CN110476077B - Scanning method and device of vehicle-mounted radar and system for controlling vehicle - Google Patents

Abstract

According to different scenes where a vehicle (110) is located, the radar (120) is controlled to adopt different scanning strategies, so that compromise between power consumption of the radar (120) and detection accuracy of obstacles can be achieved. The method comprises the following steps: acquiring reference obstacle information indicating obstacle information of a surrounding area of a vehicle (110) (S410); determining a scanning parameter of an on-vehicle radar (120) of the vehicle (110) according to the reference obstacle information (S420); the surrounding area of the vehicle (110) is scanned using the scanning parameters (S430).

Description

Scanning method and device of vehicle-mounted radar and system for controlling vehicle

Technical Field

The present application relates to the field of vehicle-mounted devices, and more particularly, to a scanning method and apparatus for a vehicle-mounted radar, and a system for controlling a vehicle.

Background

The vehicle-mounted radar can be installed on a vehicle and used for detecting obstacles in the area around the vehicle, wherein the obstacles can refer to any object around the vehicle, including moving objects and immovable objects, the vehicle-mounted radar can work in millimeter waves, centimeter waves or light waves and other wave bands, the millimeter waves are between the centimeter waves and the light waves, and the advantages of microwave guidance and photoelectric guidance are achieved.

The vehicle-mounted radar may include the following components: the device comprises a waveform generator, a transmitting antenna, a receiving antenna and a signal processor. The signal processor can process the transmitting signal and the receiving signal to obtain information such as the speed, the distance and the like of the obstacle.

However, in the prior art, the vehicle-mounted radar has the problem of low energy consumption or low scanning accuracy, and therefore, a scanning method of the vehicle-mounted radar is needed to solve the problem.

Disclosure of Invention

The embodiment of the application provides a scanning method and device of a vehicle-mounted radar and a system for controlling a vehicle.

In a first aspect, a scanning method for a vehicle-mounted radar is provided, which includes: acquiring reference obstacle information indicating obstacle information of a surrounding area of a vehicle; determining scanning parameters of a vehicle-mounted radar of the vehicle according to the reference obstacle information; scanning a surrounding area of the vehicle using the scanning parameters.

Therefore, according to the scanning method of the vehicle-mounted radar in the embodiment of the application, the scanning parameters for scanning the area around the vehicle can be determined according to the reference obstacle information, namely the obstacle information of the area around the vehicle, and then the area around the vehicle is scanned by using the scanning parameters, so that the scanning parameters of the radar signals can be adaptively adjusted according to the obstacle condition of the area around the vehicle instead of scanning by using fixed scanning parameters, the requirements of different road conditions on the radar performance can be met, and the detection precision of the obstacle and the power consumption of the radar can be comprehensively considered.

Alternatively, the method may be performed by a vehicle-mounted radar including an antenna, a signal generator, a signal receiver, a radar controller, a processor, and the like, and specifically, the acquiring of the reference obstacle information and the determining of the scanning parameter may be performed by the processor of the radar system, and the radar controller may control the signal generator to generate a radar signal and transmit the radar signal through the antenna to scan the area around the vehicle.

Optionally, the reference obstacle information may include obstacle information of an area around the vehicle in a time period before the current time, or may also include statistical traffic information of the surroundings of a road where the vehicle is currently located historically, that is, the reference obstacle information may be information of an obstacle in an area before the current time on a driving route of the vehicle, or may also be historical traffic information of the area.

Alternatively, the reference obstacle information may include information such as a speed of an obstacle, a density of the obstacle, and a type of the obstacle in an area around the vehicle, or the speed of the obstacle may be classified into a plurality of levels, and the density of the obstacle may be classified into a plurality of levels, and the reference obstacle information may include information such as a speed level or a density level of the obstacle in the area around the vehicle.

Optionally, different scenes correspond to different scanning parameters, and different obstacle conditions may be considered as different scenes, so that according to the reference obstacle information, a scene corresponding to an area around the vehicle may be determined, and further, the scanning parameters corresponding to the scene may be determined.

With reference to the first aspect, in certain implementations of the first aspect, the obtaining reference obstacle information includes:

obtaining obstacle information of a surrounding area of the vehicle in a time period before a current time.

With reference to the first aspect, in certain implementations of the first aspect, the obtaining reference obstacle information includes:

and acquiring the position of the vehicle, and acquiring historical reference information corresponding to the position.

That is, the reference obstacle information includes obstacle information and/or historical reference information of a surrounding area of the vehicle in a period of time before a current time.

With reference to the first aspect, in certain implementations of the first aspect, the method further includes: dividing a surrounding area of the vehicle into at least two zones; the determining of the scanning parameters of the vehicle-mounted radar of the vehicle according to the reference obstacle information includes: determining at least two groups of scanning parameters according to the reference obstacle information, wherein each group of scanning parameters in the two groups of scanning parameters corresponds to a partition; the scanning a surrounding area of the vehicle using the scanning parameters, comprising: scanning each of the at least two partitions using a set of scanning parameters corresponding to said each partition.

Therefore, according to the scanning method of the vehicle-mounted radar in the embodiment of the application, the area around the vehicle is divided into at least two subareas, and the requirement of each subarea on the scanning parameter of the radar signal is different, so that the scanning parameter corresponding to each subarea is determined according to the obstacle information of each subarea in the reference obstacle information, and each subarea is scanned by using the scanning parameter corresponding to each subarea.

With reference to the first aspect, in certain implementations of the first aspect, the method further includes: determining predicted obstacle information according to the first obstacle information, wherein the predicted obstacle information indicates obstacle information of an area around the vehicle at the predicted current moment, and the predicted obstacle information comprises a first area where obstacles are likely to appear and/or a second area where obstacles are unlikely to appear.

It should be understood that a plurality of obstacles may be included around the vehicle, and therefore, there may be a plurality of predicted regions in which the plurality of obstacles may appear at the current time, any two regions in the plurality of regions may partially or completely overlap, that is, the regions in which the two obstacles may appear may be partially or completely identical, the plurality of regions respectively correspond to the plurality of obstacles, that is, the first region may include a plurality of regions, any two regions in the plurality of regions may partially overlap or completely overlap, the plurality of regions respectively correspond to the plurality of obstacles, the predicted obstacle information may be used to determine which of the scan data are the determined obstacles and which are the obstacles to be determined, where the determined obstacles may be used as obstacle avoidance basis information.

With reference to the first aspect, in certain implementations of the first aspect, the method further includes: acquiring scanning data obtained by scanning the surrounding area of the vehicle by using the scanning parameters; determining first type data which is larger than a preset filtering threshold value in the scanning data; and acquiring determined obstacle information according to the first type of data and predicted obstacle information, wherein the predicted obstacle information comprises the position where the predicted obstacle is likely to appear, and the determined obstacle information comprises information of the obstacle which appears in the first type of data and at the corresponding position in the predicted obstacle information.

It should be understood that the first type of data may be understood as scanning data from which interference information is removed, and the reliability of obtaining obstacle information that can be used as a basis for obstacle avoidance from the first type of data is higher.

For example, the predicted obstacle information may include a plurality of regions corresponding to a plurality of obstacles, and if part or all of the plurality of obstacles appear in the corresponding region in the first type of data, an obstacle appearing in the predicted region where the obstacle is likely to appear may be determined as a determined obstacle, for example, the predicted obstacle information includes a first region where a first obstacle is likely to appear and a second region where a second obstacle is likely to appear, and if the first obstacle appears in the first region and the second obstacle does not appear in the second region in the first type of data, the first obstacle is a determined obstacle and the second obstacle is not yet to be determined.

That is, the determined obstacle information includes information of an obstacle in the first type data that appears in the predicted obstacle information in the corresponding area, and the to-be-determined obstacle information includes information of an obstacle in the first type data that does not appear in the predicted obstacle information in the corresponding area or information of an obstacle that appears in the obstacle information in the previous period and that does not appear in the first type data.

It should be understood that the determination of the obstacle and the obstacle to be determined may have such a conversion relationship: if it is determined that the obstacle is not scanned again, for example, it is determined that the obstacle appears in the obstacle information in the previous period but does not appear in the scan data, it may be converted into an obstacle to be determined, and if the obstacle to be determined is scanned again, it may be converted into an obstacle to be determined.

With reference to the first aspect, in certain implementations of the first aspect, the method further includes: and if the proportion of the first type of data in the scanning data is smaller than the preset detection rate threshold, reducing the preset filtering threshold, and determining the first type of data from the scanning data again.

Or if the number or the proportion of the determined obstacles determined according to the first type of data is smaller than a preset detection rate threshold, reducing the preset filtering threshold, and re-determining the first type of data from the scanning data.

With reference to the first aspect, in certain implementations of the first aspect, the method further includes: determining predicted obstacle information indicating predicted obstacle information of an area around the vehicle, according to the reference obstacle information; determining a measurement deviation according to the scanning data and the predicted obstacle information; and adjusting a conversion matrix between a radar coordinate system and a vehicle coordinate system according to the measurement deviation, wherein the conversion matrix is used for converting obstacle information under the radar coordinate system and obstacle information under the vehicle coordinate system, the radar coordinate system is a coordinate system using the radar as a carrier, and the vehicle coordinate system is a coordinate system using the vehicle as a carrier.

Therefore, the scanning device of the vehicle-mounted radar in the embodiment of the application can also adjust the conversion matrix between the vehicle coordinate system and the radar coordinate system in real time according to the actually scanned obstacle information and the predicted obstacle information, so that the problem that the installation position or the installation angle of the radar on the vehicle is changed due to factors such as collision and bumping, and finally the conversion matrix is inaccurate is solved.

With reference to the first aspect, in certain implementations of the first aspect, the method further includes: determining a first scanning strategy for predicting an area where an obstacle is likely to appear, from among the plurality of scanning strategies, the first scanning strategy indicating that the number of beams of the radar signal is greater than a beam number threshold, or the beam width is less than a beam width threshold, or the scanning density is greater than a scanning density threshold, or the scanning frequency is greater than a scanning frequency threshold, or the scanning mode is an electrical scanning mode; scanning the first area using the first scanning strategy.

That is, the scanning device of the vehicle-mounted radar can predict the area where the obstacle is likely to appear, and can perform fine scanning on the area where the obstacle is likely to appear by adopting a larger number of beams, a narrower beam width, a larger scanning density or a higher scanning frequency.

Optionally, in this embodiment of the present application, the scanning device of the vehicle-mounted radar may also predict an area where an obstacle is unlikely to appear, and record the area as the second area, where the obstacle appearing in the second area may be considered as an obstacle to be determined, and in order to further determine information of the obstacle to be determined in the second area, the scanning device of the vehicle-mounted radar may also perform fine scanning on the second area by using a larger number of beams, a narrower beam width, a larger scanning density, or a higher scanning frequency, so as to further determine which of the pieces of obstacle information to be determined may be converted into a determined obstacle, or into a non-obstacle.

With reference to the first aspect, in certain implementations of the first aspect, the method further includes: and determining the determined obstacle information and/or the obstacle information to be determined as the reference obstacle information at the next scanning moment.

That is, the obstacle information at the current time may be determined as the reference obstacle information at the next scanning time, that is, the scanning parameters at the next scanning time may be determined based on the obstacle information at the current time.

With reference to the first aspect, in certain implementations of the first aspect, the method further includes: merging any two partitions of the at least two partitions into one partition, wherein the difference of the obstacle densities in any two partitions is smaller than a density threshold, or the difference of the speeds of the obstacles is smaller than a speed threshold, or the obstacles are of the same type; determining at least one of an obstacle density, an obstacle speed, and an obstacle type for each of the merged segments; the determining a target scanning strategy corresponding to each partition according to at least one of the obstacle density, the speed of the obstacle and the obstacle type of each partition includes: and determining a target scanning strategy corresponding to each merged partition according to at least one of the density of the obstacles, the speed of the obstacles and the type of the obstacles of each merged partition.

Therefore, this scanning device of on-vehicle radar can carry out the subregion according to the regional obstacle information around the vehicle, obstacle information is different, and is also different to radar signal's scanning parameter's requirement, consequently, carry out the subregion according to obstacle information, can divide into same subregion with the similar region of obstacle information, thereby can use same scanning strategy to scan, divide into two subregions with the great region of obstacle information difference, use different scanning strategies to scan respectively, thereby can satisfy the demand of different scenes to the performance of radar. For example, the obstacle of the lane moves faster, and the obstacle of the sidewalk moves slower, so that the scanning lane has a higher requirement on the time resolution of the radar signal, while the scanning lane has a relatively lower requirement on the time resolution of the radar signal, so that a higher scanning frequency or a higher scanning density can be used when scanning the lane, and a lower scanning frequency or a lower scanning density can be used when scanning the sidewalk.

With reference to the first aspect, in certain implementations of the first aspect, the scan parameters of the radar signal include at least one of:

beam number, beam width, beam direction, scan density, scan frequency, and scan pattern.

With reference to the first aspect, in certain implementations of the first aspect, the radar operates in a millimeter wave frequency band.

With reference to the first aspect, in certain implementations of the first aspect, the method further includes: acquiring scanning data obtained by scanning the surrounding area of the vehicle by using the scanning parameters; and controlling the vehicle to finish obstacle avoidance according to the scanning data.

With reference to the first aspect, in certain implementations of the first aspect, the method further includes: determining a target scanning strategy for scanning a surrounding area of the vehicle among a plurality of scanning strategies that are pre-configured according to the reference obstacle information.

With reference to the first aspect, in certain implementations of the first aspect, the determining, from the reference obstacle information, a target scanning strategy for scanning a surrounding area of the vehicle among a plurality of preconfigured scanning strategies includes: determining a target scene type to which the area around the vehicle belongs among a plurality of pre-configured scene types according to the reference obstacle information; and according to the target scene type, determining a target scanning strategy corresponding to the target scene type in a plurality of scanning strategies which are pre-configured, wherein the plurality of scene types correspond to the plurality of scanning strategies one by one, and each scanning strategy in the plurality of scanning strategies corresponds to a corresponding obstacle condition.

That is, the obstacle information of the area around the vehicle may be described by a scene type to which the area around the vehicle belongs, and optionally, in the plurality of scene types, each scene type may correspond to a corresponding obstacle condition, and the obstacle condition may be at least one of an obstacle density, a speed of the obstacle, and an obstacle type. For example, each scene type may correspond to a respective obstacle density range or obstacle density threshold, or range of speeds of obstacles or threshold of speeds of obstacles, or obstacle type. Alternatively, the preconfigured plurality of scene types may also be characterized by at least one of an obstacle density level, a speed level of the obstacle, and an obstacle type, i.e. each scene type may correspond to a respective obstacle density level, or speed level of the obstacle, or obstacle type.

With reference to the first aspect, in certain implementations of the first aspect, the determining, from the reference obstacle information, a target scene type to which the area around the vehicle belongs among a plurality of pre-configured scene types includes: and determining the target scene type corresponding to each subarea according to the obstacle information of each subarea in the reference obstacle information.

With reference to the first aspect, in certain implementations of the first aspect, the determining, according to the target scene type and among a plurality of preconfigured scanning policies, a target scanning policy corresponding to the target scene type includes: and determining a target scanning strategy corresponding to each partition in the plurality of scanning strategies according to the target scene type of each partition in the reference obstacle information.

In a second aspect, a scanning apparatus for a vehicle radar is provided, which is configured to perform the method of the first aspect and any one of the possible implementations of the first aspect.

In a third aspect, a scanning apparatus for an in-vehicle radar is provided, which includes a memory and a processor, where the memory is used to store a computer program, and the processor is used to call and run the computer program from the memory, so that the scanning apparatus for an in-vehicle radar performs the method of the first aspect and any possible implementation manner of the first aspect.

In a fourth aspect, a computer-readable storage medium is provided, which stores a program that causes a scanning apparatus of an in-vehicle radar to perform the method of the first aspect or any one of the possible implementations of the first aspect.

In a fifth aspect, there is provided a computer program product comprising: computer program code which, when being executed by a processor of a scanning apparatus of a vehicle radar, causes the scanning apparatus of the vehicle radar to carry out the method of the first aspect or any one of the possible implementations of the first aspect.

A sixth aspect provides a system for controlling a vehicle, including the scanning device of the vehicle-mounted radar in the second aspect or the third aspect, and a control device, where the scanning device of the vehicle-mounted radar is configured to scan a surrounding area of the vehicle to obtain scanning data, and further process the scanning data to obtain obstacle avoidance basis information, and the control device can control the vehicle to complete obstacle avoidance according to the obstacle avoidance basis information.

Drawings

Fig. 1 is a schematic diagram of an application scenario according to an embodiment of the present application.

Fig. 2 is a block diagram of a radar system according to an embodiment of the present application.

FIG. 3 is a schematic illustration of the azimuth and range resolution of a radar system.

Fig. 4 is a schematic flowchart of a scanning method of a vehicle-mounted radar according to an embodiment of the present application.

Fig. 5 is an overall flowchart of a scanning method of a vehicle-mounted radar according to an embodiment of the present application.

Fig. 6 is a schematic diagram of a process of processing scan data by a scanning device according to an embodiment of the present application.

Fig. 7 is a schematic diagram of a switching relationship according to a determined obstacle and an obstacle to be determined.

Fig. 8 is a schematic flowchart of a scanning method of a vehicle-mounted radar according to another embodiment of the present application.

Fig. 9 is a schematic diagram of each divided section of the vehicle peripheral region.

Fig. 10 is a schematic block diagram of a scanning apparatus of a vehicle-mounted radar according to an embodiment of the present application.

Fig. 11 is a schematic block diagram of a scanning apparatus of a vehicle-mounted radar according to another embodiment of the present application.

FIG. 12 is a schematic block diagram of a system for controlling a vehicle according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application are described below with reference to the accompanying drawings.

Fig. 1 is a schematic diagram of an application scenario according to an embodiment of the present application.

As shown in fig. 1, the vehicle 110 is provided with a radar system 120, and the radar system 120 may be mounted at a top end of the vehicle, a front end of the vehicle, a rear end of the vehicle, or the like, for detecting obstacle information of an area around the vehicle.

Alternatively, the radar system 120 may operate in the millimeter wave band, or the centimeter wave band, or the light wave band, and if the radar system 120 operates in the millimeter wave band, the operating frequency of the radar system 120 is generally in the range of 30 to 300GHz, for example, the 77GHz band. The radar system 120 may also operate in the 24GHz band, and although the wavelength of 24GHz is over 1cm, the length of 24GHz is 12.5mm, and generally, a radar near this wavelength is called a microwave radar, which is also called a millimeter wave radar. The 24GHz radar has poorer linearity than 77GHz, but surrounding metal objects can be detected, 24GHz can be used for detecting vehicles around the vehicle, and 77GHz can be used for detecting vehicles ahead. The embodiments of the present application do not limit this.

As shown in fig. 1, two coordinate systems are included, a carrier coordinate system with the radar system 120 as a carrier, which is referred to as a radar coordinate system for short, three coordinate axes of the radar coordinate system, which are shown by the solid lines in fig. 1, and a carrier coordinate system with the vehicle 110 as a carrier, which is referred to as a vehicle coordinate system for short, and three coordinate axes of the vehicle coordinate system, which are shown by the dotted lines in fig. 1, which are X-axes, Y-axes, and Z-axes.

The radar system 120 may be configured to scan information of obstacles around the vehicle 110, and since the scan data obtained by the radar system 120 is scan data in a radar coordinate system, when the vehicle is controlled, data corresponding to the information of the obstacles in the vehicle coordinate system is required, and thus the scan data obtained by the radar system 120 needs to be converted into scan data in the vehicle coordinate system, and therefore, a conversion matrix between the radar coordinate system and the vehicle coordinate system needs to be determined. The transformation matrix may be determined according to the installation position and the installation angle of the radar system 120 in the vehicle 110. The installation position and the installation angle of the radar system 120 may be measured when the radar system 120 is installed on the vehicle 110, and a conversion matrix between a radar coordinate system and a vehicle coordinate system may be determined based on the measurement values, and data in the radar coordinate system may be converted into data in the vehicle coordinate system based on the conversion matrix, or data in the vehicle coordinate system may also be converted into data in the radar coordinate system.

In the following, how to realize the conversion between the obstacle information in the radar coordinate system and the obstacle information in the vehicle coordinate system is described in detail.

The installation position of the radar system 120 in the vehicle coordinate system is (x) _R ，y _R ，z _R ) The mounting angle is (theta) _Rx ，θ _Ry ，θ _Rz ) The position of the obstacle in the radar coordinate system can be converted into the position of the obstacle in the vehicle coordinate system according to equation (1):

wherein (x) _V ，y _V ，z _V ) Represents the position of the obstacle in the vehicle coordinate system, (x) _S ，y _S ，z _S ) Expressing the position of the obstacle in a radar coordinate system, and TF is a transformation matrix from the radar coordinate system to a vehicle coordinate system, wherein TF can be determined according to the formula (2):

wherein the TV can be determined according to equation (3):

RM may be determined according to equation (4):

RM＝RzRyRx (4)

wherein Rz, ry and Rx can be determined by equation (5), equation (6) and equation (7), respectively:

if the obstacle information in the vehicle coordinate system needs to be converted into the obstacle information in the radar coordinate system, the obstacle position in the vehicle coordinate system only needs to be multiplied by an inverse transformation matrix TF of the TF ^-1 That is, the description is omitted here. That is, the obstacle information between the vehicle coordinate system and the radar coordinate system may be mutually converted by the conversion matrix.

In the following, it is described which functional modules the radar system 120 may specifically comprise.

Specifically, the radar system 120 may include an antenna, a signal generator, a signal receiver, a signal processor, a radar controller, and other modules. Fig. 2 is a block diagram of an exemplary radar system, which may include two antennas, an antenna a and an antenna B, as shown in fig. 2, and for example, the antenna a and the antenna B may be installed at a front end of a vehicle and a top end of the vehicle, respectively. The signal generator is used for generating a transmitting signal and then transmitting the transmitting signal through an antenna, the signal receiver is used for receiving a signal of the transmitting signal reflected by an obstacle, the radar controller is used for controlling scanning parameters such as the number of wave beams, the wave beam width, the scanning frequency, the scanning density or the scanning mode of the transmitting signal, the radar controller can also be used for determining the scanning parameters of the radar signal for scanning the area around the vehicle according to the type of the scene where the vehicle is located, and the signal processor is used for processing the radar signal received by the signal receiver so as to obtain information such as the distance and the speed of the obstacle.

It will be appreciated that the radar controller and the signal processor may be the same physical entity, e.g. the functions of the radar controller and the signal processor may be performed by one processor, or may be separate physical entities, e.g. the functions of the radar controller and the signal processor may be performed by two processors.

In practical applications, the Signal Processor or the radar controller may be a general-purpose Processor, or a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component. The signal processing may be performed by hardware integrated logic circuits in the signal processor, or by instructions in the form of software, or by a combination of hardware and software.

In fig. 2, the solid line indicates a data signal, and the dotted line indicates a control signal. The scanning mode of the radar signal can comprise an electric scanning mode and a mechanical scanning mode, wherein the mechanical scanning mode is that the antenna is driven by the motor to rotate to a beam pointing position, and then electromagnetic waves are emitted to obtain a reflected signal. The electric scanning mode may include phased array radar or digital beam forming, where the phased array radar mode achieves a position where beam pointing is required and synthesizes beam widths of different widths by changing an initial phase and a working state of each antenna unit, and the digital beam forming mode obtains data equivalent to different beam pointing and beam widths of the phased array by giving different phases to data sampled by each antenna unit.

It should be understood that fig. 2 exemplarily shows two antennas, an antenna a and an antenna B, the embodiment of the present application does not limit the number of antennas included in the radar system, the radar system may include more antennas, or may include only one antenna, and the embodiment of the present application also does not limit the installation position of the antenna, and the antenna a and the antenna B may be both installed at the front end of the vehicle, or may be both installed at the top end of the vehicle.

The resolving power of radar signals to the position of an object is divided into distance resolution and azimuth resolution, wherein the distance resolution can also be called as time resolution, and the azimuth resolution can also be called as space resolution. Distance direction resolution rho _R Expressed by equation (8):

where c represents the speed of light, it can be seen from equation (8) that the range-wise resolution is given by the signal bandwidth B _sw And (6) determining.

Azimuthal resolution ρ _A Expressed by equation (9):

where D denotes the antenna size and λ denotes the wavelength.

From equation (9), it can be seen that the azimuth resolution is determined by the antenna size and the wavelength of the signal.

As shown in fig. 3, the distance between B1 and B4 or the distance between B2 and B3 represents the distance resolution, the distance between B1 and B2 or the distance between B3 and B4 represents the azimuth resolution, the area enclosed by B1, B2, B3 and B4 is a resolution unit, and the objects T1 and T2 in the resolution unit cannot be distinguished.

As can be seen from equation (9), to improve the azimuth resolution, the wavelength of the signal can be shortened, that is, a higher frequency signal is adopted, but as the frequency of the hardware system increases, the difficulty of design and implementation increases, and the cost also increases greatly. Another approach is to increase the antenna size, by which the azimuth resolution can be increased. The azimuth resolution is improved, that is, the beam width is narrowed, the range observable in the azimuth direction is narrowed, and in order to increase the observation range, the pointing direction of the distance direction can be adjusted during observation, and the pointing direction of the distance direction can be changed by mechanically changing the pointing direction of the antenna or by means of electrical scanning (for example, phased array or digital beam forming).

However, different scenarios, such as a highway with obstacles at a high speed and a low density, or a city street with obstacles at a low speed and a high density, or a traffic jam with obstacles at an extremely low speed, have different requirements on the spatial resolution, the temporal resolution and the capability of filtering false targets of the radar signals, and table 1 exemplarily lists the requirements on the spatial resolution, the temporal resolution and the capability of filtering false targets of the radar signals.

TABLE 1

In view of this, the embodiment of the present application provides a scanning method for a vehicle-mounted radar, which can adaptively control a radar scanning parameter according to different scenes, and can achieve the purpose of adjusting a resolution parameter of the vehicle-mounted radar by controlling the scanning parameter of a radar signal, so as to meet requirements of different scenes on Lei Daxing energy.

Fig. 4 shows a schematic flow diagram of a scanning method 400 of a vehicle-mounted radar according to an embodiment of the application, where the method 400 may be performed by a scanning device of the vehicle-mounted radar, which may be the radar system 120 shown in fig. 1, for example.

It should be understood that fig. 4 is a schematic flow chart of a scanning method of a vehicle radar of the embodiment of the present application, and shows detailed steps or operations of the method, but these steps or operations are merely examples, and other operations or variations of various operations in fig. 4 may also be performed by the embodiment of the present invention. Moreover, the various steps in FIG. 4 may each be performed in a different order than presented in FIG. 4, and it is possible that not all of the operations in FIG. 4 may be performed.

As shown in fig. 4, the method 400 includes:

s410, reference obstacle information indicating obstacle information of a surrounding area of the radar-equipped vehicle is acquired.

In the embodiment of the present application, the S410 may be performed by a scanning device of a vehicle-mounted radar, which may be the radar system 120 shown in fig. 1, for example, the S410 may be performed by a signal processor in the radar system.

Specifically, the reference obstacle information may include obstacle information of an area around the vehicle in a period of time before the current time, that is, the reference obstacle information may include obstacle information of an area around the vehicle on a vehicle travel route before the current time, for example, the vehicle travels from a position a to a position B in a first period of time, and the reference obstacle information may include information of surrounding obstacles on a route from the position a to the position B.

Alternatively, the reference obstacle information may also include statistical information about road conditions around the current road where the vehicle is located in the history, that is, the reference obstacle information may include statistical information about obstacles on the current road where the vehicle is located, or the reference obstacle information may also be historical reference information, for example, the vehicle is currently traveling to the area a, and the historical reference information may include statistical information about the route of the area a in the history.

Alternatively, the reference obstacle information may include information on the speed of obstacles in the area around the vehicle, the density of obstacles, the type of obstacles, and the like. For example, the reference obstacle information may include information such as position information of an obstacle, speed information of the obstacle, and a type of the obstacle in the first time period, or the reference obstacle information may also include information such as speed information of an obstacle, density information of the obstacle, and a type of the obstacle in the area in history. The position information of the obstacle may include information such as a distance of the obstacle from the vehicle, and the type information of the obstacle may include a person, a bicycle, a building, or a running vehicle.

Alternatively, in the embodiment of the present application, the speed of the obstacle and the density of the obstacle may be divided into a plurality of levels, and the reference obstacle information may include information such as a speed level or a density level of the obstacle in the area around the vehicle. For example, the reference obstacle information may include information such as a speed level, or a density level of obstacles in an area around the vehicle during the first period. Alternatively, the reference obstacle information may include information of a speed level, a density level, and the like of the obstacle of the area in history.

Hereinafter, how to acquire the reference obstacle information, that is, how to acquire the obstacle information (for convenience of distinction and description, referred to as first obstacle information) and/or the history reference information of the surrounding area of the vehicle in the previous time period (for convenience of distinction and description, referred to as a first time period) of the current time is described in detail.

Specifically, the first obstacle information may be acquired from a scanning device of the vehicle-mounted radar, that is, the first obstacle information may be scan data of a period of time before the scanning device of the vehicle-mounted radar.

For example, the scanning device of the vehicle-mounted radar may scan a surrounding area on a driving route of the vehicle during the first time period to obtain scanning data, and the first obstacle information may be the scanning data during the first time period.

Alternatively, the first obstacle information may be acquired from a sensor (e.g., radar) on the other vehicle. That is, the first obstacle information may be obstacle information of an area around the vehicle in a first period of time collected by sensors on other vehicles. For example, in the first time period, the vehicle travels from the C area to the D area, and the first obstacle information may be information of obstacles around the section from the C area to the D area collected by other vehicles.

Alternatively, the first obstacle information may be acquired from a camera. For example, in the first time period, the vehicle travels from the C area to the D area, and the first obstacle information may be information of obstacles around the area from the C area to the D area, which is acquired from the camera, and the embodiment of the present application does not limit the manner of acquiring the first obstacle information.

In the embodiment of the present application, the historical reference information may be obtained in real time from a third party, or may be stored in a storage medium of the vehicle-mounted radar.

It should be noted that, in the embodiment of the present application, the obstacle information of the vehicle surrounding area may be described by using the scene type to which the vehicle surrounding area belongs. In other words, the scene type may be another expression of the obstacle information of the area around the vehicle. Therefore, the type of the scene to which the area around the vehicle belongs can be determined from the reference obstacle information.

In the embodiment of the application, the scanning device of the vehicle-mounted radar can determine the scene type of the area around the vehicle according to the speed of the obstacle in the area around the vehicle. For example, a first speed threshold may be preset, and if the speed of the obstacle in the area around the vehicle is determined to be greater than the first speed threshold according to the reference obstacle information, it may be determined that the road on which the vehicle is currently traveling belongs to the high speed scene.

Alternatively, the scanning device of the vehicle-mounted radar can also determine the scene type of the area around the vehicle according to the density of the obstacles. For example, a first density threshold may be preset, and if the density of the obstacles in the area around the vehicle is determined to be greater than the first density threshold according to the reference obstacle information, it may be determined that the road on which the vehicle is currently traveling belongs to the high-density scene.

Optionally, the scanning device of the vehicle-mounted radar can also determine the type of the scene to which the surrounding area of the vehicle belongs according to the speed and the density of the obstacles. In other words, the scanning device of the vehicle-mounted radar may determine the scene type of the area around the vehicle according to at least one of the speed of the obstacle, the density of the obstacle, or the type of the obstacle.

In the embodiment of the present application, the obstacle density of the area around the vehicle may be determined according to the formula (10):

the speed of the obstacle in the area around the vehicle can be determined according to equation (11):

in the embodiment of the application, the obstacle type of each area can be determined according to the movement rule of the obstacles. For example, the obstacle type may include a fixed obstacle, a car, a bicycle, a pedestrian, and the like. Alternatively, the type of obstacle may be assisted in distinguishing by other sensors, such as optical images captured by a camera.

In the embodiment of the present application, the scanning device of the vehicle-mounted radar may pre-configure a plurality of scene types for describing obstacle information of an area around the vehicle, and the pre-configured plurality of scene types may include, by way of example and not limitation, several or all of a normal scene, a high speed scene, a high density scene, a parking or starting scene, and a high risk scene.

Alternatively, each scene type may correspond to a respective obstacle density, or speed of the obstacle, or obstacle type, among the plurality of scene types. Specifically, each scene type may correspond to a corresponding obstacle density range or obstacle density threshold, or a range of speeds of obstacles or a threshold of speeds of obstacles, or an obstacle type. That is, each scene type has a corresponding relationship with at least one of the obstacle density range or the obstacle density threshold, the range of the speed of the obstacle or the threshold of the speed of the obstacle, and the obstacle type. Therefore, it is possible to determine the speed of the obstacle, the density of the obstacle, or the type of the obstacle in the area around the vehicle from the reference obstacle information, and then determine the scene type to which the area around the vehicle belongs among the plurality of scene types from the speed of the obstacle, the density of the obstacle, or the type of the obstacle.

Alternatively, the preconfigured plurality of scene types may also be characterized by at least one of an obstacle density level, an obstacle speed level, and an obstacle type. That is, each scene type may correspond to a respective obstacle density level, or speed level of the obstacle, or obstacle type. For example, the obstacle density may include P levels, P being an integer greater than 1, and the speed of the obstacle may include Q levels, Q being an integer greater than 1. According to the information such as the obstacle density and the speed of the obstacle in the area around the vehicle in the reference obstacle information, the obstacle density grade p of the area around the vehicle and the speed grade q of the obstacle can be determined, and therefore the type of the scene to which the area around the vehicle belongs can be determined.

As follows, taking the multiple scene types including a conventional scene, a high-density scene, a high-speed scene, a parking/starting scene, and a high-risk scene as an example, a corresponding relationship between each scene type and an obstacle density level, or a speed level of an obstacle, or a distance range or threshold from the vehicle, or an obstacle type is introduced, and the corresponding relationship may be set as shown in table 2:

TABLE 2

Type of scene	Obstacle density rating	Speed rating	Type of obstacle	Distance from vehicle
					Conventional scenes	p＜p 1	q＜q 1
High density scenes	p≥p 1
					High speed scenes		q≥q 1
High risk scenario			Human or bicycle
					Parking/starting scenario				L belongs to the distance range, or L < L max

As can be seen from Table 2, if it is determined that the obstacle density level of the area around the vehicle satisfies p < p based on the reference obstacle information ₁ The barrier velocity class satisfies q < q ₁ Then the area around the vehicle belongs to a regular scene. Or if the obstacle density of the area around the vehicle is determined to meet the grade p ≧ p according to the reference obstacle information ₁ Then the area around the vehicle belongs to a high density scene. Or, if the vehicle is determined based on the reference obstacle informationThe barrier speed grade of the surrounding area satisfies that q is more than or equal to q ₁ Then the area around the vehicle belongs to a high speed scene. Or if the type of the obstacle in the area around the vehicle is determined to be a person or a bicycle according to the reference obstacle information, the area around the vehicle belongs to a high-risk scene. Or if the distance L between the obstacle in the area around the vehicle and the vehicle is determined to belong to a certain distance range or is smaller than the distance threshold value L according to the reference obstacle information _max And the area around the vehicle belongs to a parking or starting scene.

It should be understood that the correspondence between the scene types and the determination conditions shown in table 2 is merely an example and is not limited, and the embodiment of the present application may further include more scene types, or may include fewer scene types, and the embodiment of the present application does not limit the number of the scene types, and the determination condition corresponding to each scene type may be determined according to actual situations.

S420, determining scanning parameters of a vehicle-mounted radar of the vehicle according to the reference obstacle information;

and S430, scanning the surrounding area of the vehicle by using the scanning parameters.

In the embodiment of the present application, both of S420 and S430 may be performed by a scanning device of the vehicle-mounted radar, which may be the radar system 120 shown in fig. 1, and specifically, S420 may be performed by a signal processor or a radar controller in the radar system, or may be performed by both the signal processor and the radar controller. For example, the signal processor may be configured to determine a scanning parameter of a radar signal, the radar controller may control the scanning parameter of the radar signal transmitted by the signal generator, and further, the signal generator may transmit the radar signal, and the radar signal may be transmitted through the antenna, that is, this S430 may be performed by the modules, such as the radar controller, the signal generator, the antenna, and the signal processor, together.

It should be noted that, since the types of scenes to which the areas around the vehicle belong may be different, the requirements on the scanning parameters of the radar signals are also different. Thus, it is understood that different scene types may correspond to different scanning parameters, and that scanning strategies may be used to describe the scanning parameters for scanning the area surrounding the vehicle. In other words, the scanning strategy may be another expression of scanning parameters for scanning an area surrounding the vehicle.

Specifically, different obstacle conditions may correspond to different scanning parameters, and the scanning device of the vehicle-mounted radar may determine the obstacle conditions of the area around the vehicle according to the aforementioned reference obstacle information, thereby determining the scanning parameters for scanning the area around the vehicle.

Alternatively, the scanning device of the vehicle-mounted radar may be preconfigured with a plurality of scanning strategies which may be used for scanning parameters of radar signals used for scanning the area around the vehicle in case of different obstacles. That is, the multiple scanning strategies may correspond to different obstacle conditions. For example, each of the plurality of scanning strategies may correspond to a speed of the respective obstacle, an obstacle density, or an obstacle type. Therefore, the obstacle speed, the obstacle density, or the obstacle type of the area around the vehicle may be determined based on the reference obstacle information, and then a target scanning strategy for scanning the area around the vehicle may be determined among the plurality of scanning strategies based on the obstacle speed, the obstacle density, or the obstacle type, so that the area around the vehicle may be scanned using the target scanning strategy, i.e., the area around the vehicle may be scanned using the scanning parameters corresponding to the target scanning strategy.

Optionally, the scanning parameters of the vehicle radar may comprise at least one of: beam number, beam width, beam direction, scan density, scan frequency and scan pattern.

For example, the scanning device of the vehicle-mounted radar can set a scheme of K wave beams, and the corresponding wave beams are respectively K ₁ ，k ₂ ...，k _K The number of waveforms increases in sequence.

W beam width schemes, the corresponding beam widths are W ₁ ，w ₂ ...，w _w The beam widths increase in sequence.

D scan density schemes, corresponding scan densities beingd ₁ ，d ₂ ...，d _D The scan density increases in turn.

F scanning frequency schemes with corresponding scanning frequencies of F ₁ ，f ₂ ...，f _F The scanning frequency is increased in sequence.

Two scanning modes, mechanical scanning and electrical scanning (e.g., phased array or digital beam forming).

The scanning device of the vehicle-mounted radar can establish mapping relations between different pieces of obstacle information and at least one of the K wave beam number schemes, the W wave beam width schemes, the D scanning density schemes, the F scanning frequency schemes and the two scanning modes. For example, when the obstacle speed satisfies the first obstacle condition, the scanning parameter used includes k ₂ ，w ₂ ，d ₂ ，f ₃ The electrical scanning, i.e. when the barrier velocity meets the first barrier condition, uses the scanning parameters: k is a radical of formula ₂ A beam having a width w ₂ Beam density of d ₂ At a scanning frequency of f ₃ The scanning mode is an electrical scanning mode. That is, correspondence of different obstacle conditions and used scanning parameters, i.e., scanning strategies, may be established.

Optionally, if the obstacle information is characterized by scene types, then mapping relationships between different scene types and at least one of the K beam number schemes, the W beam width schemes, the D scan density schemes, the F scan frequency schemes, and the two scan modes may be established. That is, each scene type corresponds to at least one of the corresponding beam number, beam width, scanning density, scanning frequency, and scanning manner. Alternatively, the number of beams, the beam width, the scanning density, the scanning frequency, or the scanning mode corresponding to each scene type may be set. Optionally, the plurality of preconfigured scene types may include scene types such as a normal scene, a high-density scene, a high-speed scene, a parking/starting scene, and a high-risk scene, and the number of beams, or the beam width, or the scan density, or the scan frequency, or the scan mode corresponding to the scene types may be set.

In the following, it is assumed that the obstacle information is described by using a plurality of scene types, the scanning parameters of the radar signal include the number of beams, the beam width, the scanning density, the scanning frequency, and the scanning manner, the correspondence between the plurality of scanning strategies and the plurality of scene types is described, and table 3 is an exemplary correspondence.

TABLE 3

Type of scene	Number of beams	Beam width	Scanning density	Scanning frequency	Scanning mode
						Conventional scenes	Intermediate number	Medium width	Mid range	Mid range	Electrical scanning
High density scenes	Much more	Is narrower	Is higher than	Is higher than	Electrical scanning
						High speed scenes	Small amount of	Width of	Is low in	Is low in	Electrical scanning
High risk scenario	Multiple purpose	Narrow in width	Height of	Height of	Mechanical scanning
						Parking/starting scenario	Ultra-much	Ultra narrow	Super high	Super high	Electrical scanning

As can be seen from table 1, different scenarios (or different obstacle conditions) have different requirements on the spatial resolution and the temporal resolution of the radar signals, and therefore, the scanning parameters of the radar signals used for scanning different scenarios can be determined according to the requirements of different scenarios on the scanning parameters of the radar signals.

For example, in a high-density scene (e.g., urban streets), a high-risk scene, and a parking/starting scene, there are many obstacles, and the distance between the obstacles is small, and the requirement for the spatial resolution is higher than that in a conventional scene, therefore, as shown in table 3, the number of beams corresponding to the high-density scene, the high-risk scene, and the parking/starting scene may be set to be greater than that in the conventional scene. However, in a high-speed scene (e.g., an expressway), there are fewer obstacles, and the distance between the obstacles is large, and the requirement on the spatial resolution capability of the radar system is lower than that in a conventional scene, as shown in table 3, the number of beams corresponding to the high-speed scene may be set to be smaller than that in the conventional scene.

Similarly, high density scenes, high risk scenes, and parking/starting scenes have lower requirements for time resolution than conventional scenes, while high speed scenes have higher requirements for time resolution than conventional scenes. Therefore, as shown in table 3, the beam widths corresponding to the high-density scene, the high-risk scene, and the parking/starting scene may be set to be smaller than the beam width corresponding to the conventional scene, and the beam width corresponding to the high-speed scene is larger than the beam width corresponding to the conventional scene.

It should be understood that the scan parameters corresponding to each scene type listed in table 3 have only a relative concept, and the embodiment of the present application does not limit the specific range corresponding to each scene type, and the specific range of the scan parameters corresponding to each scene type may be determined according to statistics on a large amount of data. For example, for a scene, scanning may be performed by setting different scanning parameters, for example, different numbers of waveforms or beam widths, to obtain an estimated value of the position of an obstacle in the scene, and determining the optimal number of waveforms and beam widths in the scene according to the estimated values in the different scanning parameters.

It should be noted that, in the embodiment of the present application, correspondence between different obstacle information and different scanning strategies may also be given by a function or a table, and similarly, correspondence between the multiple scanning strategies and the multiple scene types may also be given by a function or a table, which is not limited in the embodiment of the present application.

Therefore, the scanning method of the vehicle-mounted radar according to the embodiment of the present application can determine the scanning parameters for scanning the area around the vehicle according to the reference obstacle information, that is, the obstacle information of the area around the vehicle, and then scan the area around the vehicle using the scanning parameters. Therefore, scanning parameters of radar signals can be adjusted in a self-adaptive mode according to the condition of the obstacles in the area around the vehicle instead of scanning by adopting fixed scanning parameters, so that different road conditions or different scenes can be met, the requirements on the performance of the radar can be met, and the problems of the radar power consumption and the detection precision of the obstacles can be comprehensively considered.

Since the obstacle information differs, i.e. the scene type differs, the requirements on the scanning parameters of the radar signal also differ. Therefore, the scanning device of the vehicle-mounted radar may also perform partitioning according to the obstacle information of the surrounding area of the vehicle, in this case, the method 400 may further include:

dividing a surrounding area of the vehicle into at least two sections;

the S420 may further include:

determining at least two groups of scanning parameters according to the reference obstacle information, wherein each group of scanning parameters in the two groups of scanning parameters corresponds to a partition;

the S430 may further include:

scanning each of the at least two partitions using a set of scanning parameters corresponding to said each partition.

Specifically, the vehicle surrounding area may include areas such as a lane, a sidewalk on both sides of the lane, and an area outside the sidewalk, and the obstacle information may be different for different areas. For example, the speed of the obstacle on the lane is high, the speed of the obstacle on the sidewalk is low, the type of the obstacle on the lane is mainly a vehicle, and the type of the obstacle on the sidewalk is mainly a person or a bicycle, so that different areas have different requirements on the scanning parameters of the radar signal.

Then, the scanning device of the vehicle-mounted radar may divide the surrounding area of the vehicle into at least two sections. For example, the scanning device of the vehicle-mounted radar may divide the area around the vehicle into four sub-areas according to a region division strategy, for example, the lane may be divided into two sub-areas, the front of the vehicle is a first sub-area, the rear of the vehicle is a second sub-area, the sidewalks on both sides of the lane may be a third sub-area, and the area outside the sidewalks is a fourth sub-area.

Optionally, the scanning device of the vehicle-mounted radar can also divide the area around the vehicle into three areas according to other area division methodsTwo partitions are reduced, and the method for partitioning the area is not limited in the embodiment of the present application. For example, the partitions may be partitioned as follows: dividing the area around the vehicle into N-M grids, wherein each grid corresponds to a subarea, N and M are integers larger than zero, and each grid is represented by (x) _n ，y _m ) Is a rectangle with the center having side length L. Or each network is represented by (x) _n ，y _m ) Is a circle with a center radius R, (x) _n ，y _m ) The selection can be arbitrary, and can also be evenly selected in the area around the vehicle, and the embodiment of the application is not limited.

After the area around the vehicle is divided into at least two subareas, the scanning device of the vehicle-mounted radar can determine at least two groups of scanning parameters according to the obstacle information of each subarea in the reference obstacle information, wherein each group of scanning parameters corresponds to one subarea, namely each subarea corresponds to a corresponding scanning strategy, and then each subarea is scanned by using one group of scanning parameters corresponding to each subarea. The method for determining the scanning strategy corresponding to each partition according to the obstacle information of each partition may refer to the aforementioned method for determining the scanning parameters of the vehicle-mounted radar of the vehicle according to the reference obstacle information, that is, S420, and for brevity, details are not repeated here.

Therefore, according to the scanning method of the vehicle-mounted radar in the embodiment of the application, the area around the vehicle is divided into at least two subareas, and the requirement of each subarea on the scanning parameter of the radar signal is different, so that the scanning parameter corresponding to each subarea is determined according to the obstacle information of each subarea in the reference obstacle information, and each subarea is scanned by using the scanning parameter corresponding to each subarea.

Optionally, the determining at least two sets of scanning parameters according to the reference obstacle information includes:

determining at least one of an obstacle density, an obstacle speed and an obstacle type of each of the at least two zones according to the first obstacle information and/or the historical reference information;

and determining a day mark scanning strategy corresponding to each subarea according to at least one of the obstacle density, the speed of the obstacle and the obstacle type of each subarea.

In particular, each of the plurality of scanning strategies may correspond to a respective obstacle condition. For example, each scanning strategy corresponds to a respective obstacle density, or speed of obstacles, or obstacle type. The scanning device of the vehicle-mounted radar may determine the obstacle density, or the speed of the obstacle, or the type of the obstacle for each zone according to at least one of the first obstacle information and the historical reference information, and then determine a target scanning strategy for scanning each zone according to the obstacle densities, or the speed of the obstacle, or the type of the obstacle corresponding to the plurality of scanning strategies. For example, each scanning strategy corresponds to a corresponding obstacle density, and the obstacle density of each partition can be determined according to at least one of the first obstacle information and the historical reference information, so as to determine a target scanning strategy for scanning each partition. Or each scanning strategy corresponds to the speed of the corresponding obstacle, the speed of the obstacle of each partition can be determined according to at least one of the first obstacle information and the historical reference information, and therefore the target scanning strategy corresponding to each partition is determined.

Alternatively, the obstacle information of each partition may be described by a scene type of each partition, and the scene type and the scanning policy may have a correspondence, so that the scanning policy of each partition may be determined according to the scene type of each partition. For example, the scene type to which each partition belongs may be determined according to the correspondence shown in table 2, and then the scanning policy corresponding to each partition may be determined according to the correspondence shown in table 3.

Further, the scanning device of the vehicle-mounted radar may perform merging processing according to the obstacle information of at least two partitions, and specifically may include:

and merging different partitions with the same type of obstacles into the same partition, wherein the difference of the densities of the obstacles in the at least two partitions is smaller than a density threshold, or the difference of the speeds of the obstacles is smaller than a speed threshold.

Determining at least one of an obstacle density, an obstacle speed, and an obstacle type for each of the merged segments;

the determining a target scanning strategy corresponding to each partition according to at least one of the density of obstacles, the speed of obstacles, and the type of obstacles of each partition includes:

and determining a target scanning strategy corresponding to each merged subarea according to at least one of the density of the obstacles, the speed of the obstacles and the type of the obstacles of each merged subarea.

That is, in the embodiment of the present application, regions where the difference in the density of obstacles is relatively small, or where the types of obstacles are similar, or where the difference in the speed of obstacles is relatively small may be merged into the same partition, and even if these regions are not adjacent regions, the merging may be performed. For example, the lanes on both sides of a highway may be considered to belong to the same zone. Optionally, different regions that historically belong to the same scene type may also be merged into the same partition according to historical reference information or statistical results of other vehicles. Then, the scanning device of the vehicle-mounted radar can count the information of the obstacle density, the speed of the obstacle, the type of the obstacle and the like of each combined subarea. The specific statistical method may refer to formula (10) and formula (11), and then determine a target scanning strategy corresponding to each merged partition according to at least one of the obstacle density, the speed of the obstacle, and the obstacle type of each merged partition, so as to scan each merged partition using the target scanning strategy corresponding to each partition.

Therefore, in the embodiment of the present application, the radar scanning device may perform partitioning according to the obstacle information, so as to divide the area with similar obstacle information into the same partition, divide the area with larger obstacle information difference into two partitions, and then use the same scanning strategy, that is, the same group of scanning parameters scans the area with similar obstacle information, and respectively use different scanning strategies, that is, different scanning parameters scan the area with larger obstacle difference, thereby being capable of meeting the requirements of different scenes on the performance of the radar. For example, the obstacle of the lane moves faster, and the obstacle of the sidewalk moves slower, so that the scanning lane has a higher requirement on the time resolution of the radar signal, while the scanning lane has a relatively lower requirement on the time resolution of the radar signal, so that a higher scanning frequency or a higher scanning density can be used when scanning the lane, and a lower scanning frequency or a lower scanning density can be used when scanning the sidewalk.

Fig. 5 is a flowchart illustrating an overall scanning method 500 of a vehicle-mounted radar according to an embodiment of the present application, and as shown in fig. 5, the method may include:

in S510, a scanning device of the vehicle-mounted radar acquires reference obstacle information;

in S520, the scanning device of the vehicle-mounted radar determines the scene type of the area around the vehicle according to the reference obstacle information;

in S530, a scanning device of the vehicle-mounted radar scans a surrounding area of the vehicle according to a scanning strategy corresponding to the scene type to obtain scanning data;

specifically, the specific implementation steps of S510 to S530 may refer to the related descriptions in S410 to S430, and for brevity, are not described herein again.

In S540, the scanning device of the vehicle-mounted radar may further process the scanned data to obtain the first type data.

The first type of data is scanning data for filtering interference signals, the first type of data can be used for a scanning device of the vehicle-mounted radar to acquire information for determining an obstacle from the first type of data, the information for determining the obstacle is information of the obstacle which is determined by the scanning device of the vehicle-mounted radar and needs to be avoided, and the scanning device of the vehicle-mounted radar can perform obstacle avoidance on the obstacle in the information for determining the obstacle by using the information for determining the obstacle as an obstacle avoidance basis.

Since the scan data obtained in S530 is scan data in the radar coordinate system, which needs to be converted into scan data in the vehicle coordinate system for controlling the vehicle, the scan data may be converted using equation (1). After the scanning data is acquired, the scanning device of the vehicle-mounted radar can convert the scanning data into scanning data in a vehicle coordinate system and then process the converted scanning data, or can process the scanning data in the radar coordinate system and then convert the processed data in the coordinate system.

It should be understood that, the conversion of the two coordinate systems is required from the scanning data in the radar coordinate system to the obstacle information that can be used for controlling the vehicle, and the embodiment of the present application is not limited to the timing of performing the conversion of the coordinate systems, and the conversion of the coordinate systems may be performed before the processing, or may be performed after the processing, or may be performed during the processing. The following mainly describes how to process the scan data, and the process of coordinate system conversion of the scan data is omitted, but does not mean that the process is not performed.

Hereinafter, with reference to fig. 6, details about which steps may be specifically included in S540 are described:

s541, the first type of data which is larger than a preset filtering threshold value in the scanning data is determined.

The scanning device of the vehicle-mounted radar can preset a filtering threshold value for filtering the scanning data, and the scanning data larger than the filtering threshold value is determined as the first type of data. Specifically, the scanning device of the vehicle-mounted radar may perform Fast Fourier Transform (FFT) on the scanning data, the preset filtering threshold is used to filter the scanning data after the FFT, the scanning data smaller than the preset filtering threshold may be regarded as some interference information, the interference information lower than the preset filtering threshold is filtered, and the reliability of determining the obstacle information used for obstacle avoidance from the scanning data larger than the preset filtering threshold is higher.

In S542, determining whether a ratio of the first type data to the scan data is greater than a preset detection rate threshold;

the scanning device of the vehicle-mounted radar can preset a detection rate threshold, if the proportion of the first type of data in the scanning data is smaller than the preset detection rate threshold, namely, the scanning data obtained through filtering does not reach the preset detection rate threshold, the process goes to 543, and if not, the process goes to S545.

In S543, it is determined whether the preset filtering threshold reaches the lower limit, if not, the process proceeds to S544, otherwise, the process proceeds to S545.

In S544, the filtering threshold is lowered, and the first type of data is determined again from the scanned data, i.e., S541 is performed again.

In S545, first type data is obtained.

In the above, a process of processing the scan data by the scanning device of the vehicle-mounted radar to obtain the first type of data is described, and in the following, a process of determining the obstacle information that can be used as the basis for avoiding the obstacle in the first type of data is described in detail.

How to determine the predicted obstacle information will be described first with reference to fig. 5.

As shown in fig. 5, the method 500 may further include:

and S550, the scanning device of the vehicle-mounted radar can also determine predicted obstacle information according to the first obstacle information.

Specifically, the scanning device of the vehicle-mounted radar may predict obstacle information, that is, predicted obstacle information, at the next sampling time (that is, the current time), based on the first obstacle information. Since the first obstacle information is obstacle information in a first time period before the current time, the first obstacle information may include information such as speed and position of an obstacle in the first time period, and the scanning device of the vehicle-mounted radar may predict a first area in which an obstacle may appear and/or a second area in which an obstacle may not appear at the current time based on the first obstacle information and the traveling speed of the vehicle, and optionally, the predicted obstacle information may include a first area in which each obstacle may appear and/or a second area in which an obstacle may not appear.

For example, the first obstacle information includes a scanning device of the vehicle-mounted radar at t ₁ The speed of the vehicle relative to the ground in the vehicle coordinate system is (v) according to the obstacle information acquired at the moment _vx ，v _vy ) The position of the obstacle in the vehicle coordinate system is (x) ₁ ，y ₁ ) The speed of the obstacle relative to the ground in the vehicle coordinate system is (v) _Tx ，v _Ty ) Then the next sampling instant t can be determined from equation (12) and equation (13) ₂ The position where the obstacle may appear is (x) ₂ ，y ₂ )：

x ₂ ＝x ₁ +(v _Tx -v _Vx )(t ₂ -t ₁ ) (12)

y ₂ ＝y ₁ +(v _Ty -v _Vy )(t ₂ -t ₁ ) (13)

Alternatively, the scanning device of the vehicle-mounted radar may determine a certain area near a position where an obstacle may appear as a first area where the obstacle may appear. For example, a range of a square area with a side length of L may be determined as the first area with a position where an obstacle is likely to appear as a center, or a range of a circle with a radius of R may be determined as the first area with the position where the obstacle is likely to appear as a center, and the second area may be an area other than the first area, or may be an area at a certain distance from the first area.

It should be understood that, in the embodiment of the present application, a plurality of obstacles may be included around the vehicle, and therefore, there may be a plurality of regions where the plurality of obstacles are predicted to be present at the present time, and the plurality of regions respectively correspond to the plurality of obstacles. Any two of the plurality of regions may partially or fully overlap, i.e., the regions in which two obstacles may be present may be partially or fully identical, i.e., the first region may comprise a plurality of regions, and any two of the plurality of regions may partially or fully overlap.

In order to further determine whether the obstacle is likely to appear in the predicted possible area, the vehicle-mounted radar scanning device can perform fine scanning on the predicted possible area where the obstacle is likely to appear, for example, the fine scanning is performed by using a larger number of beams, a narrower beam width, a larger scanning density or a higher scanning frequency.

Further, in S560, the scanning device of the vehicle-mounted radar may further obtain determined obstacle information from the first type of data according to the predicted obstacle information, where the determined obstacle information is information of an obstacle that needs to be avoided and is determined by the scanning device of the vehicle-mounted radar.

Optionally, the scanning device of the vehicle-mounted radar may perform an obstacle avoidance operation on the obstacle in the information of the determined obstacle by using the information of the determined obstacle as an obstacle avoidance basis. Or, the scanning device of the vehicle-mounted radar can also output the determined obstacle information as output data to a control device of the vehicle, and the control device controls the vehicle to complete obstacle avoidance according to the determined obstacle information. Or the scanning device of the vehicle-mounted radar can display the determined obstacle information to a driver of the vehicle, so that the driver can control the vehicle to complete obstacle avoidance according to the determined obstacle information.

Hereinafter, how the scanning device of the vehicle-mounted radar obtains the determined obstacle information from the first type data based on the predicted obstacle information is described.

As described above, the predicted obstacle information includes information of an area where a predicted obstacle is likely to appear, the scanning device of the vehicle-mounted radar may compare the first type data with the predicted obstacle information, and determine an obstacle appearing in the predicted corresponding position as a determined obstacle if a corresponding obstacle appears in the first type data for the position where the predicted obstacle is likely to appear. For example, it is predicted that a first obstacle may appear in a first area and a second obstacle may appear in a second area, and if the first obstacle appears in the first area and the second obstacle does not appear in the second area in the first type of data, the first obstacle is a determination obstacle and the second obstacle is an obstacle to be determined.

Optionally, in this embodiment of the application, the predicted obstacle information may further include information of an area where an obstacle is unlikely to appear, the obstacle appearing in the predicted area where the obstacle is unlikely to appear may be considered as an obstacle to be determined, and the scanning device of the vehicle-mounted radar may perform fine scanning on the area where the obstacle is unlikely to appear by using a larger number of beams, a narrower beam width, a larger scanning density, or a higher scanning frequency, so as to determine a condition of the obstacle to be determined in the obstacle information to be determined.

Fig. 7 shows a conversion relationship between the obstacle determination and the obstacle to be determined: if it is determined that the obstacle is not scanned again, for example, it is determined that the obstacle appears in the obstacle information in the previous period but does not appear in the scan data, it may be converted into an obstacle to be determined, and if the obstacle to be determined is scanned again, it may be converted into an obstacle to be determined.

In the embodiment of the application, the scanning device of the vehicle-mounted radar can output the information of the determined obstacle and can also output the information of the obstacle to be determined. The information of the obstacle to be determined can also be used for further determining the condition of the obstacle to be determined at the next scanning moment, if the obstacle to be determined is further determined as the determined obstacle, the information can be used as obstacle avoidance basis information, and otherwise, the information is not used as the obstacle avoidance basis information.

In the embodiment of the present application, the predicted obstacle information may also be used to perform online calibration on the transformation matrices of the vehicle coordinate system and the radar coordinate system, and a specific implementation process is described below.

Optionally, as an embodiment, the method 500 may further include:

determining that a measurement deviation exists according to the scanning data and the predicted obstacle information;

and according to the measurement deviation, re-determining a conversion matrix between a radar coordinate system and a vehicle coordinate system, wherein the conversion matrix is used for converting obstacle information under the radar coordinate system and obstacle information under the vehicle coordinate system, the radar coordinate system is a coordinate system using the radar as a carrier, and the vehicle coordinate system is a coordinate system using the vehicle as a carrier.

Specifically, coordinate conversion is required from a radar coordinate system to a vehicle coordinate system, and a conversion matrix for the coordinate conversion may be determined according to an initial installation position and an installation angle of the radar on the vehicle, but the radar is generally installed on a housing of the vehicle, and a change in the installation position or the installation angle may occur due to a collision, a jolt, and the like, which requires re-determination of the conversion matrix.

In the embodiment of the application, the scanning device of the vehicle-mounted radar can determine whether a measurement deviation of consistency exists or continuity is lost according to the scanning data, the first type of data, the determined obstacle information, the obstacle information to be determined and the predicted obstacle information, and if the measurement deviation exists, the conversion matrix between the two coordinate systems can be determined again according to the measurement deviation.

Optionally, in this embodiment of the application, the scanning device of the vehicle-mounted radar may also determine whether there is a deviation of consistency or a loss of continuity according to the scanning data and the detection results of other sensors.

For example, if the positions of the obstacles measured in the radar of the other vehicle are (0, 10,0), (0, 20,0) and (0, 30,0) in sequence, and the positions in the camera are (0, 10.1,0), (0, 19.9,0) and (0, 20.0,0), and the positions measured in the radar of the vehicle are (0, 10.5,0), (0, 20.6,0) and (0, 30.4,0), it is statistically found that the radar and the other sensors produce consistent deviation (0,0.5,0), (0,0.6,0) and (0,0.4,0) on the same obstacle. Therefore, the position of the radar in the vehicle is determined to be changed, and therefore, the position of the radar relative to the vehicle coordinate system when the radar is installed is (0,1,0), the position parameter of the radar can be modified to be (0,1.5,0), and according to the modified position parameter, the conversion matrix from the radar coordinate system to the vehicle coordinate system can be determined again according to the formula (1) to the formula (7).

In the following, a scanning method of a vehicle-mounted radar according to an embodiment of the present application is described with reference to a specific example, and fig. 8 is a schematic flowchart of a scanning method of a vehicle-mounted radar according to another embodiment of the present application, which may also be performed by a scanning apparatus of a vehicle-mounted radar, for example, the scanning apparatus of a vehicle-mounted radar in fig. 2, 4, 5 or 6. As shown in fig. 8, the method comprises the steps of:

s801, dividing a region around a vehicle into at least two subareas;

specifically, the area around the vehicle is divided according to the area division strategy, as shown in fig. 9, which is a schematic view of each divided area after the real road condition is divided, the area A1 is a building area on both sides of the road, the area A2 is a sidewalk area on both sides of the road, the area A3 is a front area where the vehicle runs on the lane, and the area A4 is a rear area where the vehicle runs on the lane.

S802, counting the density, the speed or the type of the obstacles of each divided subarea according to the first obstacle information;

(a) The density of the obstacles of each partition is counted according to the formula (10):

partition A1: the barrier density was: 0/unit area, partition A2: the obstacle density is: 2/unit area, partition A3: the barrier density was: 1/unit area, partition A4: the barrier density was: 1 per unit area.

(b) And (3) counting the speed of the obstacle of each subarea according to a formula (11):

and a partition A1: none, partition A2: the speed of the obstacle is: 1m/s (m/s), zone A3: the speed of the obstacle is: 20m/s, partition A4: the speed of the obstacle is: 19m/s.

(c) And deducing the type of the obstacle according to the motion law of the obstacle:

partition A1: no obstacle exists; and (3) partitioning A2: a pedestrian; and a partition A3: a vehicle; and a partition A4: a vehicle.

S803, combining the subareas according to the counted obstacle density, the obstacle speed or the obstacle type of each subarea;

because the obstacle types of the subarea A3 and the subarea A4 are vehicles and the speed difference is small, the subarea A3 and the subarea A4 can be combined into the same subarea, which is marked as the subarea A5.

Alternatively, the partitions may also be merged with reference to the historical reference information, and according to the historical reference information, it is determined that A3 and A4 belong to the same scene, and A1, A2, and A5 belong to different scenes, so that A3 and A4 may be divided into the same partition, and A1, A2, and A5 may be divided into different partitions.

S804, counting the density, the speed or the type of the combined obstacles of each subarea according to the first obstacle information;

(a) The density of the obstacles of each partition is counted according to the formula (10):

and a partition A1: the obstacle density is: 0/unit area, partition A2: the obstacle density is: 2/unit area, partition A5: the barrier density was: 1 per unit area.

(b) And (3) counting the speed of the obstacle of each subarea according to a formula (11):

and a partition A1: none, partition A2: the speed of the obstacle is: 1m/s (m/s), zone A5: the speed of the obstacle is: 19.5m/s.

(c) And deducing the type of the obstacle according to the motion law of the obstacle:

and a partition A1: no obstacle exists; and (3) partitioning A2: a pedestrian; and a partition A5: a vehicle.

At 805, a scanning strategy corresponding to each partition is determined according to the density of the obstacles, the speed of the obstacles or the type of the obstacles of each merged partition.

Specifically, the execution process of 705 may refer to the execution process of S330, and for brevity, the description is omitted here.

Optionally, further, the density of obstacles may be divided into 3 levels, each level corresponding to a respective obstacle density range or threshold:

grade 1: less than 2 per unit area;

grade 2:2 to 5 per unit area;

grade 3: greater than 5 per unit area

The speed of the obstacle may also be divided into 3 levels, each level corresponding to a respective obstacle speed range or threshold:

grade 1: less than 5m/s;

grade 2:5m/s to 17m/s;

grade 3: greater than 17m/s.

Determining the density grade p of the obstacles of each subarea according to the density and the speed of the obstacles of each subarea after combination _new And speed class q _new ：

A1：p _new ＝1，q _new =1, building;

A2：p _new ＝1，q _new =1, pedestrian;

A5：p _new ＝1，q _new =3, vehicle.

Optionally, in this embodiment of the present application, the obstacle density level p of each partition in the historical reference information may also be counted _old And speed class q of the obstacle _old Thereby p in the history reference information can be combined _old And q is _old Determining a density level p and a speed level q of the obstacle for each section, wherein the obstacle density level p and the speed level q of the obstacle for each section can be determined according to formula (14) and formula (15):

p＝αp _new +(1-α)p _old (14)

q＝αq _new +(1-α)q _old (15)

the scaling factor α may be fixed or may be changed according to the latest obstacle information, for example, if the continuously measured obstacle density level and the obstacle speed level are stable, α may be increased, otherwise α may be decreased.

For the above embodiment, in the history reference information, the density level, the speed level, and the obstacle type of the obstacle of each section are as follows:

and a partition A1: p is a radical of _old ＝1，q _old =1, building;

and (3) partitioning A2: p is a radical of _old ＝1，q _old =1, pedestrian;

and a partition A5: p is a radical of _old ＝1，q _old =3, vehicle.

According to the formula (14) and the formula (15), the density grade, the speed grade and the obstacle type of the obstacle of each partition are determined.

And a partition A1: p =1, q =1, building;

and (3) partitioning A2: p =1, q =1, pedestrian;

and a partition A5: p =1,q =3, vehicle.

Optionally, the scene where the vehicle is located may be further described in a normal scene, a high-density scene, a high-speed scene, a parking/starting scene. Each scene corresponds to a corresponding density grade, speed grade and obstacle type, and the correspondence is as follows:

a conventional scene: the density grade p of the obstacle is less than 3, and the speed grade q of the obstacle is less than 3;

high-density scenes: the density grade p of the obstacles is more than or equal to 3;

high-speed scenes: the barrier speed grade q is more than or equal to 3;

parking/starting scenario: the speed of the bicycle is less than 5m/s, and the nearest distance between the bicycle and surrounding obstacles is less than 1m of a threshold value;

high-risk scenes: a person or a bicycle.

According to the above correspondence, the scene type of each partition can be determined as follows:

and a partition A1: a conventional scene;

and (3) partitioning A2: high-risk scenes;

and a partition A5: high speed scenes.

Optionally, it is assumed that the system is preconfigured with 3 waveform schemes, which correspond to 3 waveforms, 4 waveforms, and 5 waveforms, respectively; 2 wave beam widths, which are respectively 1/25 radian and 1/50 radian; 2 scanning densities are provided, which are respectively at intervals of 1/25 radian and 1/50 radian; there are two scanning modes, mechanical scanning and electrical scanning.

Such a scanning strategy may be set for each of the above partitions:

a1:4 waveforms, 1/25 radian;

a2:5 waveforms, 1/50 radian;

a3-4:3 waveforms, 1/25 radian.

Alternatively, in the embodiment of the present application, the first obstacle information may include motion parameters such as a position and a speed of the obstacle relative to the vehicle, and therefore, a position where the obstacle may appear may be predicted according to the motion parameters of the vehicle and the motion parameters of the obstacle.

For example, the observation time is 0s, and the acquired motion parameters of the obstacle are as follows:

obstacle 1: coordinate (10m ) speed: (0 m/s,20 m/s);

obstacle 2: coordinate (15m, 50m) speed: (0 m/s,19 m/s);

obstacle 3: coordinate (5m, 30m) speed: (0 m/s, -1 m/s);

obstacle 4: coordinate (20m, 10m) speed: (0 m/s,1 m/s);

vehicle speed (0 m/s,15 m/s).

1s after the observation time, the possible positions of the obstacle are:

obstacle 1: coordinates (10m, 15m);

obstacle 2: coordinates (15m, 54m);

obstacle 3: coordinates (5m, 14m);

the obstacle 4: coordinates (20 m, -4 m).

Since the predicted obstacle information is obstacle information in the vehicle coordinate system, it needs to be converted into obstacle information in the radar coordinate system, and assuming that the radar is installed right in front of the vehicle, the installation position is (0,1,0), and the installation angle is right ahead (0,0,0), the position of the obstacle in the radar coordinate system is as follows:

obstacle 1: coordinates (10m, 14m)

Obstacle 2: coordinates (15m, 53m)

Obstacle 3: coordinates (5m, 13m)

Obstacle 4: coordinates (20 m, -5 m)

If the obstacle information obtained by scanning is as follows:

obstacle N1: coordinates (10.5m, 14.3m);

obstacle N2: coordinates (15.2m, 53.1m);

obstacle N3: coordinates (15m, 20m);

obstacle N4: coordinates (20.1 m, -5.1 m).

The obstacles N1, N2, N4 may be determined as determination obstacles and the obstacles N3 and 3 may be determined as to-be-determined obstacles.

While method embodiments of the present application are described in detail above with reference to fig. 4-9, device embodiments of the present application are described below with reference to fig. 10-12, it being understood that device embodiments correspond to method embodiments and that similar descriptions may refer to method embodiments.

Fig. 10 shows a schematic block diagram of a scanning apparatus 1000 of a vehicle-mounted radar according to an embodiment of the present application, where the apparatus 1000 may correspond to (e.g., may be configured with or be itself) the scanning apparatus of the vehicle-mounted radar described in the method 400 described above, or the scanning apparatus of the vehicle-mounted radar in the methods shown in fig. 5, 6 or 8.

As shown in fig. 10, the apparatus 1000 may include:

an acquisition unit 1010 for acquiring reference obstacle information indicating obstacle information of a surrounding area of a vehicle equipped with a radar;

a determining unit 1020, configured to determine a scanning parameter of a vehicle-mounted radar of the vehicle according to the reference obstacle information;

a scanning unit 1030 configured to scan a surrounding area of the vehicle using the scanning parameter.

Specifically, the apparatus 1000 may correspond to a scanning apparatus of a vehicle-mounted radar in the scanning method 400 of a vehicle-mounted radar according to an embodiment of the present application, and the apparatus 1000 may include entity units for performing the method performed by the scanning apparatus of a vehicle-mounted radar in the method 400 in fig. 4 or the method illustrated in fig. 5, 6 or 8. Moreover, each entity unit and the other operations and/or functions in the apparatus 1000 are respectively for implementing the method 400 in fig. 4 or the corresponding flows in the methods shown in fig. 5, fig. 6, or fig. 8, and are not described herein again for brevity.

Fig. 11 is a schematic block diagram of another scanning apparatus 1100 for a vehicle-mounted radar according to an embodiment of the present application, and as shown in fig. 11, the apparatus 1100 includes: a memory 1110, a processor 1120, and a transceiver 1130, the processor 1120 configured to execute code in the memory 1110.

Optionally, when the codes in the memory 1110 are executed, the processor 1120 may implement the method performed by the scanning apparatus of the vehicle-mounted radar in the method embodiment in fig. 4, fig. 5, fig. 6, or fig. 8, and for brevity, the description is omitted here.

In some embodiments, the transceiver 1130 is capable of implementing the communication-related functions of the scanning unit 1030 of fig. 10, and the processor 1120 is capable of implementing the remaining functions of fig. 10 other than the communication-related functions, such as the respective functions of the acquiring unit 1010, the determining unit 1020, and the segmenting unit and the controlling unit.

It should be noted that the above-described method embodiments may be applied in or implemented by a processor. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method embodiments may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The Processor may be a general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, or discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor.

It will be appreciated that the memory in the embodiments of the subject application can be either volatile memory or nonvolatile memory, or can include both volatile and nonvolatile memory. The non-volatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash Memory. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory. By way of example, but not limitation, many forms of RAM are available, such as Static random access memory (Static RAM, SRAM), dynamic Random Access Memory (DRAM), synchronous Dynamic random access memory (Synchronous DRAM, SDRAM), double Data Rate Synchronous Dynamic random access memory (DDR SDRAM), enhanced Synchronous SDRAM (ESDRAM), synchronous link SDRAM (SLDRAM), and Direct Rambus RAM (DR RAM). It should be noted that the memory of the systems and methods described herein is intended to comprise, without being limited to, these and any other suitable types of memory.

Fig. 12 is a schematic block diagram of a system for controlling a vehicle according to an embodiment of the present application, and as shown in fig. 12, the system includes: a scanning device 1201 of the vehicle-mounted radar, and a control device 1202, wherein the scanning device 1201 of the vehicle-mounted radar can be the scanning device of the vehicle-mounted radar in fig. 10 or fig. 11.

The scanning device 1201 of the vehicle-mounted radar can scan the area around the vehicle to obtain scanning data, and further, can process the scanning data to obtain obstacle avoidance basis information for controlling the vehicle to operate.

The control device 1202 may control the running route of the vehicle according to the obstacle avoidance basis information, and specifically, may control the vehicle to complete an obstacle avoidance operation on an obstacle in the obstacle avoidance basis information.

Embodiments of the present application also provide a computer-readable storage medium storing one or more programs, the one or more programs comprising instructions, which when executed by a portable electronic device comprising a plurality of application programs, enable the portable electronic device to perform the method of the embodiment shown in fig. 4, 5, 6 or 8.

The embodiment of the application also provides a computer program product. The computer program product comprises program code that can be executed by a computer for performing the method of the embodiment shown in fig. 4, 5, 6 or 8.

It should be understood that the term "and/or" herein is merely one type of association relationship that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

It should be understood that, in the various embodiments of the present application, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the technical solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

It can be clearly understood by those skilled in the art that, for convenience and simplicity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (11)

1. A scanning method of a vehicle-mounted radar is characterized by comprising the following steps:

uniformly dividing an area around a vehicle into M subareas, wherein M is an integer greater than 1;

acquiring reference obstacle information of the M subareas, wherein the reference obstacle information is used for indicating obstacle information of the M subareas and comprises at least one of obstacle density, obstacle speed and obstacle type;

combining at least two partitions in the M partitions into one partition to obtain N partitions, wherein the difference of the densities of the obstacles in the at least two partitions is smaller than a density threshold, or the difference of the speeds of the obstacles is smaller than a speed threshold, or the types of the obstacles are the same, and N is a positive integer smaller than M;

determining N groups of scanning parameters of a vehicle-mounted radar of the vehicle according to the reference obstacle information of the N subareas, wherein each group of scanning parameters in the N groups of scanning parameters corresponds to one subarea in the N subareas, and the scanning parameters comprise at least one of the following parameters: the number of wave beams, the width of the wave beams, the direction of the wave beams, the scanning density, the scanning frequency and the scanning mode;

scanning each of the N partitions with a set of scanning parameters corresponding to each of the N partitions to obtain scanning data.

2. The method of claim 1, wherein the obtaining the reference obstacle information of the M partitions comprises:

and acquiring the barrier information of the M subareas in the previous time period of the current time.

3. The method of claim 1, wherein the obtaining the reference obstacle information of the M partitions comprises:

and acquiring the position of the vehicle and acquiring historical reference information corresponding to the position.

4. The method according to claim 1, wherein the determining N sets of scanning parameters of an onboard radar of the vehicle according to the reference obstacle information of the N zones, each of the N sets of scanning parameters corresponding to one of the N zones comprises:

determining scene types respectively corresponding to the N partitions in a plurality of scene types according to the reference obstacle information of the N partitions;

and determining scanning strategies corresponding to the N partitions in a plurality of scanning strategies according to the scene types corresponding to the N partitions respectively, wherein each scanning strategy in the plurality of scanning strategies corresponds to a group of scanning parameters, and the scene types correspond to the scanning strategies one to one.

5. The method according to any one of claims 1 to 4, further comprising:

determining predicted obstacle information indicating predicted obstacle information of the M partitions according to the reference obstacle information of the M partitions;

determining a measurement deviation according to the scanning data and the predicted obstacle information;

and adjusting a conversion matrix between a radar coordinate system and a vehicle coordinate system according to the measurement deviation, wherein the conversion matrix is used for converting obstacle information under the radar coordinate system and obstacle information under the vehicle coordinate system, the radar coordinate system is a coordinate system using the radar as a carrier, and the vehicle coordinate system is a coordinate system using the vehicle as a carrier.

6. A scanning device for a vehicle-mounted radar, comprising:

a dividing unit that evenly divides an area around the vehicle into M divisions, M being an integer greater than 1;

an obtaining unit, configured to obtain reference obstacle information of the M partitions, where the reference obstacle information is used to indicate obstacle information of the M partitions, and the reference obstacle information includes at least one of obstacle density, obstacle speed, and obstacle type;

the dividing unit is further configured to merge at least two partitions of the M partitions into one partition to obtain N partitions, where a difference between densities of obstacles in the at least two partitions is smaller than a density threshold, or a difference between speeds of the obstacles is smaller than a speed threshold, or the types of the obstacles are the same, and N is a positive integer smaller than M;

a determining unit, configured to determine, according to the reference obstacle information of the N zones, N sets of scanning parameters of a vehicle-mounted radar of the vehicle, where each of the N sets of scanning parameters corresponds to one of the N zones, and the scanning parameters include at least one of: the number of wave beams, the width of the wave beams, the direction of the wave beams, the scanning density, the scanning frequency and the scanning mode;

and the scanning unit is used for scanning each partition in the N partitions by using a group of scanning parameters corresponding to each partition in the N partitions to obtain scanning data.

7. The apparatus according to claim 6, wherein the obtaining unit is specifically configured to:

and acquiring the barrier information of the M subareas in the previous time period of the current moment.

8. The apparatus according to claim 6, wherein the obtaining unit is specifically configured to:

and acquiring the position of the vehicle and acquiring historical reference information corresponding to the position.

9. The apparatus according to claim 6, wherein the determining unit is specifically configured to:

determining scene types respectively corresponding to the N partitions in a plurality of scene types according to the reference obstacle information of the N partitions;

and determining scanning strategies corresponding to the N partitions in a plurality of scanning strategies according to the scene types corresponding to the N partitions respectively, wherein each scanning strategy in the plurality of scanning strategies corresponds to a group of scanning parameters, and the scene types correspond to the scanning strategies one to one.

10. The apparatus according to any of claims 6 to 9, wherein the determining unit is further configured to:

determining predicted obstacle information from the reference obstacle information of the M partitions, the predicted obstacle information indicating predicted obstacle information of the M partitions;

determining a measurement deviation according to the scanning data and the predicted obstacle information;

and adjusting a conversion matrix between a radar coordinate system and a vehicle coordinate system according to the measurement deviation, wherein the conversion matrix is used for converting obstacle information under the radar coordinate system and obstacle information under the vehicle coordinate system, the radar coordinate system is a coordinate system using the radar as a carrier, and the vehicle coordinate system is a coordinate system using the vehicle as a carrier.

11. A system for controlling a vehicle, comprising:

a scanning device of a vehicle-mounted radar according to any one of claim 6 to claim 10, and a control device;

the scanning device of the vehicle-mounted radar is used for scanning the surrounding area of the vehicle to obtain scanning data;

and the control device is used for controlling the vehicle to finish obstacle avoidance according to the scanning data.

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