CN113376581A

CN113376581A - Radar blocking object detection method and device

Info

Publication number: CN113376581A
Application number: CN202010116525.7A
Authority: CN
Inventors: 范拓; 石现领; 胡烜
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2020-02-25
Filing date: 2020-02-25
Publication date: 2021-09-10
Also published as: WO2021169717A1

Abstract

The application provides a radar shelter detection method and device, wherein the method comprises the following steps: and determining the intensity of the first reflected light beam received by the first sampling time unit, and further determining that the shielding object exists on the radar window according to the intensity of the first reflected light beam. The first reflected light beam is received by the radar in the first sampling time unit after the first emission time unit emits the emergent light beam, and the time interval between the end time of the first sampling time unit and the first emission time unit is determined according to the distance from the emission position of the emergent light beam to the radar window and the distance from the radar window to the receiving position of the first reflected light beam. Can detect the shelter from thing of radar window through this application to promote the detection rate of accuracy of radar.

Description

Radar blocking object detection method and device

Technical Field

The application relates to the technical field of radars, in particular to a radar shelter detecting method and device.

Background

Radar (radar) is a device that measures a target distance by transmitting an electromagnetic wave signal and receiving an electromagnetic wave signal reflected by being blocked by an object on its transmission path. Radars generally include components such as a transmitting device, a receiving device, a signal processor, and the like. The transmitting device is positioned on the inner side of the window and used for transmitting electromagnetic beams, and the electromagnetic beams are transmitted out of the radar to fly after passing through the window. The radar is in the use, receives the influence of multiple environmental factor usually easily, causes the radar window to have the shelter from the thing, like sand and dust, sleet, muddy water etc. this can bring the interference for the outgoing of electromagnetic wave beam and the receipt of echo, because the shelter on the radar can't the detection window, if the radar is according to the outgoing wave beam or the echo of being sheltered from the thing interference, comes the object around the detection, and the testing result who obtains must be inaccurate to the detection accuracy of radar has been influenced.

Disclosure of Invention

The application provides a radar shelter object detection method and device, and the detection of a radar window shelter object can be achieved through the method and device, so that the detection accuracy of a radar is improved.

In a first aspect, the present application provides a method for detecting a radar obstruction, which, in an implementation manner, can be implemented by a radar through each built-in component; in other implementations, the method may be implemented by radar obstruction detection devices for radar obstruction detection other than radar.

In the method, the intensity of the first reflected light beam is first determined, and the presence of an obstruction on the radar window is then determined based on the intensity of the first reflected light beam. The first reflected light beam is the reflected light beam received by the radar in the first sampling time unit after the radar emits the emergent light in the first emission time unit. The time interval between the end time of the first sampling time unit and the first emission time unit is determined according to the distance from the emission position of the emergent light beam to the radar window and the distance from the radar window to the receiving position of the first reflected light beam.

In one embodiment, the outgoing light beam is emitted by a light beam emitting device of the radar, and the emission position of the outgoing light beam is the position of the light beam emitting device. The first reflected light beam is received by the echo receiving device of the radar, and the receiving position of the first reflected light beam is the position of the echo receiving device. The beam reflecting means and the echo receiving means may be located on the same side of the radar window.

If the shielding object exists on the radar window, the shielding object on the radar window can cause the emergent light beam to be strongly reflected in the first sampling time unit, so that in the method, the shielding object on the radar window can be detected through the intensity of the first reflected light beam received in the first sampling time unit, and then the shielding object is processed, so that the detection accuracy of the radar is improved.

Optionally, the intensity of the first reflected light beam is greater than a preconfigured first intensity threshold. In the event that the intensity of the first reflected beam is greater than a first intensity threshold, it is determined that an obstruction is present on the radar window. And determining whether the first reflected light beam received by the first sampling time unit is a reflected light beam caused by the obstruction or not through the first intensity threshold value, so as to realize the detection of the obstruction.

Optionally, in the method, window temperature information of the radar window may be further obtained, and the existence of the obstruction in the radar window is determined according to the intensity of the first reflected light beam and the window temperature information. The window temperature information of the radar window can be determined by a temperature information acquisition device, such as an infrared thermal imaging device, an infrared temperature metering device and the like. If the intensity of the first reflected light beam is high and the window temperature information of the radar window indicates that the temperature of the radar window is low, the fact that ice and snow type shielding objects with low temperature and high reflectivity exist on the radar window can be determined, and the accuracy of detecting the shielding objects is improved.

Optionally, after the window temperature information is determined, a first confidence degree may be determined according to the window temperature information, a second confidence degree may be determined according to the first reflected light beam, and then a target confidence degree may be determined according to the first confidence degree and the second confidence degree, so that it is determined that an obstruction exists on the radar window according to the target confidence degree and a preconfigured first confidence degree threshold. The target confidence coefficient of the shielding object is determined according to a first confidence coefficient determined by the window temperature information and a second confidence coefficient determined according to the intensity of the first reflected light beam, different target confidence coefficients can be obtained according to different window temperature information or different intensities of the first reflected light beam, and therefore detection of the shielding object on the radar window is accurately achieved.

In an optional implementation manner, the first confidence level and the second confidence level are added to obtain a target confidence level. In another optional implementation manner, the first confidence level and the second confidence level are subjected to weighted summation according to respective preconfigured confidence level weights, so as to obtain a target confidence level.

Optionally, in the method, window temperature information of the radar window is determined according to at least one unit temperature information. The radar window is pre-meshed into at least one window unit, and then the unit temperature information of each window unit is collected, and the unit temperature information corresponds to the window units one to one. Wherein, the unit temperature information of the window unit can be collected by the temperature information collecting device. The temperature information acquisition device has multiple categories, and correspondingly, the unit temperature information can also have multiple categories. If the unit temperature information can be acquired by the infrared thermal imaging device, the image characteristic data of the thermal image acquired by the infrared thermal imaging device of each window unit is contained. For another example, the unit temperature information of the radar window is collected by an infrared temperature measuring device, and comprises the temperature value of each window unit. Through becoming each window unit with the radar window refines, and then carry out the analysis to the unit temperature information of each window unit, detect the shelter from thing of window radar, improved the degree of accuracy that the shelter from thing detected.

Optionally, the window temperature information in the method is determined according to the number of target-shielded window units, and the target-shielded window units are units satisfying target-shielded characteristic conditions, where the target-shielded characteristic conditions may be different according to different categories of the unit temperature information. Through the target shielding characteristic condition, the target shielding window units which are possibly shielded by the shielding object in the radar window are screened out, and then the window temperature information is determined according to the number of the target shielding window units, so that the reliability of detecting the shielding object according to the window temperature information is ensured.

Optionally, the unit temperature information may include image characteristic data, wherein the image characteristic data is used to indicate color intensities in the thermal profile of the window, for example, if the infrared thermal imaging device is a thermal imager for color imaging, the image characteristic data may be intensities of three primary color components (i.e., RGB component intensities, including red component intensity, blue component intensity and green component intensity) corresponding to each window unit; if the infrared thermal imaging device is a thermal imager for gray-scale imaging, the image characteristic data may be gray-scale intensities corresponding to the window units. Here, the target occlusion feature condition may be such that the color intensity satisfies a color intensity threshold condition. The temperature information of the units collected by the infrared thermal imaging equipment is processed, and the target shielding window unit is screened out.

Optionally, the unit temperature information may include a temperature value, and the target occlusion characteristic condition may be set such that the temperature value is lower than a preconfigured fourth temperature threshold. The unit temperature information collected by the infrared temperature metering equipment is processed, and the target shielding window unit is screened out.

Optionally, after the shelter exists on the radar window, the prompt, the alarm and the like of the shelter exist on the radar window can be sent out, so that the shelter on the radar window is cleaned, and the detection accuracy of the radar is improved.

Optionally, after it is determined that an obstruction exists on the radar window, a first cleaning instruction may be issued, where the first cleaning instruction is used to instruct cleaning of the radar window.

In an alternative implementation, the first cleaning instruction is an instruction instructing the window cleaning device to clean the radar window. Wherein, the window cleaning device can be a non-detachable part in the radar; or an external device which is additionally produced relative to the radar and used for cleaning the window of the radar can be attached to the radar which is installed and used in a certain combination mode (such as a clamping mode, a magnetic suction mode and the like); or a device removable on the radar, produced in combination with the radar; but also part of the radar carrying equipment, such as vehicles, robots etc. Through the cleanness of instructing window cleaning device to the radar window for shelter from the thing on the radar window is clear away, with the detection rate of accuracy that promotes the radar.

Optionally, the first cleaning instruction may include first position information, and the first position information may indicate a first position to be cleaned in the radar window. The pertinence and effectiveness of the cleaning of the radar window are improved by the indication of the first position. Wherein the first position information may be determined based on cell temperature information of the radar window and/or an intensity of the first reflected light beam.

In a specific implementation manner, a third window unit with the temperature lower than a preconfigured fourth temperature threshold value is determined from each window unit according to the unit temperature information of the radar window, and the third window unit is determined as the first position information according to the position of the third window unit in the radar window. By the method, the positions with lower temperature and possibly low-temperature shielding objects in the radar window are cleaned, and the pertinence and effectiveness of the radar window cleaning are improved.

In another specific implementation manner, a second reflected light beam with the intensity larger than a second intensity threshold value is determined from the first reflected light beam, and the first position information is determined according to the corresponding reflection position of the second reflected light beam on the radar window. Through the mode, the position with stronger reflection of the emergent light beam in the radar window is cleaned, and the pertinence and effectiveness of the radar window cleaning are improved.

In another specific implementation manner, whether the corresponding reflection position temperature of the second reflection beam on the radar window is lower than a first temperature threshold is determined according to the unit temperature information of each window unit, and in the case that the corresponding reflection position temperature of the second reflection beam on the radar window is lower than the first temperature threshold, the position information of the corresponding reflection position of the second reflection beam on the radar window is determined as the first position information. Through two aspects of unit temperature information and the intensity of first reflected light beam, with the position information that reflects light in the window unit strong and the position correspondence that the temperature is low, as first position information, improved the accuracy to ice and snow class low temperature shelter from thing location to the clear pertinence and the validity of radar window.

Optionally, the first cleaning instruction may further include first temperature information indicating that a heating assembly in the window cleaning apparatus is to be heated to a first temperature. Through the instruction to first temperature, guaranteed to heat clear validity to the radar window to and the rationality of heating resource planning utilization. Wherein the first temperature information may be determined based on cell temperature information of the radar window and/or an intensity of the first reflected light beam.

In a specific implementation manner, a first window unit with the temperature lower than a second temperature threshold value can be determined from a window unit of a radar window according to unit temperature information of the radar window; determining the first window shielding degree of the radar window according to the number of the first window units; therefore, the first temperature information corresponding to the shielding degree of the first window is determined according to the preset corresponding relation between the shielding degrees of different windows and the heating temperature information. Through the mode, the temperature of heating and cleaning is determined according to the temperature degree of the low-temperature shielding object position, the effectiveness of heating and cleaning the radar window is guaranteed, and the rationality of planning and utilizing the heating resources is guaranteed.

In a specific implementation manner, different heating temperature information may be configured for different values of the intensity of the first reflected light beam in advance, and then after a third value corresponding to the intensity of the first reflected light beam received at the first sampling time unit is determined, the heating temperature information configured for the third value is determined as the first temperature information. Through the mode, the temperature for heating and cleaning is determined according to the intensity of the reflection of the emergent light beam, the effectiveness of heating and cleaning the radar window is guaranteed, and the rationality of planning and utilizing the heating resources is guaranteed.

In a specific implementation manner, the target confidence coefficient can be determined according to window temperature information of a radar window and the intensity of a first reflected light beam, and then heating temperature information corresponding to the determined value of the target confidence coefficient is obtained according to the corresponding relation between different values of the preconfigured target confidence coefficient and different heating temperature information, and the heating temperature information is used as the first temperature information. Through this mode, from two aspects of unit temperature information and the intensity of first reflected light beam, confirm to heat clear temperature, guaranteed to heat clear validity to the radar window to and the rationality that utilizes heating resource planning.

Optionally, the first cleaning instruction may further include first time length information, and the first temperature information is used to indicate that the radar window is cleaned for the first time length. Through the instruction to first duration, guaranteed to carry out clear rationality and validity to the radar window. Wherein the first duration information may be determined based on cell temperature information of the radar window and/or the intensity of the first reflected light beam.

In a specific implementation manner, a second window unit with the temperature lower than a third temperature threshold value can be determined from window units of the radar window according to unit temperature information of the radar window; determining the second window shielding degree of the radar window according to the number of the second window units; therefore, the first time length information corresponding to the second window shielding degree is determined according to the preset corresponding relation between the different window shielding degrees and the cleaning time length information. Through the mode, the length of time for cleaning is determined according to the temperature degree of the position of the shielding object, the rationality and effectiveness for cleaning the radar window are guaranteed, and the rationality for planning and utilizing the cleaning resources is guaranteed.

In a specific implementation manner, different cleaning duration information may be configured in advance for different values of the intensity of the first reflected light beam, so as to determine a fourth value corresponding to the intensity of the first reflected light beam received at the first sampling time unit, and the cleaning duration information configured for the fourth value is determined as the first duration information. Through the mode, the duration of cleaning is determined according to the intensity of reflection of the emergent light beam, and the rationality and effectiveness of cleaning the radar window and the rationality of planning and utilizing the cleaning resources are guaranteed.

In a specific implementation manner, window temperature information may be determined according to the unit temperature information, then a target confidence level may be determined according to the window temperature information and the intensity of the first reflected light beam, and further cleaning duration information corresponding to a value of the determined target confidence level may be obtained according to a correspondence between different values of the preset target confidence level and different cleaning duration information, and the cleaning duration information is used as the first duration information. Through the mode, the two aspects of the unit temperature information and the intensity of the first reflected light beam are realized, the cleaning duration is determined, and the rationality and effectiveness of cleaning the radar window and the rationality of planning and utilizing the cleaning resources are guaranteed.

The second aspect of the application provides a radar obstruction detection apparatus, which comprises a first determination module and a second determination module, wherein the first determination module is used for determining the intensity of a first reflected light beam, and the second determination module is used for determining the existence of an obstruction on the radar window according to the intensity of the first reflected light beam. The first reflected light beam is the reflected light beam received by the radar in the first sampling time unit after the radar emits the emergent light in the first emission time unit. The time interval between the end time of the first sampling time unit and the first emission time unit is determined according to the distance from the emission position of the emergent light beam to the radar window and the distance from the radar window to the receiving position of the first reflected light beam.

If the shielding object exists on the radar window, the shielding object on the radar window can cause the emergent light beam to be strongly reflected in the first sampling time unit, so that the second determining module can detect the shielding object on the radar window through the intensity of the first reflected light beam received in the first sampling time unit, the shielding object is further processed, and the detection accuracy of the radar is improved.

Optionally, the intensity of the first reflected light beam is greater than a preconfigured first intensity threshold. In the event that the intensity of the first reflected beam is greater than a first intensity threshold, it is determined that an obstruction is present on the radar window. The second determination module determines whether the first reflected light beam received by the first sampling time unit is a reflected light beam caused by the shielding object through the first intensity threshold value, so that the shielding object is detected.

Optionally, the apparatus may further include a third determining module, which may be configured to determine window temperature information of the radar window; the obstruction is determined by the second determining module based on the intensity of the first reflected beam and the window temperature information. The window temperature information of the radar window can be determined by a temperature information acquisition device, such as an infrared thermal imaging device, an infrared temperature metering device and the like. If the intensity of the first reflected light beam is high and the window temperature information of the radar window indicates that the temperature of the radar window is low, the fact that ice and snow type shielding objects with low temperature and high reflectivity exist on the radar window can be determined, and the accuracy of detecting the shielding objects is improved.

Optionally, the second determining module may be specifically configured to determine a first confidence level according to the window temperature information, determine a second confidence level according to the first reflected light beam, and further determine a target confidence level according to the first confidence level and the second confidence level, so as to determine that the obstruction exists on the radar window according to the target confidence level and a preconfigured first confidence level threshold. The second determining module determines that the target confidence of the shielding object is obtained according to the first confidence determined by the window temperature information and the second confidence determined by the intensity of the first reflected light beam, and different target confidence can be obtained according to different window temperature information or different intensities of the first reflected light beam, so that the detection of the shielding object on the radar window is accurately realized.

In an optional implementation manner, the second determining module adds the first confidence level and the second confidence level to obtain a target confidence level. In another optional implementation manner, the second determining module performs weighted summation on the first confidence coefficient and the second confidence coefficient according to respective preconfigured confidence coefficient weights to obtain a target confidence coefficient.

Optionally, the window temperature information of the radar window is determined by the third determining module according to the at least one unit temperature information. The radar window is pre-meshed into at least one window unit, and then the unit temperature information of each window unit is collected, and the unit temperature information corresponds to the window units one to one. Wherein, the unit temperature information of the window unit can be collected by the temperature information collecting device. The temperature information acquisition device has multiple categories, and correspondingly, the unit temperature information can also have multiple categories. If the unit temperature information can be acquired by the infrared thermal imaging device, the image characteristic data of the thermal image acquired by the infrared thermal imaging device of each window unit is contained. For another example, the unit temperature information of the radar window is collected by an infrared temperature measuring device, and comprises the temperature value of each window unit. Through becoming each window unit with the radar window refines, and then carry out the analysis to the unit temperature information of each window unit, detect the shelter from thing of window radar, improved the degree of accuracy that the shelter from thing detected.

Optionally, the window temperature information is determined by the third determining module according to the number of the target-shielded window units, and the target-shielded window units are units satisfying the target-shielded characteristic conditions, where the target-shielded characteristic conditions may be different according to different categories of the unit temperature information. Through the target shielding characteristic condition, the target shielding window units which are possibly shielded by the shielding object in the radar window are screened out, and then the window temperature information is determined according to the number of the target shielding window units, so that the reliability of detecting the shielding object according to the window temperature information is ensured.

Optionally, the apparatus may further include a communication module, and after the second determination module determines that the obstruction exists on the radar window, the communication module may be configured to send a first cleaning instruction, where the first cleaning instruction is used to instruct to clean the radar window.

In an alternative implementation, the first cleaning instruction is an instruction instructing the window cleaning device to clean the radar window. Wherein, the window cleaning device can be a non-detachable part in the radar; or an external device which is additionally produced relative to the radar and used for cleaning the window of the radar can be attached to the radar which is installed and used in a certain combination mode (such as a clamping mode, a magnetic suction mode and the like); or a device removable on the radar, produced in combination with the radar; but also part of the radar carrying equipment, such as vehicles, robots etc. Through the cleanness of instructing window cleaning device to the radar window for shelter from the thing on the radar window is clear away, and then promotes the detection rate of accuracy of radar.

In a specific implementation manner, the designated sending module determines a third window unit with a temperature lower than a preconfigured fourth temperature threshold from each window unit according to the unit temperature information of the radar window, and determines the third window unit as the first position information according to the position of the third window unit in the radar window. By the method, the positions with lower temperature and possibly low-temperature shielding objects in the radar window are cleaned, and the pertinence and effectiveness of the radar window cleaning are improved.

In another specific implementation manner, the designated sending module determines a second reflected light beam with the intensity greater than a second intensity threshold from the first reflected light beam, and determines the first position information according to the corresponding reflection position of the second reflected light beam on the radar window. Through the mode, the position with stronger reflection of the emergent light beam in the radar window is cleaned, and the pertinence and effectiveness of the radar window cleaning are improved.

In another specific implementation manner, the designated sending module determines, according to the unit temperature information of each window unit, whether the corresponding reflection position temperature of the second reflection beam on the radar window is lower than a first temperature threshold, and determines, in the case of being lower than the first temperature threshold, the position information of the corresponding reflection position of the second reflection beam on the radar window as the first position information. Through two aspects of unit temperature information and the intensity of first reflected light beam, with the position information that reflects light in the window unit strong and the position correspondence that the temperature is low, as first position information, improved the accuracy to ice and snow class low temperature shelter from thing location to the clear pertinence and the validity of radar window.

In a specific implementation manner, the appointed sending module can determine a first window unit with the temperature lower than a second temperature threshold value from window units of the radar window according to unit temperature information of the radar window; determining the first window shielding degree of the radar window according to the number of the first window units; therefore, the first temperature information corresponding to the shielding degree of the first window is determined according to the preset corresponding relation between the shielding degrees of different windows and the heating temperature information. Through the mode, the temperature of heating and cleaning is determined according to the temperature degree of the low-temperature shielding object position, the effectiveness of heating and cleaning the radar window is guaranteed, and the rationality of planning and utilizing the heating resources is guaranteed.

In a specific implementation manner, different heating temperature information may be configured in advance for different values of the intensity of the first reflected light beam, and then after the first determining module determines the third value corresponding to the intensity of the first reflected light beam received at the first sampling time unit, the designated sending module determines the heating temperature information configured for the third value as the first temperature information. Through the mode, the temperature for heating and cleaning is determined according to the intensity of the reflection of the emergent light beam, the effectiveness of heating and cleaning the radar window is guaranteed, and the rationality of planning and utilizing the heating resources is guaranteed.

In a specific implementation manner, after the second determining module determines the target confidence according to the window temperature information of the radar window and the intensity of the first reflected light beam, the designated sending module may obtain, according to a corresponding relationship between different values of the preconfigured target confidence and different heating temperature information, heating temperature information corresponding to the value of the determined target confidence as the first temperature information. Through this mode, from two aspects of unit temperature information and the intensity of first reflected light beam, confirm to heat clear temperature, guaranteed to heat clear validity to the radar window to and the rationality that utilizes heating resource planning.

In a specific implementation manner, the communication module may determine, from window units of the radar window, a second window unit of which the temperature is lower than a third temperature threshold according to unit temperature information of the radar window; determining the second window shielding degree of the radar window according to the number of the second window units; therefore, the first time length information corresponding to the second window shielding degree is determined according to the preset corresponding relation between the different window shielding degrees and the cleaning time length information. Through the mode, the length of time for cleaning is determined according to the temperature degree of the position of the shielding object, the rationality and effectiveness for cleaning the radar window are guaranteed, and the rationality for planning and utilizing the cleaning resources is guaranteed.

In a specific implementation manner, different cleaning duration information may be configured in advance for different values of the intensity of the first reflected light beam, the first determining module determines a fourth value corresponding to the intensity of the first reflected light beam received at the first sampling time unit, and the communication module determines the cleaning duration information configured for the fourth value as the first duration information. Through the mode, the duration of cleaning is determined according to the intensity of reflection of the emergent light beam, and the rationality and effectiveness of cleaning the radar window and the rationality of planning and utilizing the cleaning resources are guaranteed.

In a specific implementation manner, after the second determining module determines the window temperature information according to the unit temperature information, and then determines the target confidence according to the window temperature information and the intensity of the first reflected light beam, the communication module may obtain cleaning duration information corresponding to a value of the determined target confidence as the first duration information according to a preset correspondence between different values of the target confidence and different cleaning duration information. Through the mode, the two aspects of the unit temperature information and the intensity of the first reflected light beam are realized, the cleaning duration is determined, and the rationality and effectiveness of cleaning the radar window and the rationality of planning and utilizing the cleaning resources are guaranteed.

A third aspect of the application provides a radar for determining an intensity of a first reflected light beam, and determining the presence of an obstruction on the radar window based on the intensity of the first reflected light beam. The first reflected light beam is received by the radar in the first sampling time unit after the radar emits the emergent light in the first emission time unit. The time interval between the end of the first sampling time unit and the first emission time unit is determined as a function of the distance from the emission position of the outgoing light beam to the radar window and the distance from the radar window to the reception position of the first reflected light beam. The shielding object on the radar window is detected through the intensity of the first reflected light beam received in the first sampling time unit, and then the shielding object is processed, so that the detection accuracy of the radar is improved.

The application fourth aspect provides a window cleaning device, this window cleaning device is applied to in the radar for under the triggering of first clean instruction, clean the radar window. The first cleaning instruction is generated after the radar determines that the shelter exists on the radar window by determining the intensity of a first reflected light beam and determining according to the intensity of the first reflected light beam. The first reflected light beam is received by the radar in the first sampling time unit after the radar emits the emergent light in the first emission time unit. The time interval between the end of the first sampling time unit and the first emission time unit is determined as a function of the distance from the emission position of the outgoing light beam to the radar window and the distance from the radar window to the reception position of the first reflected light beam. The window cleaning device is triggered through the first cleaning instruction to process the sheltering object, so that the detection accuracy of the radar is improved.

A fifth aspect of the present application provides another radar obstruction detection apparatus, which may be a radar or a component (such as a circuit or a chip) for a radar, including a processor and a communication interface, the processor and the communication interface being connected to each other, wherein the communication interface is configured to receive and transmit data, the processor is configured to call a program stored in a memory, and the program, when executed by a computer, causes the computer to execute the method for detecting a radar obstruction in the first aspect and any one of the possible implementations thereof. Optionally, the radar obstruction detection apparatus further includes a memory for storing the program. The processor and the memory may be physically separate units, or the memory may be integrated with the processor.

A sixth aspect of the present application provides a computer-readable medium having stored thereon instructions which, when executed on a computer, cause the computer to perform the method of the first aspect and any one of its possible implementations.

A seventh aspect of the present application provides a computer program product comprising: computer program code for causing a computer to perform the method of the first aspect and any one of its possible implementations described above, when the computer program code runs on a computer.

An eighth aspect of the present application provides a chip, where the chip includes a processor and a communication interface, and the processor is coupled with the communication interface, and is configured to implement the method provided in the first aspect or any one of the optional implementation manners.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic diagram of an architecture of a radar provided in an embodiment of the present application;

FIG. 2 is a schematic diagram of an architecture of another radar provided in an embodiment of the present application;

FIG. 3 is a schematic flow chart of a method for detecting radar obstruction in accordance with an embodiment of the present disclosure;

FIG. 4a is a timing diagram of an emitted light beam and a received light beam according to an embodiment of the present disclosure;

FIG. 4b is a timing diagram of a first sampling time unit according to an embodiment of the present disclosure;

FIG. 4c is a timing diagram of another first sampling time unit according to an embodiment of the present disclosure;

fig. 5 is a schematic diagram for determining an end time of a first sampling time unit and a time interval of a first transmission time unit according to an embodiment of the present application;

FIG. 6 is a schematic diagram of a radar echo provided by an embodiment of the present application;

FIG. 7 is a schematic diagram of another radar echo provided by an embodiment of the present application;

FIG. 8 is a schematic view of a window cleaning apparatus according to an embodiment of the present disclosure;

FIG. 9 is a schematic view of a window cleaning apparatus according to an embodiment of the present disclosure;

FIG. 10 is a schematic view of another window cleaning apparatus provided in accordance with an embodiment of the present disclosure;

FIG. 11 is a schematic view of another window cleaning apparatus provided in accordance with an embodiment of the present disclosure;

FIG. 12 is a schematic view of another window cleaning apparatus according to an embodiment of the present disclosure;

FIG. 13 is a schematic view of another window cleaning apparatus provided in accordance with an embodiment of the present disclosure;

FIG. 14 is a schematic view of another window cleaning apparatus provided in accordance with an embodiment of the present disclosure;

FIG. 15 is a schematic view of another window cleaning apparatus according to an embodiment of the present disclosure;

FIG. 16 is a schematic diagram of a position on a radar window where a second reflected beam is reflected according to an embodiment of the present application;

FIG. 17 is a schematic flow chart of another method for detecting radar obstruction provided by embodiments of the present application;

fig. 18 is a schematic view of a temperature information collecting device according to an embodiment of the present application;

fig. 19 is a schematic view of another temperature information acquisition device provided in an embodiment of the present application;

FIG. 20 is a diagram illustrating a partition window unit according to an embodiment of the present application;

FIG. 21 is a schematic diagram illustrating window unit partitioning according to an embodiment of the present application;

fig. 22 is a schematic structural diagram of a radar blocking object detection device according to an embodiment of the present application;

FIG. 23 is a schematic structural diagram of another radar obstruction detection apparatus according to an embodiment of the present application;

fig. 24 is a schematic structural diagram of a chip according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The radar blocking object detection method provided by the embodiment of the application can be applied to an optical radar for detecting an object based on light waves, such as a laser radar.

Referring to fig. 1, fig. 1 is a schematic diagram of an architecture of an optical radar according to an embodiment of the present disclosure, and as shown in fig. 1, the optical radar 10 may at least include a light beam emitting device 001, an echo receiving device 002, a processing device 003, and a window 004. The light beam emitting device 001 may be used to emit a light beam, for example, if the optical radar 10 is a laser radar, the light beam emitted by the light beam emitting device 001 is a laser beam; the echo receiving device 002 may be configured to receive the reflected light beam reflected back to the optical radar 10, and accordingly, if the optical radar 10 is a laser radar, the reflected light beam that the echo receiving device 002 may receive is a laser beam; the processing device 003 can be used for analyzing and processing the reflected light beam received by the echo receiving device 002 to achieve the purpose of detecting the object; the window 004 can be used to provide a passage for the light beam emitting device 001 to emit the outgoing light beam out of the optical radar 10 and a passage for the echo receiving device 002 to receive the reflected light beam returning from outside the optical radar 10. Wherein the light beam emitting means 001 and the echo receiving means 002 may be located on the same side of the viewing window 003.

The radar shelter detecting method provided by the embodiment of the application can be realized based on the processing device 003, the processing device 003 determines the intensity of the first reflected light beam, and further determines that a shelter exists on the radar window according to the intensity of the first reflected light beam, wherein the first reflected light beam is the reflected light beam received at the first sampling time unit after the first emission time unit emits the emergent light beam, and the time interval between the end time of the first sampling time unit and the first emission time unit is determined according to the distance from the emission position of the emergent light beam to the radar window and the distance from the radar window to the receiving position of the first reflected light beam. If there is the shelter on the radar window, then in the first sampling time unit after the transmission emergent beam, the intensity of the first reflected light beam of receipt is great, consequently can be according to the intensity of first reflected light beam, realizes the detection to the shelter that exists on the radar window to promote the detection rate of accuracy of radar.

Further, referring to fig. 2, fig. 2 is a schematic structural diagram of another optical radar provided in an embodiment of the present application, as shown in fig. 2, the light beam emitting apparatus 001 may include a light source assembly 0011 and a mirror assembly 0012, where the light source assembly 0011 may be configured to emit a light beam to the mirror assembly 0012, and the mirror assembly 0012 may be configured to reflect the light beam emitted by the light source assembly 0011, so as to change an original transmission direction of the light beam, so that the light beam is transmitted through the window 004 to irradiate to a space outside the optical radar 10.

The echo receiving device 002 may be an optical-to-electrical converter, such as an Avalanche Photodiode (APD), which converts the received optical signal into a continuous analog electrical signal and transmits the signal to the processing device 003.

The processing device 003 can include an analog-to-digital conversion component 0031 and an integration component 0032. The Analog-to-digital converter 0031 may be an Analog-to-digital converter (ADC), which converts the Analog electrical signal transmitted by the echo receiving device 002 into a digital electrical signal and transmits the digital electrical signal to the integration component 0032. The integration component 0032 may be a chip or a Field Programmable Gate Array (FPGA), and may be used to control each component of the optical radar 10, and analyze and process a digital electrical signal transmitted by the analog-to-digital conversion component 0031, so as to detect an external object. Wherein, the integrated component 0032 may contain a control module 00321 and a signal processing module 00322, and the control module 00321 may be used to control the driving of the light source assembly 0011, control the rotation of the mirror assembly 0012, and the like; the signal processing module 00322 may be configured to perform operations such as filtering and time-finding on the digital electrical signal transmitted by the analog-to-digital conversion component 0031, determine parameters such as intensity, flight time, angle, and the like of the received returned light beam, and further analyze a distance, a direction, and the like between the external object and the optical radar.

The method for detecting the radar shelter provided by the embodiment of the application can be realized based on the signal processing module 00322, the signal processing module 00322 determines the intensity of a first reflected light beam, and further determines that the shelter exists on a radar window according to the intensity of the first reflected light beam, wherein the first reflected light beam is the reflected light beam received by a first sampling time unit after the first emission time unit emits the emergent light beam, and the end time of the first sampling time unit and the time interval of the first emission time unit are determined according to the distance from the emission position of the emergent light beam to the radar window and the distance from the radar window to the receiving position of the first reflected light beam. If there is the shelter on the radar window, then in the first sampling time unit after the transmission emergent beam, the intensity of the first reflected light beam of receipt is great, consequently can be according to the intensity of first reflected light beam, realizes the detection to the shelter that exists on the radar window to promote the detection rate of accuracy of radar.

Next, a use scenario of the radar obstruction detection method provided in the embodiment of the present application is described, and the radar obstruction detection method provided in the embodiment of the present application may be used in a working scenario of a detection device that performs object detection based on light waves, for example, an optical radar. For example, in a scenario where a robot performs self-positioning and path planning by an optical radar; the method comprises the following steps that an unmanned vehicle carries out environment detection and route planning through an optical radar; in a scene of detecting obstacles by an optical radar when the unmanned aerial vehicle flies; augmented Reality (AR) equipment is in a scene of carrying out environment detection and model building through an optical radar; the ocean detection equipment detects the fish shoal type and fish shoal density through an optical radar; and so on. In the various scenes, the radar shelter detecting method provided by the embodiment of the application can be used for detecting the shelter on the radar window, and further processing the shelter, so that the detection accuracy of the radar is improved.

The method for detecting a radar obstruction provided by the embodiments of the present application is described below, and it should be noted that each step in the method may be performed by a detection device (e.g., a radar), or may be implemented by a component (e.g., a circuit or a chip) that can be used in the detection device. Referring to fig. 3, fig. 3 is a schematic flowchart of a method for detecting a radar obstruction provided in an embodiment of the present application, and as shown in fig. 3, the method may include steps S301 and S302.

S301, determining the intensity of a first reflected light beam, wherein the first reflected light beam is received by a first sampling time unit after an emergent light beam is emitted by the first emission time unit, and the time interval between the end time of the first sampling time unit and the first emission time unit is determined according to the distance from the emitting position of the emergent light beam to a radar window and the distance from the radar window to the receiving position of the first reflected light beam.

When the radar works, the radar emits light beams to the outside and receives the light beams reflected by the emitted light beams so as to detect external objects. In one implementation, the optical radar may emit a light beam through the light beam emitting device and receive the light beam through the echo receiving device.

The optical radar emission beam is generally emitted according to a periodic emission time unit, where the emission time unit may be a time period of a certain length or a time instant. Accordingly, the optical radar receives the reflected light beam at a length of a reception time unit after each transmission time unit. The receiving time unit may start from the end time of the transmitting time unit or may start at some time after the transmitting time unit is received. The length of the receiving time unit may be determined according to the maximum detection distance of the optical radar, and in one implementation, the maximum detection distance calibrated by the optical radar is l, and the speed of light is c, so that the length t of the receiving time unit may be t ═ 2 × l/c. And determining the flight time of the light beam according to the time of receiving the reflected light beam in the receiving time unit and the time information of the nearest transmitting time unit before the receiving time unit, and further determining the distance of the detected object.

Referring to fig. 4a, fig. 4a is a timing diagram of a transmitting beam and a receiving beam according to an embodiment of the present application, where the receiving time unit in fig. 4a is started from the end time of the transmitting time unit, and fig. 4a shows three transmitting time units of the optical radar: a transmit time unit 1, a transmit time unit 2, a transmit time unit 3, and three receive time units: reception time unit 1, reception time unit 2, reception time unit 3. The optical radar respectively transmits light beams in the transmitting time unit 1, the transmitting time unit 2 and the transmitting time unit 3, and respectively receives the reflected light beams in the receiving time unit 1 and the receiving time unit 3, so that the optical radar can determine the flight time of the light beams according to the time of receiving the light beams in the receiving time unit 1 and the time information of the transmitting time unit 1, further determine the distance of the object, and can also determine the distance of the object according to the time of receiving the light beams in the receiving time unit 3 and the time information of the transmitting time unit 3.

Here, a first sampling time unit corresponding to the first emission time unit may be set after the first emission time unit, the optical radar emits the emergent beam in the first emission time unit, and the first reflected beam for detecting the radar blocking object is collected in the first sampling time unit. The first sampling time unit may be a time unit overlapping with the reception time unit corresponding to the first transmission time unit, or may be a time unit not overlapping with the reception time unit.

The time interval between the end of the first sampling time unit and the first emission time unit may be determined based on the distance between the position of the emitted light beam within the optical radar and the radar window and the distance between the radar window and the position of the received reflected light beam. In one implementation, if the first sampling time unit is a time period of a certain time length, the time interval between the end time of the first sampling time unit and the first transmission time unit may be the time interval between the end time of the first sampling time unit and the end time of the first transmission time unit; if the first sampling time unit is a time, the time interval between the ending time of the first sampling time unit and the first transmission time unit may be the time interval between the time corresponding to the first sampling time unit and the ending time of the first transmission time unit. The first sampling time unit may be a time period of a certain length (may be the same as or different from the time period of the first transmission time unit), or may be a time. If the first sampling time unit is a time period, the last moment of the time period is the end moment of the first sampling time unit; if the first sampling time unit is a time, the time corresponding to the first sampling time unit may be used as an end time of the first sampling time unit for determining the time domain position of the first sampling time unit.

In specific implementation, for a first emission time unit, a first time interval is determined by determining the distance between the position of an emission beam and a radar window and the distance between the radar window and the position of a received reflection beam, and then a first sampling time unit is determined according to the time information of the first emission time unit and the first time interval. In one embodiment, the optical radar can emit a light beam by means of the light beam emission device and receive the light beam by means of the echo receiver, and the time interval between the end of the first sampling time unit and the first emission time unit can be determined as a function of the distance from the light beam emission device to the radar window and the distance from the radar window to the echo receiver.

In an alternative way of determining the time interval between the end of the first sampling time unit and the first emission time unit, the ratio of the sum of the distance from the emission position of the outgoing light beam to the radar window and the distance from the radar window to the reception position of the first reflected light beam to the speed of light may be determined as the time interval between the end of the first sampling time unit and the first emission time unit. Specifically, the distance from the emission position of the emergent beam to the radar window may be represented by a distance from the emission position of the emergent beam to the inner side of the radar window (i.e., the side of the radar window close to the emission position of the emergent beam), and the distance from the radar window to the echo receiving device may be represented by a distance from the inner side of the radar window to the receiving position of the first reflected beam; the distance from the emission position of the emergent beam to the radar window may also be represented by the distance from the emission position of the emergent beam to the outside of the radar window (i.e. the side of the radar window remote from the emission position of the emergent beam), and the distance from the radar window to the echo receiver may be represented by the distance from the outside of the radar window to the receiving position of the first reflected beam.

In another optional manner of determining the time interval between the end time of the first sampling time unit and the first transmission time unit, the time interval between the end time of the first sampling time unit and the first transmission time unit may be determined according to a distance from the transmission position of the outgoing beam to the radar window, a distance from the radar window to the reception position of the first reflected beam, and an included angle between the outgoing beam and the radar window. Referring to fig. 5, fig. 5 is a schematic diagram for determining a time interval between an end time of a first sampling time unit and the first transmission time unit according to an embodiment of the present disclosure, as shown in fig. 5, a emergent beam is projected onto a radar window at a transmission position at an angle θ, that is, an angle between the emergent beam and the radar window is θ, a distance between the transmission position of the emergent beam and the radar window is l, a distance between the radar window and a receiving position of a first reflected beam is k, and if the emergent beam is reflected on the radar window, an angle between the reflected beam and the radar window is also θ, then a time interval t between the end time of the first sampling time unit and the first transmission time unit may be (l + k)/(c sin θ) by t.

The two optional manners of determining the time interval between the ending time of the first sampling time unit and the first transmission time unit are only two exemplary determination manners, and are not all implementations in this embodiment of the present application, for example, some shielding objects on the radar window are not tightly combined with the radar window, such as ice and snow, and the space between the shielding object and the radar window may increase the optical path of the outgoing light beam, and to reduce the error caused by this, the time interval determined by the two optional manners may be floated by a certain percentage as the time interval used for collecting the first reflected light beam, and so on, and will not be described in detail here.

Referring to fig. 4b, fig. 4b is a timing diagram of a first sampling time unit according to an embodiment of the present application, and the transmission time unit 4 in fig. 4b is a first transmission time unit; the reception time unit 4 is a reception time unit corresponding to the transmission time unit 4, and the reception time unit 4 starts from the end time (t1) of the transmission time unit 4; the sampling time unit 4 is a first sampling time unit corresponding to the emission time unit 4, and the time interval between the end time (t2) of the sampling time unit 4 and the end time (t1) of the emission time unit 4 is determined according to the distance from the emission position of the emergent beam to the radar window and the distance from the radar window to the receiving position of the first reflected beam; wherein the sample time unit 4 may be a time unit coinciding with the receive time unit 4.

Referring to fig. 4c, fig. 4c is a timing diagram of another first sampling time unit provided in the present embodiment, and the transmission time unit 5 in fig. 4c is a first transmission time unit; the reception time unit 5 is a reception time unit corresponding to the transmission time unit 5, and the reception time unit 5 starts at a time t5 after the end time (t3) of the transmission time unit 5; the sampling time unit 5 is a first sampling time unit corresponding to the emission time unit 5, and the time interval between the end time (t4) of the sampling time unit 5 and the end time (t3) of the emission time unit 5 is determined according to the distance from the emission position of the emergent beam to the radar window and the distance from the radar window to the receiving position of the first reflected beam; wherein the sampling time unit 5 may be a time unit that is not coincident with the receiving time unit 5.

When the first transmission time unit is determined, each transmission time unit of the radar can be used as the first transmission time unit, and the corresponding first sampling time unit is determined, so that the continuous detection of the radar window shelter is realized; or the first transmitting time unit can be periodically appointed in the transmitting time unit of the optical radar, and the corresponding first sampling time unit is determined so as to realize the periodic detection of the radar window obstruction; after a detection instruction for the radar window is received, the Nth (N is a positive integer) emission time unit after the detection instruction is received is determined as a first emission time unit, and a corresponding first sampling time unit is determined, so that the detection of the radar window obstruction under the trigger of the instruction is realized.

In one embodiment, the optical radar may comprise a light beam emitting device and an echo receiving device, and the time interval between the end of the first sampling unit of the echo receiving device for receiving the first reflected light beam and the first emission time unit is determined according to the distance from the light beam emitting device to the radar window and the distance from the radar window to the echo receiving device. In another implementation, the optical radar may include a plurality of light beam emitting devices and a plurality of echo receiving devices, the plurality of light beam emitting devices and the plurality of echo receiving devices are in one-to-one correspondence, and each echo receiving device may receive the first reflected light beam in a respective first sampling time unit, where an end time of the first sampling time unit of each echo receiving device and a time interval of the first emitting time unit of the respective corresponding light beam emitting device are determined according to a distance from the respective corresponding light beam emitting device of the echo receiving device to the radar window and a distance from the radar window to the echo receiving device.

S302, determining that an obstruction exists on the radar window according to the intensity of the first reflected light beam.

If a shelter exists on the radar window, the optical radar receives a stronger first reflected light beam in the first sampling time unit after the first emission time unit emits the emergent light beam, for example, if an ice and snow shelter exists on the radar window, the intensity of the first reflected light beam received by the first sampling time unit is close to the intensity of the emergent light beam due to the strong reflection capability of the ice and snow shelter on the light wave. Referring to fig. 6, fig. 6 is a schematic diagram of a radar echo provided by an embodiment of the present application, fig. 6 shows a waveform of a reflected light beam (i.e., an echo) received after a beam is emitted when there is no obstruction on a radar window, and t1-t2 are first sampling units in which the received echo is weak. Referring to fig. 7, fig. 7 is another schematic diagram of a radar echo provided in the embodiment of the present application, fig. 7 shows a waveform of an echo received after a beam is emitted when there is a shelter on a radar window, and t1-t2 are first sampling units, where the echo received in the first sampling unit is strong and even may reach saturation. Therefore, whether the shielding object exists on the radar window can be judged according to the intensity of the first reflected light beam received by the first sampling time unit.

In one implementation, it may be determined whether the intensity of the first transmitted light beam is greater than a preconfigured first intensity threshold, and if so, it is determined that a blockage is present on the radar window.

In another implementation, the first reflectivity may be determined according to the intensity of the first emitting light beam and the intensity of the emitting light beam, and whether the first reflectivity is greater than a preconfigured first reflectivity threshold value is determined, if so, it is determined that a blocking object exists on the radar window.

In yet another alternative implementation, window temperature information of the radar window may be determined, and presence of a blockage on the radar window may be determined based on the intensity of the first reflected beam and the window temperature information. The window temperature information of the radar window can be determined through a temperature information acquisition device, such as an infrared thermal imaging device, an infrared temperature metering device and the like. Wherein, if the intensity of first reflected light beam is great to the window temperature information instruction radar window temperature of radar window is lower, then can confirm that there is the shelter object that ice and snow class low temperature and reflectivity are stronger on the radar window, improved the accuracy that shelter object detected.

Further optionally, a first confidence level may be determined according to window temperature information of the radar window, a second confidence level may be determined according to the intensity of the first reflected light beam, a target confidence level may be determined according to the first confidence level and the second confidence level, and then, the existence of the obstruction on the radar window may be determined according to the target confidence level and a preconfigured first confidence level threshold. The target confidence coefficient is used for predicting the credibility of the shielding object existing on the radar window according to the window temperature information of the radar window and the intensity of the first reflected light beam, and then judging whether the shielding object exists on the radar window according to a pre-configured first confidence coefficient threshold value.

In an optional specific implementation mode, the window temperature information may have a plurality of different values, different temperature confidence coefficients are preconfigured for the values of the window temperature information respectively, so as to obtain a first value of the window temperature information of the radar window, and the temperature confidence coefficient preconfigured for the first value is determined as a first confidence coefficient; correspondingly, the intensity of the first reflected light beam may have a plurality of different values, which are different values of the intensity of the first reflected light beam, different intensity confidence coefficients are preconfigured, so as to obtain a second value corresponding to the intensity of the first reflected light beam received by the first sampling unit, and the intensity confidence coefficient preconfigured for the second value is determined as the second confidence coefficient. After the first confidence degree and the second confidence degree are determined, in an implementation manner, the first confidence degree and the second confidence degree may be added to obtain a target confidence degree; in another implementation manner, the first confidence level and the second confidence level may be weighted and summed according to respective preconfigured confidence level weights to obtain a target confidence level.

In the embodiment of the invention, the intensity of the first reflected light beam is determined, and then the existence of the shielding object on the radar window is determined according to the intensity of the first reflected light beam, wherein the first reflected light beam is received in the first sampling time unit after the first emission time unit emits the emergent light beam, and the time interval between the end time of the first sampling time unit and the first emission time unit is determined according to the distance from the emission position of the emergent light beam to the radar window and the distance from the radar window to the receiving position of the first reflected light beam. If there is the shelter on the radar window, then in the first sampling time unit after the transmission emergent beam, the intensity of the first reflected light beam of receipt is great, consequently can be according to the intensity of first reflected light beam, realizes the detection to the shelter that exists on the radar window to promote the detection rate of accuracy of radar.

After the shelter exists on the radar window, the prompt, the alarm and the like of the shelter exist on the radar window can be sent out, the window cleaning device can be indicated to clean the radar window, and the like, so that the shelter on the radar window is cleaned, and the detection accuracy of the radar is improved.

In one implementation, after determining that an obstruction exists on the radar window, a first cleaning command may be issued, where the first cleaning command is used to instruct cleaning of the radar window. Specifically, the first cleaning instruction may be an instruction for a window cleaning device, and the window cleaning device may clean the radar window under the trigger of the first cleaning instruction. Referring to fig. 2, in one implementation, if the existence of the obstruction on the radar window is determined by the signal processing module, the first cleaning instruction may be sent to the control module by the signal processing module, and the control module performs related control on the window cleaning device to clean the radar window.

The window cleaning device is used for cleaning a radar window, and can be an undetachable part of an optical radar; or an external device which is additionally produced relative to the optical radar and used for cleaning a window of the optical radar can be attached to the installed optical radar in a certain combination mode (such as a clamping mode, a magnetic suction mode and the like); or a device removable on the optical radar, produced in combination with the optical radar; but also part of the load bearing equipment of the optical radar, such as vehicles, robots, etc.

The window cleaning device comprises a cleaning component, such as a brush head or a scraping head, which can clean the shielding object on the radar window. Optionally, the window cleaning device may further include a heating element, such as a heating wire, a hot air cylinder, etc., which may heat, melt and remove the low-temperature shielding object on the radar window. The heating assembly and the sweeping assembly can be integrated or separated, and the specific form is not limited. The form and manner of cleaning the window cleaning apparatus will now be described by way of example with reference to figures 8 to 15.

Refer to fig. 8, fig. 8 is a schematic diagram of window cleaning device that this application embodiment provided, as shown in fig. 8, the radar window in fig. 8 is sectorial radar window, the top and the below of radar window are provided with clean guide rail, window cleaning device can the buckle on clean guide rail, can stop outside the field of vision scope of radar window when out of work (do not clean the radar window promptly), do not disturb optical radar's normal operating, when the during operation (clean the radar window promptly), can slide along clean guide rail, realize the cleanness to the radar window. One side of the window cleaning device close to the radar window is provided with a brush head (optional and a heating wire can also be provided), and the radar window can be cleaned (optional and can also be heated). After the radar window is cleaned, the window cleaning device is reset to be out of the view of the radar window when the radar window does not work. Referring to fig. 9, fig. 9 is a schematic structural diagram of a window cleaning device according to an embodiment of the present application, the window cleaning device shown in fig. 9 is suitable for use in the scene shown in fig. 8, the window cleaning device in fig. 9 includes a buckle, a brush head, and a heating wire, wherein the buckle is used for combining the window cleaning device with an optical radar, the brush head is used for cleaning a shielding object of the radar window, and the heating wire is used for heating the radar window to melt a low-temperature shielding object.

Referring to fig. 10, fig. 10 is a schematic view of another window cleaning device provided in the present embodiment of the application, as shown in fig. 10, the radar window in fig. 10 is a cylindrical radar window, a rotation fulcrum device (e.g., a rotating shaft) is disposed above the radar window, and the window cleaning device can be mounted on the rotation fulcrum device, and fig. 10 shows that when the window cleaning device does not work, the window cleaning device can be retracted and placed above the radar window without interfering with the normal operation of the optical radar. Referring to fig. 11, fig. 11 is a schematic view of another window cleaning device provided in the present embodiment, and fig. 11 shows that when the window cleaning device works, the window cleaning device can be extended and rotated based on the rotation fulcrum device, so as to clean the radar window by the window cleaning device. One side of the window cleaning device close to the radar window is provided with a brush head (optional and a heating wire can also be provided), and the radar window can be cleaned (optional and can also be heated). After the radar window is cleaned, the window cleaning device is reset to be contracted above the radar window, and the state is recovered to be the state shown in fig. 10. Referring to fig. 12, fig. 12 is a schematic structural view of another window cleaning device provided in an embodiment of the present application, the window cleaning device shown in fig. 12 is suitable for use in the scenarios of fig. 10 and 11, and the window cleaning device in fig. 12 includes a bracket, a brush head and a heating wire, wherein the bracket is used for combining the window cleaning device with an optical radar, the brush head is used for cleaning a shielding object of the radar window, and the heating wire is used for heating the radar window and melting a low-temperature shielding object.

Referring to fig. 13, fig. 13 is a schematic view of another window cleaning device according to an embodiment of the present disclosure, as shown in fig. 13, the radar window in fig. 13 is also a cylindrical radar window, and the window cleaning device is installed above the radar window, and fig. 13 shows that when the window cleaning device is not in operation, the window cleaning device is in a retracted state, so that the window cleaning device is placed above the radar window without interfering with the normal operation of the optical radar. One side of the window cleaning device close to the radar window is provided with a brush head (optional and a heating wire can also be provided), and the radar window can be cleaned (optional and can also be heated). Referring to fig. 14, fig. 14 is a schematic view of another window cleaning device according to an embodiment of the present disclosure, and fig. 14 illustrates that the window cleaning device may be extended and retracted during operation to clean a radar window. After the radar window is cleaned, the window cleaning device is reset to be contracted above the radar window, and the state is recovered to be the state shown in fig. 13. Referring to fig. 15, fig. 15 is a schematic structural view of another window cleaning device provided in the embodiment of the present application, the window cleaning device shown in fig. 15 is suitable for use in the scenarios of fig. 13 and 14, the window cleaning device in fig. 15 includes an expansion bracket, a brush head and a heating wire, wherein the expansion bracket is used for combining the window cleaning device with an optical radar, the brush head is used for cleaning a shielding object of the radar window, and the heating wire is used for heating the radar window and melting a low-temperature shielding object.

Some alternative implementations of the first cleaning instructions are described below:

optionally, the first cleaning instruction may include first position information, and the first position information may indicate a first position in the radar window to be cleaned. The first position information may be determined based on cell temperature information of the radar window and/or the intensity of the first reflected light beam. In one implementation, the radar window may include at least one window unit, the window unit may be divided by meshing the radar window in advance, at least one window unit of the radar window corresponds to at least one unit temperature information one-to-one, and the unit temperature information of each window unit may be collected by the temperature information collecting device. Through becoming each window unit with the radar window refines, and then carry out the analysis to the unit temperature information of each window unit, detect the shelter object of radar window, improved the degree of accuracy that the shelter object detected.

In an alternative implementation of determining the first position information, the first position information may be determined from unit temperature information of the radar window. Specifically, according to the unit temperature information of the radar window, a third window unit with a temperature lower than a preconfigured fourth temperature threshold is determined from each window unit, and according to the position of the third window unit in the radar window, first position information is determined, for example, information of the position of the third window unit in the radar window may be used as the first position information, and for example, the radar window may be divided into different cleaning areas in advance, and then position information corresponding to the cleaning area to which the third window unit belongs is determined as the first position information. The radar window cleaning device has the advantages that the cleaning of the positions, at lower temperature and possibly with low-temperature shielding objects, in the radar window is realized, and the pertinence and effectiveness of the cleaning of the radar window are improved.

For example, if the unit temperature information of the radar window is collected by the infrared temperature measurement device and includes the temperature value of each window unit, the temperature value of each window unit can be directly compared with the fourth temperature threshold value, and then the third window unit is determined; for another example, if the unit temperature information of the radar window is collected by the infrared thermal imaging device and includes the image characteristic data of each window unit, and the image characteristic data of the window unit may indicate the color intensity in the window thermal distribution map, then, the third window unit may be determined by comparing the image characteristic data of the window unit with the image characteristic data corresponding to the temperature lower than the fourth temperature threshold.

In another alternative implementation of determining the first position information, the first position information may be determined from an intensity of the first reflected light beam. Specifically, the second reflected light beam may be determined according to the intensity of the first reflected light beam, wherein the second reflected light beam is included in the first reflected light beam, that is, the second reflected light beam is determined from the first reflected light beam, the second reflected light beam is a light beam of the first reflected light beam, the intensity of which is greater than a second intensity threshold value, and after the second reflected light beam is determined, the first position information is determined according to the reflection position of the second reflected light beam on the radar window. If only one first reflected light beam exists, determining the first reflected light beam as a second reflected light beam under the condition that the intensity of the first reflected light beam is greater than a second intensity threshold value, and determining first position information according to the reflection position of the second reflected light beam on the radar window; if there are a plurality of first reflected light beams (e.g. in case the optical radar comprises a plurality of light beam emitting devices and corresponding echo receiving devices, a plurality of first reflected light beams may be received), a second reflected light beam with an intensity greater than a second intensity threshold is determined from the first reflected light beam, and the first position information is determined based on the reflection position of the second reflected light beam on the radar window. The method and the device have the advantages that the position with strong reflection of the emergent light beam in the radar window is cleaned, and the pertinence and effectiveness of cleaning the radar window are improved.

When the first position information is determined according to the reflection position of the second reflected light beam on the radar window, the information of the reflection position can be directly determined as the first position information, or the radar window can be divided into different cleaning areas in advance, and then the position information corresponding to the cleaning area to which the reflection position belongs is determined as the first position information.

Wherein the reflection position of the second reflected light beam on the radar window can be determined in various ways, see fig. 16, and fig. 16 is a schematic diagram of the reflection position of the second reflected light beam on the radar window provided in the embodiment of the present application, as shown in fig. 16, the emergent beam a and the emergent beam b are reflected on the radar window having a shielding object, the emergent beam c is reflected on a hollow shielding object (i.e. a shielding object which is not closely attached to the radar window and has a space with the radar window) of the radar window, the intensities of the reflected light beams reflected by the emergent beam a, the emergent beam b and the emergent beam c are all greater than a second intensity threshold, the reflected light beams of the emergent beam a, the emergent beam b and the emergent beam c are the second reflected light beams, and the position a, the position b and the position c are respectively the second reflected light beams of the emergent beam a, the emergent beam b and the emergent beam c, a reflection position on the radar window. Where the position c may be the position on the radar window at which the outgoing light beam c is reflected on the obstruction.

Further alternatively, in yet another implementation of determining the first position information, the first position information may be determined based on the cell temperature information and the intensity of the first reflected light beam. Specifically, after the reflection position of the second reflected light beam on the radar window is determined, whether the temperature of each reflection position is lower than a first temperature threshold value or not is judged according to unit temperature information of each radar window, the reflection position with the temperature lower than the first temperature threshold value is determined as a first position, position information of the first position in the window unit is determined as first position information, and accordingly, after the first position information is determined, the first position can be determined through the first position information. Through two aspects of unit temperature information and the intensity of first reflected light beam, with the position information that reflects light in the window unit strong and the position correspondence that the temperature is low, as first position information, improved the accuracy to ice and snow class low temperature shelter from thing location to the clear pertinence and the validity of radar window.

Optionally, the first cleaning instruction may further include first temperature information, where the first temperature information is used to instruct heating of a heating assembly in the window cleaning device to a first temperature, and if the obstruction on the radar window is an ice and snow low-temperature obstruction, the heating assembly in the window cleaning device may melt and remove the ice and snow low-temperature obstruction after heating. The first temperature information may be determined from cell temperature information of the radar window and/or the intensity of the first reflected light beam.

In an alternative implementation of determining the first temperature information, the first temperature information may be determined from unit temperature information of the radar window. Specifically, a first window unit with the temperature lower than a second temperature threshold value is determined from window units of the radar window according to unit temperature information of the radar window; determining the first window shielding degree of the radar window according to the number of the first window units; therefore, the first temperature information corresponding to the shielding degree of the first window is determined according to the preset corresponding relation between the shielding degrees of different windows and the heating temperature information. The temperature that heats cleanly is confirmed according to the temperature height degree that low temperature sheltered from the thing position, has guaranteed to heat cleanly validity to the radar window to and the rationality that the heating resource planning utilized.

For example, if the unit temperature information of the radar window is collected by the infrared temperature measurement device and includes the temperature value of each window unit, the temperature value of each window unit can be directly compared with the second temperature threshold value, and then the first window unit is determined; for another example, if the unit temperature information of the radar window is collected by the infrared thermal imaging device and includes the image characteristic data of each window unit, and the image characteristic data of the window unit may indicate the color intensity in the window thermal distribution map, then, the image characteristic data of the window unit may be compared with the image characteristic data corresponding to the temperature lower than the second temperature threshold value, so as to determine the first window unit.

One way to determine the shielding degree of the first window may be to determine the ratio of the number of the first window units to the total number of the window units in the radar window as the shielding degree of the first window.

In another alternative implementation of determining the first temperature information, the first temperature information may be determined from an intensity of the first reflected light beam. Specifically, the intensity of the first reflected light beam may have different values, different heating temperature information may be configured for the different values of the intensity of the first reflected light beam in advance, and then after a third value corresponding to the intensity of the first reflected light beam received at the first sampling time unit is determined, the heating temperature information configured for the third value is determined as the first temperature information. The temperature for heating and cleaning is determined according to the intensity of the reflection of the emergent light beam, the effectiveness of heating and cleaning the radar window is guaranteed, and the rationality of planning and utilizing the heating resources is guaranteed.

In yet another alternative implementation of determining the first temperature information, the first temperature information may be determined from the cell temperature information and the intensity of the first reflected light beam. Specifically, window temperature information may be determined according to the unit temperature information, and then a target confidence may be determined according to the window temperature information and the intensity of the first reflected light beam (the specific implementation may refer to the optional implementation manner of step S302, which is not described here any more), so that heating temperature information corresponding to the determined value of the target confidence may be obtained according to the correspondence between different values of the preset target confidence and different heating temperature information, and the heating temperature information is used as the first temperature information. From two aspects of unit temperature information and the intensity of first reflection beam, confirm the temperature of heating and cleaning, guaranteed to heat clear validity to the radar window to reach the rationality that the heating resource planning utilized.

Optionally, the first cleaning instruction may further include first time length information, where the first time length information is used to instruct the window cleaning device to clean the radar window for a first time length. The first duration information may be determined from cell temperature information of the radar window and/or the intensity of the first reflected light beam.

In an alternative implementation of determining the first duration information, the first duration information may be determined based on unit temperature information of the radar window. Specifically, a second window unit with the temperature lower than a third temperature threshold value is determined from window units of the radar window according to unit temperature information of the radar window; determining the second window shielding degree of the radar window according to the number of the second window units; therefore, the first time length information corresponding to the second window shielding degree is determined according to the preset corresponding relation between the different window shielding degrees and the cleaning time length information. The length of time for cleaning is determined according to the temperature degree of the position of the shielding object, and the rationality and effectiveness for cleaning the radar window and the rationality for planning and utilizing the cleaning resources are guaranteed. The specific implementation of the first duration information is determined according to the second window shielding degree, and the implementation manner of the first temperature information may be determined according to the first window shielding degree, which is not described in detail herein.

In another alternative implementation of determining the first duration information, the first duration information may be determined according to an intensity of the first reflected light beam. Specifically, different cleaning duration information may be configured for different values of the intensity of the first reflected light beam in advance, and then after a fourth value corresponding to the intensity of the first reflected light beam received at the first sampling time unit is determined, the cleaning duration information configured for the fourth value is determined as the first duration information. The method and the device have the advantages that the cleaning duration is determined according to the intensity of the reflection of the emergent light beam, the rationality and effectiveness of cleaning the radar window are guaranteed, and the rationality of planning and utilizing the cleaning resources is guaranteed.

In yet another alternative implementation of determining the first duration information, the first duration information may be determined based on the cell temperature information and the intensity of the first reflected light beam. Specifically, window temperature information can be determined according to the unit temperature information, then a target confidence coefficient can be determined according to the window temperature information and the intensity of the first reflected light beam, and then cleaning duration information corresponding to the values of the determined target confidence coefficient according to the window temperature information and the intensity of the first reflected light beam can be obtained according to the corresponding relation between different values of the preset target confidence coefficient and different cleaning duration information as the first duration information. The radar window cleaning method has the advantages that the cleaning duration is determined from two aspects of unit temperature information and the intensity of the first reflected light beam, the rationality and effectiveness of cleaning the radar window are guaranteed, and the rationality of planning and utilizing the cleaning resources is guaranteed.

It should be noted that the three optional implementation manners related to the first cleaning instruction can be independently implemented, and the cleaning of the position of the shielding object in the radar window, the heating cleaning of the radar window at the specified temperature, and the cleaning of the radar window for the specified time period are respectively implemented. The optional implementation modes can be executed in a combined manner, for example, the first cleaning instruction can simultaneously comprise first position information and first temperature information, and heating and cleaning at a specified temperature can be performed on the position of the shielding object in the radar window; if the first cleaning instruction can simultaneously comprise the first position information and the first time length information, the position of the shielding object in the radar window can be cleaned for a specified time length; for another example, the first cleaning instruction may include both the first temperature information and the first time length information, so that the heating and cleaning of the radar window at the instruction temperature for the specified time length may be realized. The optional implementation mode can be executed simultaneously by the three devices, namely the first cleaning instruction simultaneously contains first position information, first temperature information and first time length information, so that the position of the shielding object in the radar window can be heated and cleaned at the specified temperature for the specified time length.

Through above-mentioned optional mode, after confirming that there is the shelter in the radar window, send first clean instruction, instruct window cleaning device to go on cleaning to the shelter in the radar window through first clean instruction to promote the detection rate of accuracy of radar.

Referring to fig. 17, fig. 17 is a schematic flowchart of another radar obstruction detection method provided in the embodiment of the present application, and as shown in fig. 17, the method may include steps S901 to S904.

S901, window temperature information of the radar window is determined, and a first confidence coefficient is determined according to the window temperature information.

Wherein, the window temperature information of radar window is used for the temperature height degree of sign radar window, and radar window unit can divide into at least one window unit in advance, and each window unit has the unit temperature information that self corresponds, can determine the window temperature information of radar window according to the unit temperature information of radar window.

The unit temperature information of window unit can be acquireed by temperature information collection system, if the radar window is fan-shaped radar window, temperature information collection system can fix on the temperature acquisition extension board, and the temperature acquisition extension board sets up the top at the radar window to stretch out forward along window view direction, for avoiding the interference to the optical radar operation, the temperature acquisition extension board is outside the view scope of radar window. Referring to fig. 18, fig. 18 is a schematic view of a temperature information collecting device provided in an embodiment of the present application, and fig. 18 exemplarily shows a relative position between the temperature information collecting device and a sector radar window, and in an alternative implementation manner, if a fixed temperature collecting support plate is used, the temperature information collecting device cannot collect complete unit temperature information of the radar window, and the temperature collecting support plate can rotate up and down along a support plate rotating shaft, so that the temperature information collecting device collects unit temperature information of the whole radar window. After the unit temperature information is collected, the temperature information collecting device can rotate along the rotating shaft of the supporting plate and reset outside the view range of the radar window.

If the radar window is the radar window of cylindricality, temperature information collection system can set up on annular temperature information acquisition guide rail, and temperature information acquisition guide rail is located the outside of cylindricality radar window, and temperature information collection system can follow the removal of temperature information acquisition guide rail to the completion is to the collection of the unit temperature information of whole radar window. Referring to fig. 19, fig. 19 is a schematic view of another temperature information acquisition device provided in the embodiment of the present application, and fig. 19 exemplarily shows a relative position between the temperature information acquisition device and a cylindrical radar window, wherein a control harness is provided at the bottom of the temperature information acquisition device and connected to a processing device of an optical radar, so as to transmit various control information of the processing device with respect to the temperature information acquisition device, such as an instruction for sliding along a temperature information acquisition guide rail to acquire temperature information of a radar window unit.

In an optional implementation manner, the window unit division manner of the radar window may divide the radar window into at least one window unit according to the area size of the radar window. In another implementation, the division may be performed according to a resolution of a temperature information acquisition device that acquires temperature information of the unit, for example, if the temperature information acquisition device is an infrared thermal imaging device, the window unit may be divided according to an imaging resolution of a thermal profile of the window generated by the thermal imager, and an area of each pixel in the thermal profile of the window generated by the thermal imager, which corresponds to the radar window, is divided into one window unit. Referring to fig. 20, fig. 20 is a schematic diagram of a window unit division according to an embodiment of the present application, as shown in fig. 20, a pixel 1 is a pixel in a window thermal distribution diagram of a radar window, and the pixel 1 corresponds to a region 1 in the radar window, that is, an image of the region 1 in the window thermal distribution diagram is the pixel 1, so that the region 1 can be determined as a window unit in the radar window. For another example, if the temperature information acquisition device is an infrared temperature measurement device, then a minimum identification area that can be identified by the infrared temperature measurement device in the radar window is determined according to the spatial resolution of the infrared temperature measurement device and the distance between the infrared temperature measurement device and the radar window, and then the window unit is divided according to the minimum identification area. Referring to fig. 21, fig. 21 is a schematic view illustrating window unit division provided in the embodiment of the present application, as shown in fig. 21, a radar window is divided into different window units by each dotted line, and after the window units are divided, a corresponding window unit exists at any position in the radar window. It should be noted that the dashed line in fig. 21 is only for the purpose of assisting the description of the window unit, and the dashed line is not present in the radar window and does not interfere with the normal operation of the optical radar.

The following describes a determination method of window temperature information, where the window temperature information can be determined by the number of target-shielded window units, and the target-shielded window units are window units satisfying the target-shielded characteristic conditions. In an optional implementation manner, the number of window units covered by the target may be used as the window temperature information; in another optional implementation manner, the ratio of the number of the window units which are blocked by the target to the total number of the window units in the radar window can be determined as window temperature information; in another optional implementation manner, the area of the target shielding window unit may be determined according to the number of the target shielding window units, and the area of the target shielding window unit is determined as the window temperature information. The optional implementation manner is a pre-configured determination manner in an actual use scenario. Through the target shielding characteristic condition, the target shielding window units which are possibly shielded by the shielding object in the radar window are screened out, and then the window temperature information is determined according to the number of the target shielding window units, so that the reliability of detecting the shielding object according to the window temperature information is ensured.

If the unit temperature information of the radar window is acquired through the infrared thermal imaging device, the unit temperature information includes image characteristic data of each window unit in a window thermal distribution diagram acquired by the infrared thermal imaging device, and the image characteristic data is used for indicating color intensity in the window thermal distribution diagram. For example, if the infrared thermal imaging device is a thermal imager for color imaging, the image characteristic data may be intensities of three primary color components (i.e., RGB component intensities including a red component intensity, a blue component intensity and a green component intensity) corresponding to each window unit; if the infrared thermal imaging device is a thermal imager for gray-scale imaging, the image characteristic data may be gray-scale intensities corresponding to the window units.

Accordingly, the target occlusion feature condition may be that the color intensity satisfies a preconfigured color intensity threshold condition. For example, if the infrared thermal imaging device is a thermal imager for color imaging, the color intensity threshold condition may be that the red component intensity is less than a first color threshold, and the green component intensity is less than a second color threshold, and the blue component intensity is greater than a third color threshold. If the infrared thermal imaging device is a grayscale imaging thermal imager, then the color intensity threshold condition may be a grayscale level above a first grayscale threshold.

If the unit temperature information of the radar window is collected through the infrared temperature measuring equipment, the unit temperature information comprises the temperature value of each window unit. Accordingly, the target occlusion feature condition may be that the temperature value is below a preconfigured fourth temperature threshold.

It should be noted that, if the window units of the radar window are divided according to the resolution of the temperature information acquisition device that acquires the temperature information of the unit, it can be directly determined whether each window unit satisfies the target shielding characteristic condition. If the window unit of the radar window is according to the area size of the radar window, the radar window is divided into at least one window unit, each window unit (which can be recorded as a block) can be further divided into window subunits (which can be recorded as cells), for example, one cell can be a region of the radar window corresponding to the same pixel in the window thermal distribution diagram, and then whether each cell in the block meets a target shielding characteristic condition can be judged, the number of the cells meeting the target shielding characteristic condition is larger than that of the cells with a first number threshold, and the cell is determined as the target shielding window unit.

The window temperature information may have different values, different temperature confidence coefficients are configured for the different values of the window temperature information in advance, and then a first value of the window temperature information of the radar window is obtained, and the temperature confidence coefficient configured for the first value is determined as a first confidence coefficient. In a specific implementation, an optional manner for configuring the temperature confidence levels corresponding to different values of the window temperature information may be to divide the different values of the window temperature information into at least two value sets, and configure the corresponding temperature confidence levels for each value set. For example, if the window temperature information is the occupancy of the target-shielding window unit, the temperature confidence of the occupancy value configuration σ 1 is (0-20%), the temperature confidence of the occupancy value configuration σ 2 is [ 20%, 50%), and the temperature confidence of the occupancy value configuration σ 3 is [ 50%, 100% ]. Another optional way for configuring the temperature confidence degrees corresponding to different values of the window temperature information may be to preset a first value threshold of the window temperature information, configure a corresponding first standard confidence degree for the first value threshold, configure the corresponding temperature confidence degree to be 0 for a value of the window temperature information lower than the first value threshold, configure the value of the window temperature information not lower than the first value threshold according to a ratio higher than the first value threshold and the first standard confidence degree to determine the corresponding temperature confidence degree. For example, if the set value threshold is a, if the value of the window temperature information of the radar window is b (b ≧ a), and the standard confidence is σ, the first confidence corresponding to the window temperature information of the radar window is σ [1+ (b-a)/a ].

S902, determining the intensity of the first reflected light beam, and determining a second confidence level according to the intensity of the first reflected light beam.

The determination manner of the intensity of the first reflected light beam may refer to the implementation manner of step S301 in the embodiment shown in fig. 3, and is not described herein again.

The intensity of the first reflected light beam can have different values, which are respectively different values of the intensity of the first reflected light beam, different intensity confidence coefficients are configured, so that a second value corresponding to the intensity of the first reflected light beam received by the first sampling unit is obtained, and the intensity confidence coefficient preconfigured for the second value is determined as the second confidence coefficient. One of the selectable modes for configuring different intensity confidence levels for different values of the intensity of the first reflected light beam may be to divide the different values of the intensity of the first reflected light beam into at least two value sets, and configure corresponding intensity confidence levels for the value sets. Another alternative way to configure different intensity confidence levels for different values of the intensity of the first reflected light beam may be to preset a second value threshold of the intensity of the first reflected light beam, configure a corresponding first standard confidence level for the second value threshold, configure the intensity confidence level corresponding to the value of the intensity of the first reflected light beam lower than the second value threshold to be 0, configure the value of the intensity of the first reflected light beam not lower than the second value threshold to determine the corresponding intensity confidence level according to a ratio higher than the second value threshold and the second standard confidence level.

And S903, determining the confidence of the target according to the first confidence and the second confidence.

The target confidence coefficient is used for predicting the credibility of the shielding object existing on the radar window according to the window temperature information of the radar window and the intensity of the first reflected light beam, and then judging whether the shielding object exists on the radar window according to a pre-configured first confidence coefficient threshold value. In an optional implementation manner, the first confidence coefficient and the second confidence coefficient may be added to obtain a target confidence coefficient; in another optional implementation manner, the first confidence level and the second confidence level may be weighted and summed according to respective preconfigured confidence level weights to obtain a target confidence level.

The first confidence coefficient is determined according to window temperature information of the radar window, the window temperature information of the radar window is determined according to unit temperature information of the radar window collected by the temperature information collecting device, the temperature information of the whole radar window is covered, and the accuracy is high, so that the confidence coefficient weight of the first confidence coefficient can be configured to be high; the second confidence is determined according to the intensity of the first reflected light beam, the first reflected light beam is generated by the reflection of the local position of the emergent light beam on the radar window, and there may be a case that the local position has no shielding object and the position which has not been reflected has shielding object coverage, and the accuracy is slightly lower, so the confidence weight of the second confidence can be configured to be lower. Furthermore, the angular resolution of the optical radar can reflect the spatial density of the emitted light beam when the radar runs, so that for the optical radar with higher angular resolution, the emitted light beam emitted to the radar window can cover a larger range of the radar window, and a shelter for guiding the reflection of the emitted light beam on the radar window is more likely to be detected, so that a higher confidence weight can be configured for the second confidence of the optical radar with higher angular resolution, and conversely, for the optical radar with lower resolution, a lower confidence weight can be configured for the second confidence of the optical radar with higher angular resolution.

And S904, determining that the shielding object exists on the radar window according to the target confidence coefficient and the first confidence coefficient threshold value.

Specifically, whether an occlusion exists on the radar window can be detected according to the target confidence and the size of a pre-configured first confidence threshold. In one implementation, the presence of an obstruction on the radar window is determined where the target confidence is greater than a first confidence threshold.

Optionally, after determining that the obstruction exists on the radar window in step S904, a first cleaning instruction may be issued, where the first cleaning instruction is used to instruct to clean the radar window. In one implementation, the first cleaning instruction may be an instruction for a window cleaning device, and the window cleaning device may clean the radar window under the trigger of the first cleaning instruction. The specific implementation manner of the window cleaning device can refer to the specific implementation manner of the window cleaning device in the embodiment corresponding to fig. 3, and is not described herein again.

Further optionally, the first cleaning instruction may include one or more of first position information, first temperature information, and first duration information. The first location information may indicate a first location in the radar window to be cleaned; the first temperature information may indicate that a heating assembly in the window cleaning apparatus is to be heated to a first temperature; the first duration information may indicate that the window cleaning device is to clean the radar window for a first duration. The determination manner and the beneficial effect of the first location information, the first temperature information, or the first time length information may correspond to the description of the determination manner and the beneficial effect of the first location information, the first temperature information, or the first time length information in the embodiment shown in fig. 3, and are not described herein again.

In the embodiment of the application, a first confidence coefficient is determined according to window temperature information of a radar window, a second confidence coefficient is determined according to the intensity of a first reflected light beam, a target confidence coefficient is determined according to the first confidence coefficient and the second confidence coefficient, and then an obstruction existing on the radar window is determined according to the target confidence coefficient and a first confidence coefficient threshold value. The target confidence coefficient of the obstruction is determined according to a first confidence coefficient determined by the window temperature information and a second confidence coefficient determined by the intensity of the first reflected light beam, different target confidence coefficients are obtained according to different window temperature information or different intensities of the first reflected light beam, and the detection of the obstruction on the optical radar window is accurately realized.

The scheme provided by the embodiment of the present application has been mainly described from the perspective of the method. It is understood that the optical radar includes hardware structures and/or software modules for performing the respective functions in order to implement the above-described functions. The components and steps of the various examples described in connection with the embodiments disclosed herein may be embodied as hardware or a combination of hardware and computer software. Whether a function is performed as hardware or computer software drives hardware depends upon the particular application and design constraints imposed on the 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 teachings.

Next, a device related to the method for detecting a radar blocking object provided by the embodiment of the present application is described, and referring to fig. 22, fig. 22 is a schematic structural diagram of the device for detecting a radar blocking object provided by the embodiment of the present application. The radar blocking object detection device can execute the method embodiment corresponding to the figure 3 or the figure 17 through the built-in components. As shown in fig. 22, the radar obstruction detection apparatus 22 may include at least a first determination module 121 and a second determination module 122.

The first determining module 121 is configured to determine an intensity of a first reflected light beam, where the first reflected light beam is a reflected light beam received in a first sampling time unit after an outgoing light beam is transmitted in the first transmission time unit, and a time interval between an end time of the first sampling time unit and the first transmission time unit is determined according to a distance from a transmitting position of the outgoing light beam to a radar window and a distance from the radar window to a receiving position of the first reflected light beam.

And a second determining module 122, configured to determine that an obstruction exists on the radar window according to the intensity of the first reflected light beam.

The first determining module 121 and the second determining module 122 may be physically independent modules, or may be the same module integrated together.

Optionally, the intensity of the first reflected light beam is greater than a first intensity threshold, the first intensity threshold being preconfigured.

Optionally, the device 12 may further include a third determining module 123 for determining window temperature information of the radar window, and the obstruction is determined according to the intensity of the first reflected light beam and the window temperature information.

The third determining module 123, the first determining module 121, and the second determining module 122 may be physically independent modules; the third determining module 123 may be the same module integrated with any one of the first determining module 121 or the second determining module 122; third determination module 123 may also be the same module integrated with first determination module 121 and second determination module 122, that is, radar obstruction detection apparatus 12 may include a processing module for implementing the methods implemented by first determination module 121, second determination module 122, and third determination module 123 described above.

Optionally, the second determining module 122 is specifically configured to:

determining a first confidence coefficient according to the window temperature information;

determining a second confidence level from the intensity of the first reflected beam;

determining a target confidence coefficient according to the first confidence coefficient and the second confidence coefficient;

and determining that an obstruction exists on the radar window according to the target confidence and the first confidence threshold.

Optionally, the window temperature information is determined according to at least one unit temperature information, the at least one unit temperature information corresponds to the at least one window unit one to one, and the at least one window unit is included in the radar window.

Optionally, the window temperature information is determined by the number of target-shielded window units, and the target-shielded window units are window units satisfying the target-shielded characteristic condition.

Optionally, the unit temperature information includes image characteristic data, and the image characteristic data is used for indicating color intensity in the window thermal distribution map; the target shielding characteristic condition is that the color intensity meets a color intensity threshold condition.

Optionally, the radar obstruction detection apparatus 12 may further include a communication module 124 for issuing a first cleaning command, where the first cleaning command is used to instruct cleaning of the radar window.

Optionally, the first cleaning instruction includes first position information; the first position information is determined based on the cell temperature information and/or the intensity of the first reflected light beam.

Optionally, the first position information is determined according to a reflection position of a second reflected light beam on the radar window, the intensity of the second reflected light beam is greater than a second intensity threshold, and the second reflected light beam is included in the first reflected light beam.

Optionally, the temperature of the first location is lower than a first temperature threshold, and the first location is determined by the first location information.

Optionally, the first cleaning instruction further includes first temperature information; the first temperature information is determined from the cell temperature information and/or the intensity of the first reflected light beam.

Optionally, the first temperature information is determined according to a first window blocking degree, the first window blocking degree is determined according to the number of first window units, and the first window units are window units with a temperature lower than a second temperature threshold.

Optionally, the first cleaning instruction further includes first duration information; the first time length information is determined based on the cell temperature information and/or the intensity of the first reflected light beam.

Optionally, the first duration information is determined according to a second window blocking degree, the second window blocking degree is determined according to the number of second window units, and the second window units are window units with a temperature lower than a third temperature threshold.

It is understood that the radar obstruction detection apparatus 12 in the embodiments of the present application may implement the steps in the embodiments shown in fig. 3 and 17. With regard to the specific implementation of the functional components included in the radar obstruction detection apparatus of fig. 22 and the corresponding advantages, reference is made to the detailed description of the embodiments of fig. 3 and 17.

Referring to fig. 23, fig. 23 is a schematic structural diagram of another radar obstruction detection apparatus provided in the embodiment of the present application, and as shown in fig. 23, the radar obstruction detection apparatus 230 includes: processor 231, communication interface 232, processor 231 and communication interface 232 are coupled by bus 234.

The processor 231 may be one or more Central Processing Units (CPUs), and in the case that the processor 231 is one CPU, the CPU may be a single-core CPU or a multi-core CPU.

Processor 231 is configured to read the program stored in the memory and cooperate with communication interface 232 to perform some or all of the steps of the method performed by radar obstruction detection apparatus 230 in the embodiments described above.

Optionally, the radar obstruction detection apparatus 230 further includes a memory 233. The Memory 233 may include, but is not limited to, a Random Access Memory (RAM), an Erasable Programmable Read Only Memory (EPROM), a Read-Only Memory (Read-Only ROM), or a portable Read-Only Memory (CD-ROM), and the Memory 233 is used for storing programs, and the processor 231 may Read the programs stored in the Memory 233 and perform part or all of the steps of the method performed by the radar shade detection apparatus 230 in the above-described embodiment of the present application.

For example, the communication interface 232 is used for receiving the intensity of the first reflected light beam, or receiving the temperature information of the unit of the radar window, etc.;

the processor 231 is configured to determine an intensity of a first reflected light beam, where the first reflected light beam is a reflected light beam received in a first sampling time unit after an outgoing light beam is emitted in the first emission time unit, and a time interval between an end time of the first sampling time unit and the first emission time unit is determined according to a distance from an emission position of the outgoing light beam to a radar window and a distance from the radar window to a receiving position of the first reflected light beam; and determining that the shelter exists on the radar window according to the intensity of the first reflected light beam.

In some possible implementations, the intensity of the first reflected light beam is greater than a first intensity threshold, the first intensity threshold being preconfigured.

In some possible implementations, the processor 231 is further configured to:

determining window temperature information of the radar window;

the obstruction is determined based on the intensity of the first reflected beam and the window temperature information.

In some possible implementations, the processor 231 is specifically configured to:

determining a target confidence level according to the first confidence level and the second confidence level;

and determining that the obstruction exists on the radar window according to the target confidence and a first confidence threshold value.

In some possible implementations, the window temperature information is determined according to at least one unit temperature information, the at least one unit temperature information corresponds to at least one window unit in a one-to-one correspondence, and the at least one window unit is included in the radar window.

In some possible implementations, the window temperature information is determined by the number of target-obscured window units, which are window units satisfying a target-obscured characteristic condition.

In some possible implementations, the unit temperature information includes image characteristic data indicating color intensity in a window thermal profile;

the target shielding characteristic condition is that the color intensity meets a color intensity threshold condition.

In some possible manners, the processor 231 is further configured to:

and sending a first cleaning instruction, wherein the first cleaning instruction is used for indicating that the radar window is cleaned.

In some possible implementations, the first cleaning instruction includes first location information; the first position information is determined from the cell temperature information and/or the intensity of the first reflected light beam.

In some possible implementations, the first position information is determined based on a position of a reflection of a second reflected light beam on the radar window, the intensity of the second reflected light beam being greater than a second intensity threshold, the second reflected light beam being included in the first reflected light beam.

In some possible implementations, the temperature of the first location is below a first temperature threshold, the first location being determined by the first location information.

In some possible implementations, the first cleaning instructions further include first temperature information; the first temperature information is determined from the cell temperature information and/or the intensity of the first reflected light beam.

In some possible implementations, the first temperature information is determined according to a first window blocking degree, the first window blocking degree is determined according to the number of first window units, and the first window units are window units with a temperature lower than a second temperature threshold.

In some possible implementations, the first cleaning instruction further includes first duration information; the first duration information is determined based on the cell temperature information and/or the intensity of the first reflected light beam.

In some possible implementations, the first duration information is determined according to a second window blocking degree, the second window blocking degree is determined according to a number of second window units, and the second window units are window units with a temperature lower than a third temperature threshold.

Referring to fig. 24, fig. 24 is a schematic structural diagram of a chip according to an embodiment of the present disclosure. As shown in fig. 24, the chip 240 may include: a processor 2401, and one or more communication interfaces 2402 coupled to the processor 2401. Wherein:

processor 2401 may be used to read and execute computer readable instructions. In particular implementations, processor 2401 may include primarily a controller, an operator, and registers. The controller is mainly responsible for instruction decoding and sending out control signals for operations corresponding to the instructions. The arithmetic unit is mainly responsible for executing fixed-point or floating-point arithmetic operation, shift operation, logic operation and the like, and can also execute address operation and conversion. The register is mainly responsible for storing register operands, intermediate operation results and the like temporarily stored in the instruction execution process. In a specific implementation, the hardware architecture of the processor 2401 may be an Application Specific Integrated Circuit (ASIC) architecture, an MIPS architecture, an ARM architecture, an NP architecture, or the like. The processor 2401 may be single core or multi-core.

The communication interface 2402 may be used to input data to be processed to the processor 2401, and may output a processing result of the processor 2401 to the outside. For example, the communication interface 2402 may be a General Purpose Input Output (GPIO) interface, and may be connected to a plurality of peripheral devices (e.g., a display (LCD), a camera (camera), a Radio Frequency (RF) module, etc.). The communication interface 2402 is connected to the processor 2401 through a bus 2403.

Herein, the processor 2401 may be configured to call, from the memory, an implementation program of the radar obstruction detection method provided in one or more embodiments of the present application, and execute instructions included in the program. The communication interface 2402 may be used to output the execution result of the processor 2401. In this application, communication interface 2402 may be specifically configured to output a radar obstruction detection result of processor 2401. For the method for detecting a radar obstruction provided in one or more embodiments of the present application, reference may be made to the foregoing embodiments shown in fig. 3 and fig. 17, and details are not repeated here.

It should be noted that the respective corresponding functions of the processor 2401 and the communication interface 2402 may be implemented by hardware design, software design, or a combination of hardware and software, which is not limited herein.

Also provided in the embodiments of the present application is a computer storage medium, which can be used to store computer software instructions for the radar obstruction detection apparatus 230 in the embodiment shown in fig. 23, and which contains a program designed for the radar obstruction detection apparatus in the above embodiments. The storage medium includes, but is not limited to, flash memory, hard disk, solid state disk.

In the embodiment of the present application, a computer program product is also provided, and when being executed by a radar obstruction detection apparatus, the computer program product can execute the method for detecting a radar obstruction designed for the radar obstruction detection apparatus in the embodiment shown in fig. 23.

The terms "first," "second," "third," and "fourth," etc. in the description and claims of this application and in the accompanying drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

It should be understood by those of ordinary skill in the art 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 the processes should be determined by their functions and inherent logic, and should not limit the implementation process of the embodiments of the present application.

Claims

1. A radar obstruction detection method, comprising:

determining the intensity of a first reflected light beam, wherein the first reflected light beam is received by a first sampling time unit after an emergent light beam is emitted by the first emission time unit, and the time interval between the end time of the first sampling time unit and the first emission time unit is determined according to the distance from the emitting position of the emergent light beam to a radar window and the distance from the radar window to the receiving position of the first reflected light beam;

and determining that the shelter exists on the radar window according to the intensity of the first reflected light beam.

2. The method of claim 1, wherein the intensity of the first reflected beam is greater than a first intensity threshold, the first intensity threshold being preconfigured.

3. The method of claim 1, further comprising:

determining window temperature information of the radar window;

4. The method of claim 3, wherein determining that an obstruction is present on the radar window based on the intensity of the first reflected beam comprises:

5. The method of any of claims 3 or 4, wherein the window temperature information is determined based on at least one unit temperature information, the at least one unit temperature information corresponding one-to-one to at least one window unit, the at least one window unit included in the radar window.

6. The method of claim 5, wherein the window temperature information is determined based on a number of target-obscured window units, wherein the target-obscured window units are window units that satisfy a target-obscured characteristic condition.

7. The method of claim 6, wherein the unit temperature information includes image characteristic data indicative of color intensity in a window thermal profile;

8. The method of any of claims 1-7, wherein after determining the presence of an obstruction on the radar window based on the intensity of the first reflected beam, the method further comprises:

9. The method of claim 8, wherein the first cleaning instruction includes first location information; the first position information is determined from the cell temperature information and/or the intensity of the first reflected light beam.

10. The method of claim 9, wherein the first position information is determined based on a position of a reflection of a second reflected beam on the radar window, the second reflected beam having an intensity greater than a second intensity threshold, the second reflected beam included with the first reflected beam.

11. The method of claim 10, wherein the temperature of a first location is below a first temperature threshold, the first location determined by the first location information.

12. The method of any of claims 8-11, wherein the first cleaning instruction further comprises first temperature information; the first temperature information is determined from the cell temperature information and/or the intensity of the first reflected light beam.

13. The method of claim 12, wherein the first temperature information is determined based on a first degree of window occlusion, the first degree of window occlusion being determined based on a number of first window units, the first window units being window units having a temperature below a second temperature threshold.

14. The method of any of claims 8-13, wherein the first cleaning instruction further comprises first duration information; the first duration information is determined based on the cell temperature information and/or the intensity of the first reflected light beam.

15. The method of claim 14, wherein the first duration information is determined based on a second degree of window occlusion, the second degree of window occlusion being determined based on a number of second window units, the second window units being window units having a temperature below a third temperature threshold.

16. A radar blockage detection apparatus, comprising:

the first determining module is used for determining the intensity of a first reflected light beam, wherein the first reflected light beam is received in a first sampling time unit after an emergent light beam is emitted in a first emission time unit, and the time interval between the end time of the first sampling time unit and the first emission time unit is determined according to the distance from the emission position of the emergent light beam to a radar window and the distance from the radar window to the receiving position of the first reflected light beam;

and the second determining module is used for determining that the shielding object exists on the radar window according to the intensity of the first reflected light beam.

17. The apparatus of claim 16, wherein the intensity of the first reflected beam is greater than a first intensity threshold, the first intensity threshold being preconfigured.

18. The apparatus of claim 16, further comprising:

the third determining module is used for determining window temperature information of the radar window;

19. The method of claim 18, wherein the second determination module is specifically configured to:

20. The apparatus of claim 18 or 19, wherein the window temperature information is determined based on at least one unit temperature information, the at least one unit temperature information corresponding one-to-one to at least one window unit, the at least one window unit included in the radar window.

21. The apparatus of claim 20, wherein the window temperature information is determined by a number of target-obscured window units, the target-obscured window units being window units that satisfy a target-obscured characteristic condition.

22. The apparatus of claim 21, wherein the unit temperature information comprises image characteristic data indicative of color intensity in a window thermal profile;

23. The apparatus of any of claims 16-22, further comprising:

the communication module is used for sending a first cleaning instruction, and the first cleaning instruction is used for indicating that the radar window is cleaned.

24. The apparatus of claim 23, wherein the first cleaning instruction comprises first location information; the first position information is determined from the cell temperature information and/or the intensity of the first reflected light beam.

25. The apparatus of claim 24, wherein the first position information is determined based on a position of a reflection of a second reflected beam on the radar window, the second reflected beam having an intensity greater than a second intensity threshold, the second reflected beam included with the first reflected beam.

26. The apparatus of claim 25, wherein a temperature of a first location is below a first temperature threshold, the first location determined by the first location information.

27. The device of any of claims 23-26, wherein the first cleaning instructions further comprise first temperature information; the first temperature information is determined from the cell temperature information and/or the intensity of the first reflected light beam.

28. The apparatus of claim 27, wherein the first temperature information is determined based on a first degree of window occlusion, the first degree of window occlusion being determined based on a number of first window units, the first window units being window units having a temperature below a second temperature threshold.

29. The device of claims 23-28, wherein the first cleaning instruction further comprises first duration information; the first duration information is determined based on the cell temperature information and/or the intensity of the first reflected light beam.

30. The apparatus of claim 29, wherein the first duration information is determined based on a second degree of window occlusion, the second degree of window occlusion being determined based on a number of second window units, the second window units being window units having a temperature below a third temperature threshold.

31. A radar obstruction detection apparatus comprising a processor and a communication interface, the processor being configured to invoke a program stored in a memory to perform the radar obstruction detection method of any one of claims 1-15.

32. A computer storage medium having stored thereon instructions that, when executed on a processor, cause the processor to perform the method of radar obstruction detection of any one of claims 1-15.