The embodiment of the invention discloses a vehicle surrounding environment sensing method and device. The method comprises the steps that multiple UWB antennas are controlled to conduct measurement between every two UWB antennas so as to measure the length of a reflection path when a signal is sent out from one UWB antenna, reflected by an obstacle and received by another UWB antenna, and the multiple UWB antennas are located at different positions of a vehicle body; and according to the measured length of the reflection path and the position data of the plurality of UWB antennas, and in combination with a positioning method, identifying obstacles in the surrounding environment of the vehicle. According to the embodiment of the invention, based on the existing UWB antenna, the obstacle in the environment is detected by using the multipath effect, so that the perception of the vehicle environment can be realized without increasing extra hardware cost.
本发明实施例公开了一种车辆周围环境的感知方法及装置。其中,该方法包括:控制多个UWB天线在两两之间进行测量,以测量信号自一个UWB天线发出,被障碍物反射后,被另一个UWB天线接收时的反射路径的长度,其中,所述多个UWB天线位于车身的不同位置上;以及根据所述测量得到的反射路径的长度和所述多个UWB天线的位置数据,并结合定位方法,识别所述车辆周围环境中的障碍物。本发明实施例,基于已有的UWB天线,利用多径效应来探测环境中的障碍物,因此无需增加额外的硬件成本,就可以实现车辆环境的感知。
Perception method, device and equipment for vehicle surrounding environment, medium and vehicle
车辆周围环境的感知方法、装置、设备、介质和车辆
2023-06-27
Patent
Electronic Resource
Chinese
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