Method and device for reporting and receiving information

文档序号：780546 发布日期：2021-04-09 浏览：18次中文

阅读说明：本技术 一种信息上报、信息接收的方法及装置 (Method and device for reporting and receiving information ) 是由高鲁涛马莎于 2019-09-20 设计创作，主要内容包括：一种信息上报、信息接收的方法及装置,应用于自动驾驶或者智能驾驶领域,可实现探测装置向融合装置上报干扰影响范围,提高融合结果的准确性。该方法包括：探测装置根据接收的第一信号,确定探测装置的探测范围中的受干扰范围；所述探测装置向融合装置发送干扰信息,所述干扰信息中包含所述受干扰范围的指示信息。(A method and a device for reporting and receiving information are applied to the field of automatic driving or intelligent driving, and can realize that a detection device reports an interference influence range to a fusion device and improve the accuracy of a fusion result. The method comprises the following steps: the detection device determines an interfered range in a detection range of the detection device according to the received first signal; and the detection device sends interference information to the fusion device, wherein the interference information comprises the indication information of the interfered range.)

1. An information reporting method, comprising:

the detection device receives a first signal;

the detection device determines an interfered range in a detection range of the detection device according to the first signal;

and the detection device sends interference information to the fusion device, wherein the interference information comprises the indication information of the interfered range.

2. The method of claim 1, wherein the indication information of the interfered range is used to indicate at least one of an interfered distance range, an interfered speed range, or an interfered angle range.

3. The method according to claim 2, wherein the interfered range is determined by at least one of an interfered distance interval, an interfered speed interval or an interfered angle interval, the interfered distance range being represented by the distance interval, the interfered speed range being represented by the speed interval and/or the interfered angle range being represented by the angle interval.

4. The method according to any of claims 1-3, wherein the interference information comprises at least one interference strength information, and the at least one interference strength information corresponds to at least one of the interfered distance range, the interfered speed range or the interfered angle range.

5. The method of claim 2, wherein the interfered range is determined by a matrix characterized by at least one of an interfered distance dimension, an interfered velocity dimension, or an interfered angle dimension, elemental values of the matrix representing interference strength information;

wherein at least one of the disturbed distance range, the disturbed speed range or the disturbed angle range is determined by at least one of a distance dimension, a speed dimension or an angle dimension in the matrix in which the element whose element value belongs to the first range is located.

6. The method of claim 5, wherein the first range includes a first value and a second value;

wherein the first value is greater than the second value, and the interference strength characterized by the first value is greater than the interference strength characterized by the second value.

7. The method according to any of claims 1-6, wherein the interference information further comprises at least one of indication information whether the probing apparatus received an interfering signal or a time range in which the probing apparatus was interfered.

8. An information receiving method, comprising:

the method comprises the steps that a fusion device receives interference information from a detection device, wherein the interference information comprises indication information of an interfered range in a detection range of the detection device;

and the fusion device determines the interfered range in the detection range of the detection device according to the interference information.

9. The method of claim 8, wherein the indication information of the interfered range is used to indicate at least one of an interfered distance range, an interfered speed range, or an interfered angle range.

10. The method of claim 9, wherein the fusion device determining an interfered range in the detection range of the detection device according to the interference information comprises:

the fusion device determines an interfered range in a detection range of the detection device according to at least one of an interfered distance interval, an interfered speed interval or an interfered angle interval, wherein the interfered distance range is represented by the distance interval, the interfered speed range is represented by the speed interval, and the interfered angle range is represented by the angle interval.

11. The method of any of claims 8-10, wherein the interference information comprises at least one interference strength information corresponding to at least one of the distance range, the speed range, or the angle range.

12. The method of claim 9, wherein the fusion device determining an interfered range in the detection range of the detection device according to the interference information comprises:

the fusion device determines an interfered range of the detection ranges of the detection devices according to a matrix characterized by at least one of an interfered distance dimension, an interfered speed dimension or an interfered angle dimension,

wherein the element values of the matrix represent interference strength information, and at least one of the interfered distance range, the interfered speed range or the interfered angle range is determined by at least one of the distance dimension, the speed dimension or the angle dimension in which the element of the matrix whose element value belongs to the first range is located.

13. The method of claim 12, wherein the first range includes a first value and a second value;

wherein the first value is greater than the second value, and the interference strength characterized by the first value is greater than the interference strength characterized by the second value.

14. The method according to any of claims 8 to 13, wherein the interference information further comprises at least one of indication information whether the probing apparatus receives an interfering signal or a time range in which the probing apparatus is interfered.

15. An apparatus for carrying out the method of any one of claims 1 to 14.

16. An apparatus comprising a processor and a memory, the memory having stored therein instructions that, when executed by the processor, cause the apparatus to perform the method of any of claims 1 to 14.

17. A computer-readable storage medium comprising instructions which, when executed on a computer, cause the computer to perform the method of any one of claims 1 to 14.

Technical Field

The embodiment of the application relates to the technical field of automatic driving, in particular to a method and a device for reporting and receiving information.

Background

With the development of society, intelligent automobiles are gradually entering the daily lives of people. The sensor plays an important role in the auxiliary driving and the automatic driving of the intelligent automobile. Various sensors mounted on the vehicle sense the surrounding environment at any time during the driving process of the vehicle, collect data, identify and track moving objects, identify static scenes such as lane lines and nameplates, and plan paths by combining with a navigator and map data. The sensor can detect the possible danger in advance and help the driver in time even take necessary evasive means autonomously, thereby effectively increasing the safety and comfort of automobile driving.

In the field of autopilot, sensors may include detection devices such as millimeter wave radar, laser radar, cameras, ultrasonic radar, and the like. In the prior art, in order to increase the accuracy of the fusion result, the detection device sends the target detection result to the fusion device, and also sends indication information such as whether the detection device is currently interfered and the interference intensity to the fusion device. Correspondingly, the fusion device can determine the confidence of the target detection result according to the indication information sent by the detection device. For example, if the detection device is interfered, the fusion device may reduce the confidence of the target detection result. If the detection device is not interfered, the fusion device can improve the confidence of the target detection result and the like. Researchers find whether the target detection result is accurate or not and is also related to the influence range of the interference. How to report the influence range of the interference by the detection device becomes a current research hotspot.

Disclosure of Invention

The embodiment of the application provides a method and a device for reporting and receiving information, so as to realize reporting of an interference influence range by a detection device.

In a first aspect, an information reporting method is provided, including: the detection device receives a first signal; the detection device determines an interfered range in a detection range of the detection device according to the first signal; and the detection device sends interference information to the fusion device, wherein the interference information comprises the indication information of the interfered range.

By the method, the fusion device can determine the interfered range in the detection range of the detection device, determine the confidence of the target detection result of the detection device and increase the accuracy of the fusion result.

In one possible design, the indication information of the interfered range is used for indicating at least one of an interfered distance range, an interfered speed range or an interfered angle range.

In one possible embodiment, the disturbed range is determined by at least one of a disturbed distance interval, a disturbed speed interval or a disturbed angle interval, the disturbed distance range being represented by the distance interval, the disturbed speed range being represented by the speed interval and/or the disturbed angle range being represented by the angle interval.

By the method, the range of interference in the detection result of the detection device can be more accurately described by adopting an interval mode, and the target detection accuracy of the fusion device is improved.

In one possible design, the interference information includes at least one interference strength information corresponding to at least one of the interfered distance range, the interfered speed range, or the interfered angle range.

By the method, the range of interference in the detection result of the detection device can be more accurately described by adopting a matrix mode, and the target detection accuracy of the fusion device is improved.

In one possible design, the first range includes a first value and a second value; wherein the first value is greater than the second value, and the interference strength characterized by the first value is greater than the interference strength characterized by the second value.

In one possible design, the interference information further includes at least one of indication information of whether the probe device receives an interference signal or a time range in which the probe device is interfered.

In a second aspect, an information receiving method is provided, including: the method comprises the steps that a fusion device receives interference information from a detection device, wherein the interference information comprises indication information of an interfered range in a detection range of the detection device; and the fusion device determines the interfered range in the detection range of the detection device according to the interference information.

In one possible design, the indication information of the interfered range is used for indicating at least one of an interfered distance range, an interfered speed range or an interfered angle range.

In one possible design, the fusion device determines an interfered range in the detection range of the detection device according to the interference information, and includes: the fusion device determines an interfered range in a detection range of the detection device according to at least one of an interfered distance interval, an interfered speed interval or an interfered angle interval, wherein the interfered distance range is represented by the distance interval, the interfered speed range is represented by the speed interval, and the interfered angle range is represented by the angle interval.

In one possible design, the interference information includes at least one interference strength information corresponding to at least one of the distance range, the speed range, or the angle range.

In one possible design, the fusion device determines an interfered range in the detection range of the detection device according to the interference information, and includes: the fusion device determines an interfered range in the detection range of the detection device according to a matrix characterized by at least one of an interfered distance dimension, an interfered speed dimension or an interfered angle dimension, wherein element values of the matrix represent interference strength information, and at least one of the interfered distance range, the interfered speed range or the interfered angle range is determined by at least one of the distance dimension, the speed dimension or the angle dimension in which elements of the matrix with element values belonging to a first range are located.

In a third aspect, there is provided an apparatus, which may be a probing apparatus, or alternatively, a component, such as a chip, in a probing apparatus, the apparatus comprising:

the receiving and transmitting module is used for receiving a first signal;

the processing module is used for determining an interfered range in a detection range of the detection device according to the first signal;

and the transceiver module is further used for sending interference information to the fusion device, wherein the interference information comprises the indication information of the interfered range.

In one possible design, the indication information of the interfered range is used for indicating at least one of an interfered distance range, an interfered speed range or an interfered angle range.

In one possible design, the interfered range is determined by a matrix characterized by at least one of an interfered distance dimension, an interfered speed dimension, or an interfered angle dimension, element values of the matrix representing interference strength information; wherein at least one of the disturbed distance range, the disturbed speed range or the disturbed angle range is determined by at least one of a distance dimension, a speed dimension or an angle dimension in the matrix in which the element whose element value belongs to the first range is located.

In a fourth aspect, a device is provided, which may be a fusion device, or a component in a fusion device, such as a chip; the device includes:

the device comprises a receiving and sending module, a processing module and a processing module, wherein the receiving and sending module is used for receiving interference information from a detection device, and the interference information comprises indication information of an interfered range in a detection range of the detection device;

and the processing module is used for determining an interfered range in the detection range of the detection device according to the interference information.

In one possible design, the indication information of the interfered range is used for indicating at least one of an interfered distance range, an interfered speed range or an interfered angle range.

In a possible design, when determining, according to the interference information, an interfered range in the detection range of the detection apparatus, the processing module is specifically configured to:

determining an interfered range in a detection range of the detection device according to at least one of an interfered distance interval, an interfered speed interval or an interfered angle interval, wherein the interfered distance interval is represented by the distance interval, the interfered speed interval is represented by the speed interval, and the interfered angle interval is represented by the angle interval.

In one possible design, the interference information includes at least one interference strength information corresponding to at least one of the distance range, the speed range, or the angle range.

determining an interfered range in the detection range of the detection device according to a matrix characterized by at least one of an interfered distance dimension, an interfered speed dimension or an interfered angle dimension;

In a fifth aspect, an apparatus is provided that includes a processor and a communication interface;

the communication interface is used for receiving a first signal; a processor for determining an interfered range in a detection range of a detection device according to the first signal; and the communication interface is also used for sending interference information to the fusion device, wherein the interference information comprises indication information of the interfered range.

In one possible design, the indication information of the interfered range is used for indicating at least one of an interfered distance range, an interfered speed range or an interfered angle range.

In a sixth aspect, an apparatus is provided that includes a processor and a communication interface:

the communication interface is used for receiving interference information from a detection device, wherein the interference information comprises indication information of an interfered range in a detection range of the detection device; and the processor is used for determining an interfered range in the detection range of the detection device according to the interference information.

In one possible design, the indication information of the interfered range is used for indicating at least one of an interfered distance range, an interfered speed range or an interfered angle range.

In a possible design, when determining, according to the interference information, an interfered range in the detection ranges of the detection apparatus, the processor is specifically configured to: determining an interfered range in a detection range of the detection device according to at least one of an interfered distance interval, an interfered speed interval or an interfered angle interval, wherein the interfered distance interval is represented by the distance interval, the interfered speed interval is represented by the speed interval, and the interfered angle interval is represented by the angle interval.

In one possible design, the interference information includes at least one interference strength information corresponding to at least one of the distance range, the speed range, or the angle range.

In a seventh aspect, a computer-readable storage medium is provided, which comprises instructions that, when executed on a computer, cause the computer to perform the method as designed in the first or second aspect.

In an eighth aspect, a chip system is provided, where the chip system includes a processor and may further include a memory, and is configured to implement the method designed in the first aspect or the second aspect. The chip system may be formed by a chip, and may also include a chip and other discrete devices.

In a ninth aspect, there is provided a computer program product comprising instructions which, when run on a computer, cause the computer to perform the method as designed in the first or second aspect.

In a tenth aspect, there is provided a system comprising the apparatus of the third aspect and the apparatus of the fourth aspect, or the apparatus of the fifth aspect and the apparatus of the sixth aspect.

Drawings

Fig. 1 is a schematic diagram of a system architecture according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of a millimeter wave radar provided in an embodiment of the present application;

fig. 3 is a time-amplitude diagram of a frequency modulated continuous wave provided by an embodiment of the present application;

fig. 4 is a time-frequency diagram of a frequency modulated continuous wave provided by an embodiment of the present application;

fig. 5 is a schematic diagram illustrating a relationship between a transmitting signal and a receiving signal and an intermediate frequency signal according to an embodiment of the present application;

FIG. 6 is a schematic diagram of mutual interference of vehicle-mounted radars according to an embodiment of the present disclosure;

fig. 7 is a schematic diagram illustrating that the interfering radar and the radar have the same slope according to the embodiment of the present disclosure;

fig. 8 is a schematic diagram of a range response of an interfering radar according to an embodiment of the present disclosure;

fig. 9 is a schematic diagram illustrating a difference between slopes of an interfering radar and a radar according to an embodiment of the present disclosure;

FIG. 10 is a schematic diagram of a range response of an interfering radar with reduced slope compared to the present radar;

fig. 11 is a schematic diagram illustrating that a small-slope radar interferes with a large-slope radar according to an embodiment of the present disclosure;

fig. 12 is a schematic diagram illustrating that a small-slope radar interferes with a large-slope radar according to an embodiment of the present application;

fig. 13 is a schematic diagram of co-slope interference provided in an embodiment of the present application;

fig. 14 is a schematic diagram of interference with different slopes according to an embodiment of the present application;

fig. 15 is a schematic diagram of interference with different slopes according to an embodiment of the present application;

fig. 16 is a schematic diagram illustrating a solution for interference reporting according to an embodiment of the present application;

FIG. 17 is a diagram illustrating a system architecture and scenario applicable to an embodiment of the present application;

fig. 18 is a schematic diagram of an information reporting and receiving method provided in an embodiment of the present application;

FIG. 19 is a schematic diagram of a distance velocity matrix and a distance angle matrix provided by an embodiment of the present application;

fig. 20 is a statistical histogram of interference ranges of the detection apparatus according to the embodiment of the present application;

fig. 21 is a statistical histogram of interference ranges of the detection apparatus according to the embodiment of the present application;

fig. 22 is a flowchart of reporting interference according to an embodiment of the present application;

fig. 23 is a flowchart of reporting interference according to an embodiment of the present application;

fig. 24 to 27 are schematic structural views of an apparatus according to an embodiment of the present application.

Detailed Description

As shown in fig. 1, a detection system 100 is provided, wherein the detection system 100 comprises a detection device 101 and a fusion device 102. Optionally, the detection system 100 may further include a controller 103, and the fusion device 102 may also be referred to as an Electronic Control Unit (ECU), a Domain Control Unit (DCU), a multi-domain controller (MDC), and the like.

The detecting device 101 may be a millimeter wave radar, a laser radar, an ultrasonic radar, or the like. The detecting device 101 may detect the object, generate a first object detection result, and send the first object detection result to the fusing device 102. The fusion device 102 may determine a third target detection result according to the first target detection result and a second target detection result transmitted by another sensor (e.g., a camera) or the like, and transmit the third target detection result to the controller 103. The controller 103 controls the vehicle according to the third target detection result. For example, if the third target detection result is that there is an object in front of the vehicle, the controller 103 may adopt deceleration or braking to ensure the safety of the vehicle.

Due to the reasons of low cost, mature technology and the like, the millimeter wave radar is the main force sensor of the unmanned system, and the following takes the detection device 101 as a millimeter wave radar, a radar or a vehicle-mounted radar as an example, and introduces the working principle of the detection device 101 and various problems of the detection system 100 in the current scheme in detail.

As shown in fig. 2, the millimeter-wave radar generally includes an oscillator, a directional coupler, a transmitting antenna, a receiving antenna, a mixer, and a processor. The oscillator generates a Frequency Modulated Continuous Wave (FMCW) with a frequency linearly increasing with time, a part of the FMCW is output to the mixer through the directional coupler as a local oscillation signal, and the other part of the FMCW is transmitted through the transmitting antenna. The receiving antenna receives millimeter wave signals reflected by a target object in front of the vehicle, and the millimeter wave signals and the local oscillator signals are mixed in the frequency mixer to obtain intermediate frequency signals. The intermediate frequency signal may include information such as a distance, a speed, or an angle of the target object with respect to the vehicle. The processor processes the intermediate frequency signal, for example, fast fourier transform and spectrum analysis are performed on the intermediate frequency signal to obtain information of a distance, a speed, an angle and the like of the target object, and the information is finally output to the fusion device, and is sent to the controller after being processed by the fusion device to control the behavior of the vehicle.

The waveform of the FMCW signal of the millimeter-wave radar is generally a sawtooth wave or a triangular wave. In the embodiment of the present application, the FMCW signal is taken as a sawtooth wave as an example, and the distance measurement principle of the millimeter wave radar is described in detail, and the distance measurement principle of the triangular wave is similar to the sawtooth wave.

As shown in fig. 3, a chirped continuous wave is a signal whose frequency varies linearly with time. As shown in FIG. 4, the frequency modulated continuous wave has a period T_cThe slope is a₀Bandwidth B, starting frequency B₀. A frequency modulated continuous wave signal as shown in fig. 3 is also referred to as a chirp signal.

The equivalent baseband signal of the monocycle frequency modulated continuous wave output by the oscillator of the millimeter wave radar can be expressed as:

wherein A represents the amplitude of the equivalent baseband signal, a₀Representing the slope of the equivalent baseband signal, b₀Representing the intercept of the equivalent baseband signal on the Y-axis,representing the initial phase of the equivalent baseband signal, exp represents the exponential function of e. Since frequency is defined as the rate of change of phase with respect to time. Therefore, the frequency of the equivalent baseband signal is:

the image of equation 1.2 is shown in figure 4.

After the equivalent baseband signal sent by the oscillator is subjected to up-conversion, the equivalent baseband signal is radiated outwards by a transmitting antenna of the millimeter wave radar, and the transmitting signal can be expressed as:

after the signal meets an obstacle, the signal is reflected back and received by the millimeter wave radar. The waveform of the transmitted signal has the same shape as the waveform of the reflected signal, except that the waveform of the reflected signal has a time delay τ with respect to the waveform of the transmitted signal, as can be seen in fig. 5. In fig. 5, the echo signal is a reflected signal. The received reflected signal may be expressed as:

the signal obtained by down-converting the received equivalent baseband signal is:

where a' is the amplitude of the equivalent baseband signal sent by the oscillator after passing through the transmitting antenna gain, target reflection, propagation loss, and receiving antenna gain, and τ is the time delay between the sending of the radar signal from the transmitter of the millimeter wave radar and the receiving of the echo signal (i.e., the reflected signal) by the receiver of the millimeter wave radar, as shown in fig. 5, where the time delay is 2 times the distance/the speed of light. In FIG. 5, τ is_maxRepresents the echo time delay corresponding to the maximum detection range of the millimeter wave radar, i.e., tau_maxWhen the distance between the millimeter wave radar and the target object is the maximum distance that the millimeter wave radar can detect, the reflected signal received by the millimeter wave radar is relative to the transmitted signalAnd (4) time delay. The relationship of τ to the target distance d can be expressed as:

where c is the speed of light.

The mixer of the millimeter wave radar mixes the received signal with the local oscillator signal, and outputs an intermediate frequency signal after passing through the low-pass filter, wherein the intermediate frequency signal is expressed as:

sending the intermediate frequency signal into a processor of the millimeter wave radar for processing such as fast Fourier transform, and obtaining the frequency f of the intermediate frequency signal_IF。

In addition, as shown in fig. 5, the frequency of the intermediate frequency signal is the product of the slope of the waveform of the transmission signal and the time delay τ, that is:

therefore, the distance d between the millimeter wave radar and the target object is:

as can be seen from the above derivation process, the frequency difference (i.e., the frequency of the intermediate frequency signal) and the time delay between the transmitted signal and the received signal are in a linear relationship: the further away the target object, the later the time the reflected signal is received, and the greater the difference in frequency between the reflected signal and the transmitted signal. Therefore, the distance between the radar and the target object can be determined by judging the frequency of the intermediate frequency signal. In addition, the above-mentioned processing procedure for the radar signal is only an example, and the specific radar processing procedure is not limited.

Along with the promotion of on-vehicle radar permeability, mutual interference between the on-vehicle radar is more and more serious, will greatly reduce radar detection probability or promote the false alarm probability that radar detected, causes not negligible influence to driving safety or travelling comfort.

Referring to fig. 6, a schematic diagram of mutual interference between vehicle-mounted radars is shown. The radar 1 emits a transmission signal and receives a reflection signal of the transmission signal reflected on a target object. At the same time as the radar 1 receives the reflected signal, the receiving antenna of the radar 1 also receives an interfering radar signal of the radar 2, which may be a transmitted signal or a reflected signal of the radar 2, or the like.

For example, let the radar 1 be an observation radar whose frequency-modulated continuous wave has a slope a₀Intercept is b₀Period is T_c. The radar 2 is an interference radar with a frequency-modulated continuous wave having a slope a₁Intercept is b₁At this time, assume b₀＝b₁. The echo time delay corresponding to the maximum ranging distance of the radar 1 is tau_max(i.e. the time delay calculated with the maximum detection range of the radar in equation 1.6. for example the maximum detection range of the radar is 250m and the time delay calculated with equation 1.6 is 1.67 mus), the time delay of the interfering signal of the radar 2 arriving at the receiver of the radar 1 is τ₁. Consider that there is a timing error Δ τ in the radar transmit time (e.g., an error in the transmit time due to a timing error of a Global Positioning System (GPS), such as 60 ns). Wherein, the time interval of radar detecting received signals is tau_max～T_c。

Fig. 7 and 8 are schematic diagrams of a possible spurious intermediate frequency signal. If the slope of the radar signal transmitted by the radar 1 and the slope of the radar signal transmitted by the radar 2 coincide, i.e. a₀＝a₁And the operating frequency bands of the two are overlapped, a false alarm occurs. As shown in fig. 7, the radar 1 transmits a signal to a target object and receives a reflected signal from the target object, but in a time range between the transmission of the signal by the radar 1 and the reception of the reflected signal, the transmission signal or the reflected signal (dotted line) by the radar 2 is received by the receiving antenna of the radar 1. Signal waveform of radar 1 andthe signal waveforms of the radar 2 are consistent, the sweep frequency bandwidths of the radar 2 and the sweep frequency bandwidths of the radar 2 are the same, and in the target echo observation range of the radar 1, the radar 1 receives signals shown by dotted lines of corresponding frequencies, so that the radar 1 considers that a target object 1 exists; the radar 1 is in the time interval (tau) of signal processing_max～T_c) If the signal shown by the dotted line and the reflected signal shown by the solid line are detected, the radar 1 may misunderstand the received signal shown by the dotted line as the reflected signal of the object existing in front, and a false intermediate frequency signal may be generated. After the radar 1 is subjected to fast fourier transform and then spectrum analysis, two peaks can be found, as shown in fig. 8, each peak corresponds to one target object, and the radar 1 considers that the target object 1 and the target object 2 exist at the same time. The radar 1 mistakenly recognizes that the "target object 1" exists ahead, but actually the "target object 1" does not exist, which is called "ghost" or "false alarm". The automatic driving automobile can decelerate or brake suddenly under the condition that no object is in front of the automatic driving automobile after the false alarm is generated, and the driving comfort level is reduced.

Fig. 9 and 10 are schematic diagrams of a possible interference signal flooding target signal. As shown in fig. 9, the radar 1 transmits a signal to a target object and receives a reflected signal from the target object. However, in the observation range of the target echo of the radar 1, the receiving antenna of the radar 1 receives the transmission signal or the reflection signal (dotted line) of the radar 2. The signal waveform of the radar 1 and the signal waveform of the radar 2 differ in slope, and in the time interval (τ) during which the radar 1 detects the signal_max～T_c) In, can detect radar 1's reflection signal and radar 2's relevant signal simultaneously, after the relevant signal of radar 2 that will detect mixes with radar 1's reflection signal, can produce an intermediate frequency signal that contains various frequency components, as shown in figure 10 after the fast Fourier transform, an interference platform can appear for real target object's "protrusion" degree is not enough, brings the difficulty to detecting, has promoted the possibility of missed measure. The automatic driving automobile is mistakenly judged to be without an object under the condition that the object exists in the front of the automatic driving automobile after the missed detection is generated, and the speed reduction or braking is not adopted, so that traffic accidents are caused, and the driving safety of the automobile is reduced.

Specifically, the signal waveform of the radar 1 and the signal waveform of the radar 2 have a difference in slope, provided that the slope of the waveform of the radar 1 is a₀The slope of the waveform of the radar 2 is a₁Then, the difference between the two slopes can be classified into the following two cases:

when a is₁＜a₀In time, as shown in fig. 11, a problem of interference with the platform occurs, resulting in a problem of missing inspection.

When a is₁＞a₀In time, as shown in fig. 12, a problem of interference with the platform is also generated, thereby causing a problem of missing inspection.

For the co-slope interference, as shown in fig. 13, the range speed detection result of the radar is represented as a false (ghost) target, which is a false target that does not exist. For interference with different slopes, the interference platform is embodied in the range speed detection result of the radar, and the interference platform can influence target detection within a certain range. As shown in fig. 14, there are two targets at 30 meters, and the interference affects the detection of a range of velocity dimensions (20 m/s) and range of range dimensions (0-80 m). Due to the existence of the interference, the detection result of one target is influenced, and false alarm is caused. If the interference influence ranges are different, as shown in fig. 15, the interference influences a certain speed dimension (20 m/s) and distance dimension range (120-250 m), the detection results of two targets with a distance of 30m will not be influenced.

The millimeter wave radar is an unmanned main force sensor, and the detection result is usually transmitted to the fusion device and fused with the detection result of the camera or the laser radar, so that the perception robustness is improved. With the improvement of the permeability of the vehicle-mounted radar, the mutual interference between the vehicle-mounted radars is more and more serious. If the radar outputs the detection result subjected to the interference to the fusion device, the judgment of the fusion device on the real situation may be influenced, and the safety is influenced.

In order to solve the above problem, in one possible solution. As shown in fig. 16, the radar outputs not only the target detection result but also indication information such as "whether the radar is interfered" and "interference signal strength" to the fusion device, so that the fusion module can know information such as whether the target detection result output by the radar is interfered and the interfered strength.

Taking the FWCM radar range-speed detection result as an example, the interference generally only affects range-speed intervals in a certain range, and does not affect range-speed intervals in other ranges. For example, as shown in fig. 14 and 15, it is not accurate enough to describe only "whether an interference signal is received". For example, as shown in l5, although the radar is interfered during target detection, the range of influence of the interference does not affect the detection of two targets at 30 meters of the radar, i.e., the current target detection result is accurate. However, according to the possible solution described above, if the radar reports that the current detection result is subjected to indication information such as interference and interference intensity, the fusion device may reduce the confidence of the current target detection result at 30 meters (but actually, the two target detection results at 30 meters are credible), so that the fusion device is not used to make further judgment, and the accuracy of the target detection by the fusion device is reduced. In view of this, embodiments of the present application provide a solution, in which a probe device reports an indication information such as an interference influence range to a fusion device in addition to a target detection result, so that the fusion device is utilized to determine whether the target detection result currently reported by the probe device is interfered, and accuracy of target detection by the fusion device is improved.

As shown in fig. 17, a schematic diagram of a possible application scenario is provided. The application scenes can be unmanned driving, automatic driving, intelligent driving, internet driving and the like. The detection device (e.g., the detection device 101 in fig. 1) in the embodiment of the present application may be installed in a motor vehicle (e.g., an unmanned vehicle, a smart car, an electric vehicle, a digital car, etc.), an unmanned aerial vehicle, a rail car, a bicycle, a signal lamp, a speed measurement device, or a network device (e.g., a base station and a terminal device in various systems), and the like, and in addition to the detection device, the device may also be installed with a fusion device (e.g., the fusion device 102 in fig. 1) and a controller (e.g., the controller 103 in fig. 1), and the like, without being particularly limited. This application embodiment both has been applicable to the detection device between car and the car, also is applicable to the detection device of other devices such as car and unmanned aerial vehicle, or the detection device between other devices. In addition, the detection device, the fusion device, and the controller may be mounted on a mobile device, for example, the detection device may be mounted on a vehicle as an on-board radar detection device or a radar detection device, and the fusion device and the controller may be mounted on a fixed device, for example, a Road Side Unit (RSU) or the like. The embodiment of the application does not limit the installation positions and functions of the detection device, the fusion device and the controller.

It should be noted that, in the description of the present application, the terms "first", "second", and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, nor are they to be construed as indicating or implying order, such as "first signal", "second range", "first value", and "second value", etc. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists singly, A and B exist simultaneously, and B exists singly, wherein A and B can be single or a plurality of A and B. a. At least one (one) of b, or c, may represent: a; b; c; a and b; a and c; b and c; or a, b and c. Wherein, a, b and c can be single or multiple.

As shown in fig. 18, a flow chart of a method for reporting and receiving information is provided. The detection means and the fusion means in the flow shown in fig. 18 can be applied to the scenario shown in fig. 17. Alternatively, the detection device in the flow shown in fig. 18 may be the detection device 101 shown in fig. 1, and the fusion device may be the fusion device 102 shown in fig. 1. The execution subject of the flow shown in fig. 18 may be the detection device and the fusion device. The detection device may be a radar (or radar apparatus), or the detection device may be a chip mounted in a detection apparatus, such as a radar (or radar apparatus), or other apparatus. The fusion device may be an MDC (or MDC device), or the MDC may be a chip installed in a control device, such as an MDC (or MDC device), or other device, etc. The process comprises the following steps:

s181: the detection device receives a first signal. Specifically, the detecting device may receive the first signal via a receiving antenna.

For example, the detection device may emit a signal outward when detecting the target. The transmitted signal reaches the target object and is reflected by the target object to form a reflected signal. The detection device may receive the reflected signal. Meanwhile, when the detection device receives the target reflection signal, interference signals of other detection devices may be received. The first signal in S181 may be the target reflection signal, or the first signal is a superposition of the target reflection signal and the interference signal, or the first signal is only the interference signal, and the like, without limitation. For example, referring to fig. 6, taking the detection device as a radar 1 for illustration, the radar 1 may emit a signal outwards, and the emitted signal reaches a target object and is reflected by the target object to form a target reflected signal. The radar 1 receives the target reflection signal and also receives an interference radar signal of the radar 2, wherein the interference radar signal can be a transmission signal or a reflection signal of the radar. In the example shown in fig. 6, the first signal in S181 described above is a superposition of the target reflected signal and the interfering radar signal.

S182: the detection device determines an interfered range in a detection range of the detection device according to the first signal.

For example, after receiving the first signal through the receiving antenna, the detection device may mix the first signal with the local oscillator signal to obtain an intermediate frequency signal, perform low-pass filtering and amplification processing on the intermediate frequency signal, and perform fast fourier transform and spectrum analysis on the intermediate frequency signal to obtain a detection result. The detection results may be three-dimensional, for example, the detection results may include a velocity dimension, a distance dimension, and an angle dimension. Alternatively, the detection results may be two-dimensional, for example, the detection results may include any two of a velocity dimension, a distance dimension, and an angle dimension. Alternatively, the detection result may be one-dimensional. For example, the detection results may include a velocity dimension, a distance dimension, or an angle dimension, among others. When the detection result is two-dimensional including a distance dimension and a velocity dimension (or may be described as the detection result being a distance-velocity detection result), reference may be made to fig. 13, fig. 14, or fig. 15 with respect to the detection result. The detecting device can obtain the interfered range in the detection range of the detecting device according to the detection result, for example, in a certain speed dimension in the distance-speed detection result, if signal strength values in certain continuous distance dimensions are large and the difference between values in different distances is small, the range can be considered as the interfered range, and how the detecting device determines the interfered range is not particularly limited. For example, referring to fig. 14 or 15, the disturbed area may be referred to as an "oval" area in fig. 14 or 15.

S183: and the detection device sends interference information to the fusion device, wherein the interference information comprises the indication information of the interfered range. Accordingly, the fusion device receives the interference information. Optionally, the detection device may report, to the fusion device, indication information such as whether the detected signal is interfered, interference strength, and interference time range, in addition to reporting, to the fusion device, indication information such as the interfered range. For example, as shown in fig. 22, the detection device may report the indication information such as "whether or not the fusion device is affected by the interference signal, the interference signal strength, and the interference influence range" to the fusion device. Alternatively, as shown in fig. 23, once the interference influence range is output, the detection device is always interfered, and therefore, the detection device may report only the indication information such as "interference influence range and interference signal strength" to the fusion device.

It can be understood that the detection device may report "indication information of the interfered range", "indication information of whether to be interfered", "indication information of interference intensity", and "indication information of the interference time range" to the fusion device, respectively. Or, the detecting device may carry the "indication information of the interfered range", "indication information of whether to be interfered", "indication information of interference strength", and/or "indication information of the interference time range" with one interference information to be reported, where the interference information may include one of the "indication information of the interfered range", "indication information of whether to be interfered", "indication information of interference strength", or "indication information of the interference time range".

It should be noted that, in the embodiment of the present application, the detection device may use the original interface with the fusion device to report all the indication information. Or, the detecting device may add an interface with the fusion device for reporting all the indication information. Or, the detecting device may report a part of the indication information in the indication information by using an original interface, and report another part of the indication information in the indication information by using a newly added interface. For example, the original interface may be used to report the indication information of whether interference and interference signal strength are received, and the newly added interface may be used to report the indication information of interference range and interference time range. The interference time range may be specifically a time period, such as: 8 hours 10 microseconds to 8 hours 15 microseconds, etc., or the interference time range may be specified as a duration, e.g., 15us or 20us, etc.

For example, taking the detection result shown in fig. 15 as an example, the advantages of the scheme provided in fig. 18 in the embodiment of the present application are described in detail: as shown in FIG. 15, the probing device detects two targets at 30m, with speeds of 20m/s and 40m/s, respectively. Meanwhile, as shown in fig. 15, in the detection range of the detection device, interference is caused, specifically, the "elliptical" area shown in fig. 15 is referred to.

The first solution is: the detection device reports the target detection result and the indication information of interference and interference intensity and the like to the fusion device. After receiving the target detection result, the fusion device can determine that two targets exist at a position of 30 meters relative to the detection device, and the speeds relative to the detection device are 20m/s and 40m/s respectively. Meanwhile, the fusion device can determine that the current target detection result of the detection device is interfered according to the indication information reported by the detection device. The fusion device can reduce the confidence of the detection result reported by the detection device. For example, other visual sensors, such as a camera, besides the detection device report to the fusion device that no target detection result is detected for 30m meters. The fusion device can select the target detection result which trusts other vision sensors more. For example, the fusion device may be as follows 7: and 3, judging whether a target exists at the position 30m ahead, wherein the weighted value 3 is a target detection result of the detection device, and the weighted value 7 is a target detection result of other vision sensors.

The second solution is: by using the method of the flow shown in fig. 18, the probe apparatus reports the target detection result and the indication information such as "interfered range". Similarly, after receiving the target detection result, the fusion device can determine that there are two targets at 30 meters relative to the detection device, and the speeds relative to the detection device are 20m/s and 40m/s respectively. Further, the fusion device determines the interfered range in the detection result according to the indication information. The fusion device can obtain the result through analysis, and the current interference has no influence on the target detection result. The fusion device does not reduce the confidence of the detection result reported by the detection device. For example, the fusion device may still be configured as a 5: 5, and whether a target is present at the position 30m ahead.

By comparing the first solution with the second solution, it can be found that the target detection result of the fusion device is more accurate by using the method in the flow shown in fig. 18, and the vehicle is controlled by using the controller, thereby improving the driving safety.

Another scenario is as follows: and the detection device reports a first target detection result to the fusion device, wherein the first target detection result is that the target is detected to exist at a position 100m ahead. And reporting a second target detection result to the fusion device by other sensors such as the camera, wherein the second detection result is that the target is not detected to exist at the position 100m ahead. After receiving the first target detection result and the second target detection result, the fusion device may perform the following steps: the weighting value of 5 determines whether or not a target exists in front of 100 m. If the method of the flow shown in fig. 18 is adopted, the detecting device additionally reports the indication information of the interfered range. And setting the fusion device to determine the interference range to be 90-100 meters according to the indication information. I.e. the detection result of the detecting means at 90 to 100m is disturbed. Then, the fusion device may trust the second target detection results of other sensors such as the camera. For example, the fusion device may be as follows 7: 3, it is determined whether or not the target exists at the front 100 m. The weighted value 7 is a second target detection result reported by other sensors such as a camera, and the weighted value 3 is a first target detection result reported by the detection device. It can be seen from the above analysis that the method in the flow shown in fig. 18 can improve the accuracy of the target detection by the fusion device, and is beneficial to controlling the vehicle by using the controller, thereby reducing the occurrence of traffic accidents.

It can be seen from the above analysis that the method shown in the flow chart of fig. 18 can improve the accuracy of the target detection by the fusion device, and is beneficial to the controller to control the vehicle, reduce traffic accidents, and improve driving safety.

Optionally, the process shown in fig. 18 may further include: s184: and the fusion device determines the interfered range in the detection range of the detection device according to the interference information.

Further, as is clear from the above description, the detection result of the detection device may include any one of a distance dimension, a speed dimension, and an angle dimension. Since the interfered range in S183 or S184 is specifically a range/region that is interfered within the detection range of the detection result of the detection means. Thus, the interfered range in embodiments of the present application may include any one or more of a distance dimension, a velocity dimension, or an angle dimension. For example, the interference range shown in FIG. 14 may include a distance dimension and a velocity dimension, with the interfered distance range being 0-80m and the interfered velocity range being 20m/s (the oval area in FIG. 14). Alternatively, the interference range shown in fig. 15 also includes a distance dimension and a velocity dimension, the interfered distance range is 100-250m, and the interfered velocity range is 20m/s (the oval area in fig. 15).

Example one: the disturbed distance range is represented by a distance interval, the disturbed speed range is represented by a speed interval, and/or the disturbed angle range is represented by an angle interval. Alternatively, the above process may indicate that the range to be interfered is determined by at least one of an interfered distance interval, an interfered speed interval, or an interfered angle interval. For example, characterizing the interfered range may be a set of intervals, which may include at least one of a distance interval, a velocity interval, or an angle interval. For example, the interfered range may include a range dimension, and the interfered range interval may be represented as [0m-20m ] and [100m-150m ], or the interfered range interval may be represented as [0m-20m ]. Alternatively, the disturbed range may include a velocity dimension, and the disturbed velocity interval may be represented as [10m/s-150m/s ]. Alternatively, the interfered range may include a distance dimension and a velocity dimension, the interfered distance interval may be represented as [0m-20m ], and the interfered velocity interval may be represented as [10m/s-150m/s ]. Alternatively, the interfered range may include a distance interval and an angle interval, the interfered distance interval may be represented as [0m-20m ], and the interfered angle interval may be represented as [10 ° -20 ° ]. Alternatively, the interfered range may be represented as a distance section, an angle section and a velocity section, the interfered distance section may be represented as [0m-20m ], the interfered velocity section may be represented as [10m/s-50m/s ], and the interfered angle section may be represented as [10 ° -20 ° ].

For example, in the embodiment of the present application, at least one of the interfered distance interval, the interfered speed interval or the interfered angle interval may also be represented as a one-dimensional, two-dimensional or three-dimensional matrix. For example, the interfered range includes a distance dimension, a velocity dimension, and an angle dimension. The interfered distance interval is 0m-20m, the interfered speed interval is 10m/s-150m/s, and the interfered angle interval is 10-20 degrees. Then, the above-mentioned interval can be represented as the following two-dimensional matrix:

Alternatively, the interfered range includes a distance dimension, a velocity dimension, and an angle dimension. The disturbed distance interval is represented as [0m-20m ], [100m-150m ], the disturbed speed interval is represented as [10m/s-15m/s ], [25m/s-28m/s ], the disturbed angle interval is represented as [10 ° -20 ° ], [30 ° -35 ° ]. Then, the above-mentioned interval can be represented as the following two-dimensional matrix:

In this example, the range of interference in the detection result of the detection device can be described more accurately by using the interval mode, and the target detection accuracy of the fusion device is increased.

Optionally, in this example, the interference information in S183 or S184 may include interference strength information in addition to the indication information of the interfered range. The interference strength information may correspond to at least one of an interfered distance range/distance interval, an interfered speed range/speed interval, and an interfered angle range/angle interval. The interference strength can be the same or different for the interfered distance range, the interfered speed range and the interfered angle range. For example, if the three interference strengths are the same, the interference information in S183 or S184 may include only one interference strength. If the three interference intensities are different, the interference information in S183 or S184 may include three interference intensities, which correspond to the interfered distance range, the interfered speed distance, and the interfered angle range, respectively.

For the first example, one specific implementation of the foregoing S184 may be: the fusion device determines an interfered range in the detection range of the detection device according to at least one of the interfered distance interval, the interfered speed interval or the interfered angle interval.

Example two: the disturbed distance range is represented by a distance dimension, the disturbed speed range by a speed dimension and the disturbed angle range by an angle dimension. The above process can also be described as: the interfered range may be determined by a matrix characterized by at least one of an interfered distance dimension, an interfered velocity dimension, or an interfered angle dimension, among others. For example, the affected area may be a two-dimensional matrix, and two dimensions of the two-dimensional matrix may be a distance dimension and a speed dimension, or two dimensions of the two-dimensional matrix may be a distance dimension and an angle dimension, and the like. Alternatively, the interference influence range may be a three-dimensional matrix, and three dimensions of the three-dimensional matrix may be a distance dimension, a speed dimension, an angle dimension, and the like.

For example, taking a two-dimensional matrix of range-velocity dimensions as an example, the range of each dimension is the detection range of the detection device, and the granularity is the resolution of each dimension. For example, the detection range of the range dimension in the two-dimensional matrix is 0-250 meters, and the granularity is 0.5 meters for the range resolution of the detection device. The detection speed of the speed dimension in the two-dimensional matrix is 0-50 m/s, the granularity is the speed resolution of the detection device is 0.5 m/s, and therefore the dimension of the two-dimensional matrix is 500 x 100.

Optionally, the element values of the matrix may represent interference strength information. Further, at least one of the disturbed distance range, the disturbed speed range or the disturbed angle range is determined by at least one of a distance dimension, a speed dimension or an angle in the matrix in which the element whose element value belongs to the first range is located. For example, the first range may be an integer greater than 0. For example, the first range may include a first value and a second value, and if the first value is greater than the second value, the first value may be indicative of an interference strength greater than the interference strength of the slice to which the second value is indicative.

For example, in the embodiment of the present application, as shown in fig. 19, a two-dimensional matrix of a distance velocity dimension and a distance angle dimension is taken as an example, each element value in the matrix is an interference information intensity value, 0 represents no interference at that point, and a larger value indicates stronger interference.

In this example, by adopting a matrix mode, the range of interference in the detection result of the detection device can be described more accurately, and the target detection accuracy of the fusion device is increased.

For the second example, one specific implementation of the foregoing S184 is: the fusion device determines an interfered range in the detection range of the detection device according to a matrix characterized by at least one of the interfered distance dimension, the interfered speed dimension or the interfered angle dimension. Wherein the element values of the matrix represent interference strength information, and at least one of the interfered distance range, the interfered speed range or the interfered angle range is determined by at least one of the distance dimension, the speed dimension or the angle dimension in which the element of the matrix whose element value belongs to the first range is located.

Example three: the range affected by the interference can be represented in the form of a histogram which can be counted in at least one of the distance range, the speed range or the angle range of the interference, and the statistic is the interference strength. As shown in fig. 20, a histogram is generated by taking statistics of the distance range. In the histogram, the interference intensity at 20-30 m is 5 decibels (dB), the interference intensity at 50-70 m is 3dB, and the interference intensity at 150-200m is 10 dB. Alternatively, the histogram may be statistical in terms of interference strength, and the statistical quantity is the percentage of interference influence range. As shown in fig. 21, for example, the interference intensity is 3dB for a range of 30%, 5dB for a range of 20%, and 10dB for a range of 50%.

In this example, a histogram mode is adopted, so that the range of interference in the detection result of the detection device can be described more accurately, and the target detection accuracy of the fusion device is increased.

For the third example, one specific implementation of the foregoing S184 is: and the fusion device determines the interfered range in the detection range of the detection device according to the histogram.

In the embodiments provided in the present application, the method provided in the embodiments of the present application is introduced from the perspective of the detection device, the fusion device, and the interaction between the detection device and the fusion device. In order to implement the functions in the method provided by the embodiments of the present application, the detecting device and the fusing device may include a hardware structure and/or a software module, and the functions are implemented in the form of a hardware structure, a software module, or a hardware structure and a software module. Whether any of the above-described functions is implemented as a hardware structure, a software module, or a hardware structure plus a software module depends upon the particular application and design constraints imposed on the technical solution.

Similar to the above concept, as shown in fig. 24, an embodiment of the present application provides a device 2400, where the device 2400 is configured to implement the function of the detection device in the above embodiment, and the device 2400 may be a detection device, and may also be a component in the detection device, such as a chip, and includes:

the transceiver module 2401 is configured to receive a first signal. A processing module 2402, configured to determine, according to the first signal, an interfered range in a detection range of the detection apparatus; the transceiver module 2401 is further configured to send interference information to the fusion device, where the interference information includes indication information of the interfered range.

For specific descriptions of the transceiver module 2401 and the processing module 2402, reference may be made to the descriptions in the above method embodiments, which are not described herein again.

Similar to the above concept, as shown in fig. 25, an embodiment of the present application provides a device 2500, where the device 2500 is used for implementing the function of the fusion device in the above embodiment, and the device 2500 may be a fusion device or a chip in a fusion device, and includes:

a transceiver module 2501, configured to receive an interference signal from a probe apparatus, where the interference information includes indication information of an interfered range in a probe range of the probe apparatus; the processing module 2502 is configured to determine an interfered range in a detection range of the detection apparatus according to the interference information.

For specific descriptions of the transceiver module 2501 and the processing module 2502, reference may be made to the descriptions in the above method embodiments, and further description is omitted here.

It should be noted that, the division of the modules in the embodiments of the present application is schematic, and only one logical function division is used, and in actual implementation, there may be another division manner, and in addition, each functional module in each embodiment of the present application may be integrated in one processor, or may exist alone physically, or two or more modules are integrated in one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.

Similar to the above concept, as shown in fig. 26, an apparatus 2600 is provided, wherein the apparatus 2600 can be used for implementing the function of the detection apparatus in the above method, and the apparatus 2600 can be the detection apparatus, or alternatively, the apparatus 2600 can be a chip in the detection apparatus.

The device 2600 includes at least one processor 2601 for implementing the functionality of the detection device in the methods described above. For example, the processor 2601 may determine an interfered range in the detection range of the detection device according to the first signal. Reference is made in detail to the above-described methods, which are not described herein.

The apparatus 2600 may also include at least one memory 2602 for storing programs and/or data. The memory 2602 is coupled with the processor 2601. The coupling in the embodiments of the present application is an indirect coupling or a communication connection between devices, units or modules, and may be an electrical, mechanical or other form for information interaction between the devices, units or modules. The processor 2601 and the memory 2602 cooperate. The processor 2601 may execute program instructions stored in the memory 2602, at least one of which may be included in the processor 2601.

Apparatus 2600 may also include a communication interface 2603 for communicating with a communication transmission medium and other devices, such as the apparatus in apparatus 2600 and other devices that are converged. By way of example, the communication interface 2603 may be a transceiver, circuit, bus, module, or other type of communication interface. The processor 2601 may utilize the communication interface 2603 to transmit and receive data to implement the methods of the embodiments described above. For example, the processor 2601 may receive the first signal and transmit interference information to the fusion device using the communication interface 2603.

The connection medium between the communication interface 2603, the processor 2601, and the memory 2602 is not limited in this embodiment of the application. In the embodiment of the present application, the memory 2602, the processor 2601, and the communication interface 2603 are connected by the bus 2604 in fig. 26, the bus is represented by a thick line in fig. 26, and the connection manner between the other components is only schematically illustrated and is not limited thereto. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 26, but this does not represent only one bus or one type of bus.

Similar to the concepts described above, as shown in fig. 27, a device 2700 is provided, the device 2700 can be used to perform the functions of the fusion device in the methods described above, the device 2700 can be the fusion device, or the device 2700 can be a chip in the fusion device.

The device 2700 includes at least one processor 2701 to implement the functionality of the fusion device in the methods described above. For example, the processor 2701 may determine an interfered range in the detection range of the detection apparatus according to the interference information. The above-mentioned methods are described in detail and will not be described herein.

The device 2700 may also include at least one memory 2702 for storing programs and/or data. The memory 2702 is coupled to the processor 2701. The coupling in the embodiments of the present application is an indirect coupling or a communication connection between devices, units or modules, and may be an electrical, mechanical or other form for information interaction between the devices, units or modules. The processor 2701 and the memory 2702 operate in cooperation. The processor 2701 may execute program instructions stored in the memory 2702, at least one of which may be included in the processor 2701.

The apparatus 2700 may also include a communication interface 2703 for communicating the transmission medium with other devices, such as a probe and the like, for communicating with the apparatus in the apparatus 2700 and with other devices. Illustratively, the communication interface 2703 may be a transceiver, circuit, bus, module, or other type of communication interface. The processor 2701 may use the communication interface 2703 to transmit and receive data to implement the method of the above embodiments. For example, the processor 2701 may receive interference information or the like using the communication interface 2703.

The connection medium among the communication interface 2703, the processor 2701, and the memory 2702 is not limited in the embodiment of the present application. Optionally, in the embodiment of the present application, the memory 2702, the processor 2701, and the communication interface 2703 are connected through a bus 2704 in fig. 27, the bus is represented by a thick line in fig. 27, and a connection manner between other components is merely schematically illustrated and is not limited. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 27, but this does not represent only one bus or one type of bus.

In the embodiments of the present application, the processor may be a general-purpose processor, a digital signal processor, an application specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component, and may implement or execute the methods, steps, and logic blocks disclosed in the embodiments of the present application. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of a method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware processor, or may be implemented by a combination of hardware and software modules in a processor.

In the embodiment of the present application, the memory may be a nonvolatile memory, such as a Hard Disk Drive (HDD) or a solid-state drive (SSD), and may also be a volatile memory, for example, a random-access memory (RAM). The memory is any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to such. The memory in the embodiments of the present application may also be circuitry or any other device capable of performing a storage function for storing program instructions and/or data.

Similar to the above concept, the embodiment of the present application further provides a system, which includes at least one detection device and a fusion device. For the detection device and the fusion device, reference is made to the description of the above method embodiments, which will not be described here. Optionally, the system may further include a controller, where the fusion device and the controller may exist separately and physically, or the fusion device and the controller may be integrated into one module, where the integrated module may be implemented in a form of hardware, or may be implemented in a form of software function, or the fusion device may be integrated inside the controller. The system can be applied to different scenes, for example, the system can be applied to scenes such as unmanned driving, automatic driving, intelligent driving, internet connection driving and the like, and is not limited. Alternatively, the controller may be an onboard central controller.

The same as the above conception, the present application also provides a terminal device, which can be specifically a motor vehicle, an unmanned aerial vehicle and the like, and comprises at least one detection device and a fusion device. For the detection device and the fusion device, reference is made to the description of the above method embodiments, which will not be described here. Optionally, the terminal device may further include a controller, and the controller is configured to control and manage the terminal device. When the terminal device is a motor vehicle, the controller may be referred to as an automobile central control or the like. The controller and the fusion device may exist separately and physically, or the fusion device and the controller may be fused in one module, or the fusion device may be integrated inside the controller, etc., without limitation.

The method provided by the embodiment of the present application may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, a network appliance, a user device, or other programmable apparatus. The computer instructions may be stored on a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)), or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a Digital Video Disk (DVD)), or a semiconductor medium (e.g., an SSD), among others.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.

In the embodiments of the present application, the embodiments may refer to each other, for example, methods and/or terms between the embodiments of the method may refer to each other, for example, functions and/or terms between the embodiments of the apparatus and the embodiments of the method may refer to each other, without logical contradiction.

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