchor point can also replace the UPA probe and be combined with the APA probe to jointly complete the automatic parking function of the whole vehicle.

[0133] In some embodiments of the present application, in order to facilitate those skilled in the art to understand the out-of-vehicle obstacle detection and parking assistance function based on UWB technology, the following application is combined with the following figure for application description:

[0134] Referring to FIG. 10, a system framework schematic diagram of the obstacle detection and parking assistance function provided by the embodiments of the present application is shown.

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

[0136] Referring to FIG. 11, a schematic diagram of a system framework of the automatic parking function of the whole vehicle is shown.

[0137] As shown in FIG. 11, the UWB anchor point can be used to replace the UPA probe, the mechanical wave detection of the UPA probe can be changed to the electromagnetic wave detection of the UWB anchor point, and the obstacle information of the obstacle target obtained by the radar detection of the UWB anchor point can be provided to the parking assistance controller, i.e., the PAS parking assistance system. The PAS parking assistance system can receive the obstacle information (such as direct coordinate information, etc.) provided by the UWB anchor point and the waveform information provided by the APA probe, and combine and calculate the final obstacle full information, i.e., obtain the obstacle recognition result, to jointly complete the automatic parking function of the whole vehicle.

[0138] Specifically, the specific transmission mode between the APA probe and the PAS parking assistance system can be implemented by referring to related technologies, and the embodiments of the present application will not be described in detail.

[0139] For the UWB anchor point replacing the traditional UPA probe, the UWB anchor point usually communicates with the vehicle end through Bluetooth or Wi-Fi in the application of the digital key, and in the embodiments of the present application, the transmission between the UWB anchor point and the PAS parking assistance system can refer to the specific framework of the UWB anchor point module system provided by the embodiments of the present application shown in FIG. 12. Specifically, the UWB anchor point and the PAS master control can be communicated by CANFD bus, for example, by designing CAN Transceiver to realize the data transmission between the UWB anchor point and the PAS parking assistance system.

[0140] In a specific implementation, as shown in FIG. 12, the anchor point module system based on the UWB technology can include a UWB module, a CANFD bus and a power supply. The CANFD bus can be used to realize the communication between the UWB anchor point and the PAS master control. The power supply can be used to supply power for the work of the UWB module. The UWB module can include a microcontroller unit (MCU), a UWB antenna for transmitting (TX) electromagnetic wave radar pulse signals, such as UWB-ANT4, and UWB antennas for receiving (RX) reflected pulse signals, such as UWB-ANT1, UWB-ANT2 and UWB-ANT3.

[0141] The UWB anchor point receives reflection pulse signals of radar pulse signals of each obstacle target, obtains measurement results, and performs coordinate system conversion on the measurement results to obtain coordinate information of each obstacle target. After that, the UWB anchor point can upload the coordinate information of the obstacle target to the PAS host through the CANFD bus, that is, the CAN Transceiver, so that the PAS parking assistance system can combine and analyze the calculation to obtain the obstacle identification result in the case of the UWB anchor point combined with the APA probe. It is helpful to complete the automatic parking function of the whole vehicle together with the APA probe. That is, the interface form and composition of the provided UWB anchor point and the PAS controller can be combined with the ultrasonic APA to complete the automatic parking function of the whole vehicle. It should be noted that the specific data transmission process between the UWB anchor point and the PAS parking assistance system can refer to the related content of the above method embodiment. The embodiments of the present application do not add to this.

[0142] In the embodiments of the present application, based on the specific framework of the UWB anchor point module system provided above, the off-vehicle obstacle detection and parking assistance functions can be realized.

[0143] It should be noted that for the method embodiments, in order to simply describe, they are all expressed as a series of action combinations, but those skilled in the art should know that the embodiments of the present application are not limited by the described action sequence, because according to the embodiments of the present application, certain steps can be performed in other order or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions involved are not necessarily necessary for the embodiments of the present application.

[0144] Referring to FIG. 13, a structure schematic diagram of an obstacle identification device according to an embodiment of the present application is shown, which is applied to a vehicle, the vehicle is provided with a radar-supported ultra-wideband (UWB) anchor point, the UWB anchor point communicates with a parking assistance controller through a controller area network (CAN) flexible data bus (CANFD) bus, and can include the following modules:

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

[0146] The obstacle information sending module 1302 is configured to send the obstacle information to the parking assistance controller via the CANFD bus, so that the parking assistance controller obtains an obstacle identification result based on the obstacle information.

[0147] In an optional embodiment of the present application, the UWB anchor point provided on the vehicle is used for a digital key function of the vehicle.

[0148] In an optional embodiment of the present application, the radar detection module 1301 can comprise the following sub-modules:

[0149] The radar detection sub-module is configured to detect obstacles in the target coverage range by the UWB anchor points to obtain obstacle information of the obstacles.

[0150] In an optional embodiment of the present application, the radar detection module 1301 can further comprise the following sub-modules:

[0151] The anchor point placement sub-module is configured to adjust the placement position and the placement angle of each UWB anchor point to adjust the detection range of the plurality of UWB anchor points to cover the target coverage range.

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

[0153] In an optional embodiment of the present application, the radar detection sub-module can comprise the following units:

[0154] The radar detection unit is configured to emit electromagnetic wave radar pulse signals by the UWB anchor points and receive reflected pulse signals of each obstacle target to the electromagnetic wave radar pulse signals to obtain obstacle information.

[0155] In an optional embodiment of the present application, the obstacle information comprises coordinate information of the obstacle target, and the radar detection unit can comprise the following sub-units:

[0156] The radar detection sub-unit is configured to receive reflected pulse signals of each obstacle target to the electromagnetic wave radar pulse signals to obtain measurement results, and perform coordinate system conversion on the measurement results to obtain coordinate information of each obstacle target.

[0157] In an optional embodiment of the present application, the measurement results comprise ranging results, and the UWB anchor points have demodulation channels; the step of receiving reflected pulse signals of each obstacle target to the electromagnetic wave radar pulse signals to obtain measurement results can comprise:

[0158] The step of receiving reflected pulse signals of each obstacle target to the electromagnetic wave radar pulse signals to obtain measurement results can comprise:

[0159] In an optional embodiment of the present application, the ranging result is used to indicate the distance between the obstacle target and the UWB anchor point; the step of obtaining the ranging result of each obstacle target by receiving the reflection pulse signal of each obstacle target to the electromagnetic wave radar pulse signal through the demodulation channel of the UWB anchor point can include:

[0160] The reflection pulse signal of each obstacle target to the electromagnetic wave radar pulse signal is received through the demodulation channel of the UWB anchor point; the channel impulse response is obtained based on the reflection pulse signal and the preamble in the electromagnetic wave radar pulse signal; the pulse peak in the channel impulse response is used to indicate that the obstacle target exists; the time of flight from the transmission time of the electromagnetic wave radar pulse signal to the reception of the reflection pulse signal is calculated based on the channel impulse response value of the pulse peak; the distance between the obstacle target and the UWB anchor point is calculated based on the time of flight.

[0161] In an optional embodiment of the present application, the measurement result includes an angle measurement result, and the UWB anchor point has a plurality of radar receiving antennas; the step of receiving the reflection pulse signal of each obstacle target to the electromagnetic wave radar pulse signal to obtain the measurement result can include:

[0162] The reflection pulse signal of each obstacle target to the electromagnetic wave radar pulse signal is received through the plurality of radar receiving antennas of the UWB anchor point to obtain the angle measurement result of each obstacle target.

[0163] In an optional embodiment of the present application, the plurality of radar receiving antennas come from a plurality of diversity antennas, and the same radar receiving antenna as a common antenna is included in the plurality of diversity antennas.

[0164] In an optional embodiment of the present application, the angle measurement result is used to indicate the angle between the obstacle target and the radar receiving antenna; the step of receiving the reflection pulse signal of each obstacle target to the electromagnetic wave radar pulse signal through the plurality of radar receiving antennas of the UWB anchor point to obtain the angle measurement result of each obstacle target can include:

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

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

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

[0168] The obstacle information sending sub-module is configured to send the coordinate information of the obstacle target detected by each UWB anchor point to the parking assistance controller in the form of an information matrix via the CANFD bus.

[0169] In the embodiment of the present application, the UWB anchor point capable of supporting radar function is used to detect electromagnetic waves to obtain the obstacle information of the obstacle target, and the obstacle information is sent to the parking assistance controller via the CANFD bus, so that the parking assistance controller obtains the obstacle recognition result based on the obstacle information. By replacing the UPA probe with the UWB anchor point capable of supporting radar function, the mechanical wave detection of the UPA probe is changed to the electromagnetic wave detection of the UWB anchor point, and the obstacle information recognized by the UWB anchor point is sent to the parking assistance controller via the CANFD bus, thereby effectively solving the problem of appearance opening of the UPA probe during ultrasonic wave detection.

[0170] The embodiment of the present application also provides a vehicle, which comprises a processor, a memory, and a computer program stored in the memory and capable of running on the processor, and the computer program is executed by the processor to implement the obstacle recognition method as above.

[0171] The embodiment of the present application also provides a computer readable storage medium, which stores a computer program, and the computer program is executed by the processor to implement the obstacle recognition method as above.

[0172] For the device embodiment, it is basically similar to the method embodiment, so it is described more simply, and the related parts refer to the part of the method embodiment.

[0173] Each embodiment in the specification is described in a progressive manner, and each embodiment mainly describes the difference from other embodiments, and the same and similar parts of each embodiment refer to each other.

[0174] Those skilled in the art will appreciate that embodiments of the present application can be readily used as a method, apparatus, or computer program product. Accordingly, embodiments of the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present application can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, and the like) embodying computer readable program code.

[0175] Embodiments of the present application are described herein with reference to the drawings, in which are shown flow diagrams and / or block diagrams of methods, apparatuses (systems) and computer program products according to embodiments of the present application. It will be understood that each block of the flow diagrams and / or block diagrams, and combinations of blocks in the flow diagrams and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processing device or other programmable data processing terminal apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal apparatus, create means for implementing the functions specified in the flow diagrams and / or block diagrams block or blocks.

[0176] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing terminal apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the function specified in the flow diagrams and / or block diagrams block or blocks.

[0177] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal apparatus to cause a series of operational steps to be performed on the computer or other programmable terminal apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal apparatus provide steps for implementing the functions specified in the flow diagrams and / or block diagrams block or blocks.

[0178] While preferred embodiments of the present application have been described, additional variations and modifications can be made to these embodiments by those skilled in the art once they have the benefit of the foregoing description. Therefore, the appended claims are intended to cover all such variations and modifications as falling within the scope of the embodiments of the present application.

[0179] Finally, it is to be understood that the phraseology or terminology such as "first" and "second" etc. used herein is merely intended to distinguish one entity or operation from another entity or operation, without necessarily requiring or implying any such actual relationship or order between such entities or operations. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0180] The above provides a kind of barrier identification method, a kind of barrier identification device, a vehicle and a computer readable storage medium, are introduced in detail, the principle and implementation of the present application are described in this paper by applying specific examples, the above example is only for helping to understand the method of the present application and its core idea;For the general technical personnel in the art, according to the idea of the present application, there will be changes in specific implementation and application range, as described above, the content of the specification should not be understood as the limitation of the present application.

Claims

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

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

3. The method according to claim 1 or 2, characterized in that, The electromagnetic wave detection by the UWB anchor point to obtain obstacle information of an obstacle target comprises: electromagnetic wave detection by the UWB anchor point on an obstacle target in a target coverage range to obtain obstacle information of the obstacle target.

4. The method of claim 3, wherein, The UWB antenna of the UWB anchor point has a detection range, and the method further comprises: adjusting the placement position and placement angle of each UWB anchor point to adjust the detection range of the plurality of UWB anchor points to cover the target coverage range.

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

6. The method according to any one of claims 1 to 5, characterized in that, The electromagnetic wave detection by the UWB anchor point to obtain obstacle information of an obstacle target comprises: emitting an electromagnetic wave radar pulse signal by the UWB anchor point and receiving a reflected pulse signal of each obstacle target against the electromagnetic wave radar pulse signal to obtain obstacle information.

7. The method of claim 6, wherein, The obstacle information comprises coordinate information of the obstacle target, and the electromagnetic wave detection by the UWB anchor point to obtain obstacle information of an obstacle target comprises: receiving a reflected pulse signal of each obstacle target against the electromagnetic wave radar pulse signal to obtain a measurement result; performing coordinate system conversion on the measurement result to obtain coordinate information of each obstacle target.

8. The method of claim 7, wherein, The measurement result comprises a ranging result, and the UWB anchor point has a demodulation channel; the receiving of the reflected pulse signal of each obstacle target against the electromagnetic wave radar pulse signal to obtain a measurement result comprises: receiving, by the demodulation channel of the UWB anchor point, the reflected pulse signal of each obstacle target against the electromagnetic wave radar pulse signal to obtain a ranging result of each obstacle target.

9. The method of claim 8, wherein, The ranging result is used to indicate the distance between the obstacle target and the UWB anchor point; and the receiving of the reflected pulse signal of each obstacle target against the electromagnetic wave radar pulse signal by the demodulation channel of the UWB anchor point to obtain a ranging result of each obstacle target comprises: receiving, by the demodulation channel of the UWB anchor point, the reflected pulse signal of each obstacle target against the electromagnetic wave radar pulse signal. Based on the preamble in the reflected pulse signal and the electromagnetic wave radar pulse signal, a channel impulse response is obtained; a pulse peak in the channel impulse response is used to indicate the existence of the obstacle target; Based on the channel impulse response value of the pulse peak, a time of flight from the transmission time of the electromagnetic wave radar pulse signal to the reception of the reflected pulse signal is obtained; Based on the time of flight, the distance between the obstacle target and the UWB anchor point is obtained.

10. The method according to any one of claims 7 to 9, characterized in that, The measurement result includes an angle measurement result, and the UWB anchor point has a plurality of radar receiving antennas; the reflected pulse signal of each obstacle target for the electromagnetic wave radar pulse signal is received to obtain a measurement result, including: The angle measurement result of each obstacle target is obtained by receiving the reflected pulse signal of each obstacle target for the electromagnetic wave radar pulse signal through the plurality of radar receiving antennas of the UWB anchor point.

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

12. The method of claim 11, wherein, The angle measurement result of each obstacle target is obtained by receiving the reflected pulse signal of each obstacle target for the electromagnetic wave radar pulse signal through the plurality of radar receiving antennas of the UWB anchor point. The angle measurement result of each obstacle target is obtained by receiving the reflected pulse signal of each obstacle target for the electromagnetic wave radar pulse signal through the plurality of radar receiving antennas of the UWB anchor point. The antenna spacing between any target radar receiving antenna in each group of diversity antennas and the common antenna is obtained; The phase difference of the reflected pulse signal of the obstacle target for the electromagnetic wave radar pulse signal measured through the path of the target radar receiving antenna and the common antenna is obtained; 13. The method according to claim 11 or 12, characterized in that, Based on the antenna spacing, the phase difference, and the signal wavelength of the reflected pulse signal, the angle of the obstacle target and the common antenna is obtained. The first radar receiving antenna in the first group of diversity antennas and the common antenna are used to calculate the horizontal angle of the obstacle target and the common antenna; 14. The method according to any one of claims 1 to 13, characterized in that, The second radar receiving antenna in the second group of diversity antennas and the common antenna are used to calculate the elevation angle of the obstacle target and the common antenna. The vehicle includes a UVB radar mode, and the method further includes: The UVB radar received power field strength and distance measurement; 15. The method according to any one of claims 1 to 14, characterized in that, Based on the power field strength and the distance measurement, the radar cross section area of the obstacle target is obtained according to the radar equation. The obstacle information includes coordinate information of the obstacle target, and the sending of the obstacle information to the parking assistance controller through the CANFD bus includes:

16. The method according to any one of claims 1 to 15, characterized in that, Each UWB anchor point sends the coordinate information of the obstacle target detected by itself to the parking assistance controller in the form of an information matrix through the CANFD bus. The vehicle includes a front bumper, and the UWB anchor point includes a first anchor point, a second anchor point, and a second anchor point, the first anchor point and the second anchor point are respectively arranged at both ends of the front bumper, and the third anchor point is arranged on the front bumper and located between the first anchor point and the second anchor point.

17. The method according to any one of claims 1 to 16, characterized in that, The vehicle includes a rear bumper, the UWB anchor points include a third anchor point, a fourth anchor point and a fifth anchor point, the third anchor point and the fourth anchor point are respectively arranged at two ends of the rear bumper, and the fifth anchor point is arranged on the rear bumper and located between the third anchor point and the fourth anchor point.

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

19. A vehicle characterized by comprising: The computer program is stored on the computer readable storage medium and is executed by the processor to implement the obstacle recognition method according to any one of claims 1 to 17.

20. A computer-readable storage medium, characterized in that, The computer program is stored on the computer readable storage medium and is executed by the processor to implement the obstacle recognition method according to any one of claims 1 to 17.

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