Disclosure of Invention
The embodiment of the invention provides a method, a device, electronic equipment and a storage medium for judging radar shielding conditions, which are used for solving the problems that in the prior art, whether a radar is shielded or not is judged by a mode of constructing a model, the training process is longer, the required data volume is larger, the constructed model has no universality, and the judging efficiency of the radar shielding conditions is lower.
In a first aspect, the present invention provides a method for determining a radar shielding condition, including:
acquiring first echo intensity information, and constructing an actual measurement direction diagram of the radar based on the first echo intensity information, wherein the first echo intensity information is real-time echo intensity information fed back by a specified target in an echo signal of the radar;
Comparing the measured directional diagram with a preset off-line directional diagram, wherein the off-line directional diagram is constructed based on second echo intensity information, the second echo intensity information is off-line echo intensity information fed back by a specified target in an echo signal of the radar in a non-shielded state, and the measured directional diagram and the off-line directional diagram are both monitoring angles of the radar to the specified target and echo intensity diagrams;
And if the measured directional diagram has the monitoring angle with the echo intensity meeting the first condition compared with the offline directional diagram, judging that the radar is in a shielded state, wherein the first condition comprises that the echo intensity of the monitoring angle corresponding to the measured directional diagram is lower than the echo intensity of the monitoring angle corresponding to the offline directional diagram.
In one possible implementation manner, if the measured directional diagram has a monitoring angle that the echo intensity satisfies the first condition compared to the offline directional diagram, determining that the radar is in a blocked state includes:
and if the number of the monitoring angles, for which the echo intensity meets the first condition, in the actually measured directional diagram is the first number compared with the offline directional diagram, judging that the radar is in a shielded state.
In one possible implementation, after comparing the measured pattern with the preset offline pattern, the method further includes:
If the number of the monitoring angles, for which the echo intensity meets the second condition, in the actually measured directional diagram is a second number compared with the offline directional diagram, judging that the actually measured directional diagram is invalid;
the second condition includes that the echo intensity of the monitoring angle in the actually measured directional diagram is higher than the preset echo intensity range of the monitoring angle in the off-line directional diagram.
In one possible implementation, after comparing the measured pattern with the preset offline pattern, the method further includes:
if the number of monitoring angles, for which the echo intensity meets the third condition, in the actually measured directional diagram is the first number compared with the offline directional diagram, judging that the radar is in a non-shielded state;
The third condition comprises that the echo intensity of the monitoring angle in the actually measured directional diagram is in a preset echo intensity range of the monitoring angle in the off-line directional diagram.
In one possible implementation, after determining that the radar is in the occluded state, the method further includes:
summing all monitoring angles meeting the first condition to obtain a shielding range value;
And calculating the ratio of the shielding range value to the radar monitoring range value, and determining the shielding degree of the radar.
In a possible implementation, the second echo intensity information comprises M valid echoes, and before the first echo intensity information is acquired, the method further comprises:
constructing an offline pattern based on the second echo intensity information;
constructing a directional diagram by taking a radar monitoring angle as a horizontal axis and echo intensity as a vertical axis;
dividing the monitoring angle of the radar into N angle intervals according to a preset interval;
For each angle interval, when the number of effective echoes in the angle interval is not more than the preset number, accumulating the echo intensities corresponding to the angle interval by a preset value when each effective echo is in the angle interval, wherein the number of effective echoes in the angle interval is zero, and the echo intensities corresponding to the angle interval is zero;
And taking the directional diagram obtained after traversing the M effective echoes as an offline directional diagram.
In one possible implementation, after dividing the monitored angle of the radar into N angle intervals, the method further includes:
for each angle interval, when the number of effective echoes in the angle interval is larger than a preset number, taking the average echo intensity of the effective echoes in the angle interval as the echo intensity of the angle interval.
In a second aspect, the present invention provides a device for determining a radar shielding condition, including:
The system comprises an acquisition module, a radar acquisition module and a radar acquisition module, wherein the acquisition module is used for acquiring first echo intensity information and constructing an actual measurement direction diagram of the radar based on the first echo intensity information;
The system comprises a comparison module, a radar detection module, a detection module and a detection module, wherein the comparison module is used for comparing an actual measurement direction diagram with a preset off-line direction diagram, the off-line direction diagram is constructed based on second echo intensity information, the second echo intensity information is off-line echo intensity information fed back by a specified target in an echo signal of the radar in an unoccluded state, and the actual measurement direction diagram and the off-line direction diagram are both monitoring angle-echo intensity diagrams of the radar to the specified target;
the first judging module is used for judging that the radar is in a shielded state if the measured directional diagram has a monitoring angle with echo intensity meeting a first condition compared with the offline directional diagram, wherein the first condition comprises that the echo intensity corresponding to the measured directional diagram at the monitoring angle is lower than the echo intensity corresponding to the offline directional diagram at the monitoring angle.
In a third aspect, the present invention provides an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method for determining radar shielding situations as described above in the first aspect or any one of the possible implementations of the first aspect when the computer program is executed by the processor.
In a fourth aspect, the present invention provides a computer readable storage medium storing a computer program which when executed by a processor implements the steps of the method for determining radar occlusion situation according to the first aspect or any one of the possible implementations of the first aspect.
The invention provides a method, a device, electronic equipment and a storage medium for judging radar shielding conditions, which are used for comparing echo intensities of monitoring angles in an actual measurement direction diagram with echo intensities of the same monitoring angle in a preset off-line direction diagram to determine radar shielding conditions, wherein the actual measurement direction diagram and the off-line direction diagram are both monitoring angle-echo intensity diagrams of the radar on a specified target. The method can realize real-time accurate judgment of radar shielding conditions, does not need a training model, and has high judgment efficiency. The method is suitable for all radar working scenes and has high compatibility. The shielding angle of the radar can be accurately positioned, so that the follow-up selection of a proper repair strategy is facilitated, the maintenance time of the radar is further shortened, and the working reliability of the radar is improved.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the following description will be made by way of specific embodiments with reference to the accompanying drawings.
Referring to fig. 1, a flowchart of an implementation of a method for determining radar shielding situations according to an embodiment of the present invention is shown. As shown in fig. 1, a method for determining a radar shielding condition may include:
S101, acquiring first echo intensity information, and constructing an actual measurement direction diagram of the radar based on the first echo intensity information, wherein the first echo intensity information is real-time echo intensity information fed back by a specified target in an echo signal of the radar.
The echo signals received by the radar may include echo information fed back by a plurality of monitoring targets, and the designated target is any one of the plurality of monitoring targets of the radar. The echo intensity information fed back by each monitoring target can be obtained by carrying out conventional calculation on the radar echo signals.
For example, in the running process of the vehicle, echo information fed back by a plurality of monitoring targets such as a front target type, a front target speed and the like can be included in echo signals received by the vehicle millimeter wave radar.
Optionally, the first echo intensity information is real-time echo intensity information fed back by the specified target. The first echo intensity information may include real-time echo intensities fed back by the specified target, and monitoring angles of radars corresponding to the respective real-time echo intensities. The first echo intensity information can be filled into a directional diagram taking the echo intensity as a vertical axis and the monitoring angle of the radar as a horizontal axis, or a directional diagram taking the echo intensity as the horizontal axis and the monitoring angle of the radar as a vertical axis, so as to construct a real-time monitoring angle-echo intensity diagram of the radar for a specified target.
S102, comparing the actually measured directional diagram with a preset off-line directional diagram, wherein the off-line directional diagram is constructed based on second echo intensity information, the second echo intensity information is off-line echo intensity information fed back by a specified target in an echo signal of the radar in an unoccluded state, and the actually measured directional diagram and the off-line directional diagram are both monitoring angle-echo intensity diagrams of the radar to the specified target.
Optionally, the second echo intensity information is feedback offline echo intensity information for the specified target. The second echo intensity information may include off-line echo intensities fed back by the specified target, and monitoring angles of radars corresponding to the respective off-line echo intensities. The offline echo intensity refers to echo intensity information fed back by a specified target when the radar is in an unoccluded state. The off-line pattern may be constructed using the second echo intensities in the same manner as the measured pattern is constructed. As shown in fig. 2, which illustrates an offline pattern of an embodiment of the present invention.
Fig. 3 shows a comparative schematic diagram of a radar in an unoccluded state, where a solid line represents an offline directional diagram and a broken line represents an actual measurement directional diagram.
The echo intensity corresponding to the monitoring angle of the actually measured directional diagram is compared with the echo intensity corresponding to the off-line directional diagram at the monitoring angle, so that whether the radar is in a shielding state at the monitoring angle or not can be judged, and further the shielding condition of the radar can be judged.
And S103, judging that the radar is in a blocked state if the measured directional diagram has a monitoring angle with echo intensity meeting a first condition compared with the offline directional diagram, wherein the first condition comprises that the echo intensity of the monitoring angle corresponding to the measured directional diagram is lower than the echo intensity of the monitoring angle corresponding to the offline directional diagram.
The monitoring angle range in the actually measured directional diagram is consistent with the monitoring angle range in the off-line directional diagram, and for any monitoring angle in the monitoring angle range, the monitoring angle corresponds to one echo intensity in the actually measured directional diagram and the off-line directional diagram.
Specifically, for the specified monitoring angle of the radar, if the echo intensity of the specified monitoring angle in the actually measured directional diagram is lower than the echo intensity of the specified monitoring angle in the off-line directional diagram, it can be determined that the radar is blocked at the specified monitoring angle.
The first monitoring angle is within a preset monitoring angle range, and the echo intensity of the first monitoring angle in the actually measured directional diagram is a first echo intensity, and the echo intensity in the off-line directional diagram is a second echo intensity. If the first echo intensity is lower than the second echo intensity, the first monitoring angle is judged to meet the first condition, and then the radar is judged to be in a shielded state.
Fig. 4 shows a comparative schematic diagram of a radar in a blocked state, where a solid line represents an offline directional diagram, a dotted line represents an actual measurement directional diagram, θ0 and θ1 are two monitoring angles, respectively, and echo intensities of θ0 and θ1 in the actual measurement directional diagram are lower than echo intensities of θ0 and θ1 in the offline directional diagram.
According to the embodiment of the invention, the actual measurement direction diagram is compared with the off-line direction diagram, so that the shielding condition of the radar can be accurately judged in real time, a training model is not needed, the judging efficiency is high, the method is suitable for working scenes of most radars, and the compatibility is high. In addition, through the comparison of the monitoring angles, the shielded angle of the radar can be accurately positioned, the follow-up selection of a proper repair strategy is facilitated, the maintenance time of the radar is further shortened, and the working reliability of the radar is improved.
In some embodiments of the present invention, in the step S103, if the measured direction diagram has a monitoring angle that the echo intensity satisfies the first condition compared to the offline direction diagram, determining that the radar is in the blocked state may include:
and if the number of the monitoring angles, for which the echo intensity meets the first condition, in the actually measured directional diagram is the first number compared with the offline directional diagram, judging that the radar is in a shielded state.
Alternatively, the first number may be at least one, and may be specifically set according to practical situations.
The echo intensities of all the monitoring angles in the offline directional diagram generally select the maximum echo intensity or the average echo intensity fed back by the designated target in the unoccluded state so as to ensure the reliability of the offline directional diagram.
Specifically, for each monitoring angle, a preset echo intensity range of the monitoring angle is constructed by taking the echo intensity of the monitoring angle in the offline directional diagram as a reference, wherein the echo intensity of the monitoring angle in the offline directional diagram can be the upper limit value or the median value of the preset echo intensity range of the monitoring angle, and the echo intensity can be specifically selected according to actual conditions. Each monitoring angle corresponds to a predetermined echo intensity range for that angle.
In some embodiments of the present invention, after comparing the measured pattern with the preset offline pattern, the method further comprises:
If the number of the monitoring angles, for which the echo intensity meets the second condition, in the actually measured directional diagram is a second number compared with the offline directional diagram, judging that the actually measured directional diagram is invalid;
the second condition includes that the echo intensity of the monitoring angle in the actually measured directional diagram is higher than the preset echo intensity range of the monitoring angle in the off-line directional diagram.
Alternatively, the second number may be at least one, or in order to ensure the reliability of the determination, the second number may be set to 20% or 50% of the number of all the monitoring angles, and may be specifically set according to the actual situation.
For example, for any monitoring angle, when the echo intensity of the monitoring angle in the actually measured directional diagram is higher than the preset echo intensity range of the monitoring angle, it is indicated that the echo intensity of the monitoring angle in the actually measured directional diagram is abnormal, and it may not be in accordance with the actual situation, and it may be determined that the actually measured directional diagram is invalid, and the actually measured directional diagram needs to be reconstructed and then the determination is performed again.
In some embodiments of the present invention, after comparing the measured pattern with the preset offline pattern, the method further comprises:
if the number of monitoring angles, for which the echo intensity meets the third condition, in the actually measured directional diagram is the first number compared with the offline directional diagram, judging that the radar is in a non-shielded state;
The third condition comprises that the echo intensity of the monitoring angle in the actually measured directional diagram is in a preset echo intensity range of the monitoring angle in the off-line directional diagram.
Alternatively, the third number may be the number of all the monitoring angles, or 95% or 98% of the number of all the monitoring angles, which may be specifically set according to the actual situation.
For all monitoring angles, if the echo intensity of the monitoring angle in the actually measured directional diagram is within the preset echo intensity range of the monitoring angle, the radar can be judged to be in an unoccluded state.
In some embodiments of the present invention, after determining that the radar is in the occluded state, further comprising:
summing all monitoring angles meeting the first condition to obtain a shielding range value;
And calculating the ratio of the shielding range value to the radar monitoring range value, and determining the shielding degree of the radar.
The monitoring angles meeting the first condition are the shielding angles of the radar, and all the monitoring angles meeting the first condition are summed to obtain the shielding range value of the radar. And calculating the ratio of the shielding range value of the radar to the monitoring range value of the radar, and obtaining the shielding degree of the radar.
Specifically, referring to fig. 4, if the radar is in an occlusion state between θ0 and θ1, thenRepresents the occlusion degree of the radar, wherein, |θ1-θ0 | represents an occlusion range value, and θrange represents a monitoring range value of the radar.
By way of example, if a monitoring angle in the range of 10 ° to 20 ° is occluded, for example in the range of-90 ° to 90 °, then the radar is considered to be occluded to a degree of 1/18.
In some embodiments of the present invention, the first echo intensity information or the second echo intensity information needs to be screened when constructing the measured pattern or the offline pattern.
And screening, namely removing invalid echoes in the first echo intensity information or the second echo intensity information, and leaving valid echoes.
Specifically, the invalid echo means that information contained in the echo is not in a preset range. For example, if the pitch angle included in the echo is 60 ° and is not within the preset pitch angle range, the echo is regarded as an invalid echo.
Illustratively, the radial distance is 10m to 50m, which indicates that certain echoes are not valid if the radial distance contained in the echo is not within the interval. Or limiting the vehicle speed range to 30km/h to 50km/h, and if the vehicle speed contained in some echoes is not in the interval, indicating that the echoes are invalid. Or limiting the vehicle type to "dolly", if the vehicle type contained in some echoes is not of that type, this echo is indicated as invalid. Or a limiting distance of 50m to 80m, if the distance contained in some echoes is not in the interval, the echo is invalid. The specific screening conditions can be set according to actual conditions.
The construction process is described below by taking an offline pattern as an example, and the actual measurement pattern is the same.
In some embodiments of the invention, the second echo intensity information comprises M valid echoes, and before the first echo intensity information is acquired, further comprises:
constructing an offline pattern based on the second echo intensity information;
constructing a directional diagram by taking a radar monitoring angle as a horizontal axis and echo intensity as a vertical axis;
dividing the monitoring angle of the radar into N angle intervals according to a preset interval;
For each angle interval, when the number of effective echoes in the angle interval is not more than the preset number, accumulating the echo intensities corresponding to the angle interval by a preset value when each effective echo is in the angle interval, wherein the number of effective echoes in the angle interval is zero, and the echo intensities corresponding to the angle interval is zero;
And taking the directional diagram obtained after traversing the M effective echoes as an offline directional diagram.
In some embodiments of the present invention, after dividing the monitored angle of the radar into N angle intervals, further comprising:
for each angle interval, when the number of effective echoes in the angle interval is larger than a preset number, taking the average echo intensity of the effective echoes in the angle interval as the echo intensity of the angle interval.
The second echo intensity may be, for example, point cloud scale data of the radar, or may refer to target level data formed after clustering or tracking, specifically, data of a radar frame. The radar frame 1 may refer to 60ms or 80ms, and the radar data generally includes data of a plurality of radar frames, such as 1000 frames, 10000 frames, and the like. The process of constructing the offline pattern is as follows:
(1) The horizontal axis angle range of the pattern, i.e. the monitoring range of the radar, is set, for example-60 ° to 60 °.
(2) The horizontal axis angle interval of the pattern is divided into N angle intervals according to preset intervals, namely [ theta1,...,θN ], and the preset intervals are thetaΔ. For example, the preset interval may be 3 ° or 1 °.
(3) And removing the second echo intensity information according to preset screening conditions to obtain M effective echoes.
(4) The accumulation of the offline pattern is performed with M valid echoes.
Traversing the M effective echoes, and updating the echo intensities of the directional patterns of the corresponding angle intervals.
For example, if a target monitors an angle of 3 degrees and the echo intensity is 60db, the echo intensity of the pattern is between 0 ° and 5 ° in the pattern section, and the echo intensities of the patterns between 0 ° and 5 ° are accumulated by 60db.
If in a certain frame, in a certain angle interval in the directional diagram, when the number of effective echoes in the angle interval is not more than the preset number, each effective echo is in the angle interval, and the echo intensity corresponding to the angle interval is accumulated to a preset value;
if the number of effective echoes in a certain angle interval in the directional diagram is greater than the preset number in a certain frame, the average echo intensity of the effective echoes in the angle interval is taken as the echo intensity of the angle interval.
For example, after 1000 frames, a total of 30000 effective echoes between 0 ° and 5 ° participate in accumulation, and then an echo intensity average value of 30000 effective echoes is calculated as an echo intensity between 0 ° and 5 °.
After traversing M effective echo targets, obtaining a relatively accurate offline directional diagram.
For the construction process of the measured pattern, it is similar to the construction process of the off-line pattern. In particular, when the actually measured directional diagram is constructed, the screening conditions, the updating period and the interval division may be different from those of the offline directional diagram. And more specifically, the interval division can be coarser and the screening process can be stricter by considering the calculation amount problem of the actual measurement directional diagram calculation.
The embodiment of the invention can accurately judge the shielding condition of the radar in real time, does not need to train a model, has high judging efficiency, is suitable for all working scenes of the radar, and has high compatibility. In addition, through the comparison of the monitoring angles, whether the radar is in a shielded state and the shielding degree in a certain angle range can be calculated more accurately, so that the method is beneficial to the follow-up selection of a proper repair strategy, further the maintenance time of the radar is shortened, and the working reliability of the radar is improved.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present invention.
The following are device embodiments of the invention, for details not described in detail therein, reference may be made to the corresponding method embodiments described above.
Fig. 5 is a schematic structural diagram of a radar shielding condition determining device according to an embodiment of the present invention, and for convenience of explanation, only a portion related to the embodiment of the present invention is shown, which is described in detail below:
As shown in fig. 5, the radar occlusion situation judging device 20 may include:
The acquisition module 201 is configured to acquire first echo intensity information, and construct an actual measurement pattern of the radar based on the first echo intensity information, where the first echo intensity information is real-time echo intensity information fed back by a specified target in an echo signal of the radar;
the comparison module 202 is configured to compare the measured directional diagram with a preset offline directional diagram, wherein the offline directional diagram is constructed based on second echo intensity information, the second echo intensity information is offline echo intensity information fed back by a specified target in an echo signal of the radar in a non-shielded state, and the measured directional diagram and the offline directional diagram are both monitoring angles of the radar to the specified target and echo intensity diagrams;
The first judging module 203 is configured to judge that the radar is in a blocked state if the measured directional diagram has a monitoring angle with an echo intensity satisfying a first condition compared with the offline directional diagram, where the first condition includes that the echo intensity corresponding to the monitoring angle in the measured directional diagram is lower than the echo intensity corresponding to the monitoring angle in the offline directional diagram.
In some embodiments of the present invention, the first determining module 203 is specifically configured to determine that the radar is in a blocked state if the number of monitoring angles, for which the echo intensity satisfies the first condition, in the actually measured directional diagram is a first number compared to the offline directional diagram.
In some embodiments of the present invention, the determining device 20 may further include:
And the second judging module is used for judging that the actual measurement direction diagram is invalid if the number of the monitoring angles with the echo intensities meeting the second condition in the actual measurement direction diagram is a second number compared with the offline direction diagram, and the second condition comprises that the echo intensities of the monitoring angles in the actual measurement direction diagram are higher than the preset echo intensity range of the monitoring angles in the offline direction diagram.
In some embodiments of the present invention, the determining device 20 may further include:
And the third judging module is used for judging that the radar is in a non-shielded state if the number of the monitoring angles with the echo intensities meeting the third condition in the actual measurement direction diagram is the first number compared with the offline direction diagram, and the third condition comprises that the echo intensities of the monitoring angles in the actual measurement direction diagram are in the preset echo intensity range of the monitoring angles in the offline direction diagram.
In some embodiments of the present invention, the determining device 20 may further include:
and the fourth judging module is used for summing all the monitoring angles meeting the first condition after judging that the radar is in the shielded state to obtain a shielding range value, calculating the ratio of the shielding range value to the monitoring range value of the radar, and determining the shielding degree of the radar.
In some embodiments of the present invention, the second echo intensity information includes M valid echoes, and the determining device 20 may further include:
and the construction module is used for constructing an offline directional diagram based on the second echo intensity information.
The building block may comprise:
The first dividing unit is used for constructing a directional diagram by taking the monitoring angle of the radar as a horizontal axis and the echo intensity as a vertical axis;
The second dividing unit is used for dividing the monitoring angle of the radar into N angle intervals according to preset intervals;
The third dividing unit is used for accumulating the echo intensities corresponding to each angle interval to a preset value when the number of the effective echoes in the angle interval is not more than the preset number and each effective echo is in the angle interval, wherein the number of the effective echoes in the angle interval is zero and the echo intensity corresponding to the angle interval is zero;
the construction unit is used for taking the directional diagram obtained after the M effective echoes are traversed as an offline directional diagram.
In some embodiments of the invention, the build module may further comprise:
And the fourth dividing unit is used for dividing the monitoring angle of the radar into N angle intervals, and taking the average echo intensity of the effective echo in each angle interval as the echo intensity of the angle interval when the number of the effective echoes in the angle interval is larger than a preset number for each angle interval.
Fig. 6 is a schematic diagram of an electronic device according to an embodiment of the present invention. As shown in fig. 6, the electronic device 30 of this embodiment includes a processor 300, a memory 301, and a computer program 302 stored in the memory 301 and executable on the processor 300. The processor 300 implements the steps in the above-described embodiments of the method for determining the radar occlusion situation when executing the computer program 302, for example, S101 to S103 shown in fig. 1. Or the processor 300 when executing the computer program 302 performs the functions of the modules/units in the above-described embodiments of the apparatus, such as the functions of the modules/units 201 to 203 shown in fig. 5.
By way of example, the computer program 302 may be partitioned into one or more modules/units, which are stored in the memory 301 and executed by the processor 300 to accomplish the present invention. One or more of the modules/units may be a series of computer program instruction segments capable of performing particular functions to describe the execution of the computer program 302 in the electronic device 30. For example, the computer program 302 may be split into modules/units 201 to 203 shown in fig. 5.
The electronic device 30 may be a computing device such as a desktop computer, a notebook computer, a palm computer, and a cloud server. Electronic device 30 may include, but is not limited to, a processor 300, a memory 301. It will be appreciated by those skilled in the art that fig. 6 is merely an example of electronic device 30 and is not intended to limit electronic device 30, and may include more or fewer components than shown, or may combine certain components, or different components, e.g., an electronic device may also include an input-output device, a network access device, a bus, etc.
The Processor 300 may be a central processing unit (Central Processing Unit, CPU), other general purpose Processor, digital signal Processor (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), field-Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 301 may be an internal storage unit of the electronic device 30, such as a hard disk or a memory of the electronic device 30. The memory 301 may also be an external storage device of the electronic device 30, such as a plug-in hard disk provided on the electronic device 30, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD), or the like. Further, the memory 301 may also include both internal storage units and external storage devices of the electronic device 30. The memory 301 is used to store computer programs and other programs and data required by the electronic device. The memory 301 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the 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 invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/electronic device and method may be implemented in other manners. For example, the apparatus/electronic device embodiments described above are merely illustrative, e.g., the division of modules or units is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present invention may implement all or part of the procedures in the method of the above embodiment, or may be implemented by instructing related hardware by a computer program, where the computer program may be stored in a computer readable storage medium, and the computer program may implement the steps of the method embodiment for determining the radar occlusion situation when executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, executable files or in some intermediate form, etc. The computer readable medium can include any entity or device capable of carrying computer program code, recording medium, USB flash disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), electrical carrier signals, telecommunications signals, and software distribution media, among others. It should be noted that the content of the computer readable medium can be appropriately increased or decreased according to the requirements of the jurisdiction's jurisdiction and the patent practice, for example, in some jurisdictions, the computer readable medium does not include electrical carrier signals and telecommunication signals according to the jurisdiction and the patent practice.
The foregoing embodiments are merely for illustrating the technical solution of the present invention, but not for limiting the same, and although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that the technical solution described in the foregoing embodiments may be modified or substituted for some of the technical features thereof, and that these modifications or substitutions should not depart from the spirit and scope of the technical solution of the embodiments of the present invention and should be included in the protection scope of the present invention.