CN112835045A - Radar detection method and device, storage medium and electronic equipment - Google Patents
Radar detection method and device, storage medium and electronic equipment Download PDFInfo
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- CN112835045A CN112835045A CN202110009134.XA CN202110009134A CN112835045A CN 112835045 A CN112835045 A CN 112835045A CN 202110009134 A CN202110009134 A CN 202110009134A CN 112835045 A CN112835045 A CN 112835045A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
Abstract
The present specification discloses a radar detection method, a radar detection device, a storage medium, and an electronic device, which acquire environmental information around a target device through a wireless network, adjust a control strategy for the target radar mounted on the target device according to the acquired environmental information, detect obstacles with the target radar after the control strategy is adjusted, and calculate the position of each obstacle with the detection result. The position of the obstacle is determined according to the information detected by the radar carried by the target equipment, the detection real-time performance and the detection authenticity are guaranteed, the control strategy of the radar is adjusted according to the environment information acquired by the wireless network, the radar can be guaranteed to work under appropriate parameters all the time, and the radar detection accuracy is improved.
Description
Technical Field
The present disclosure relates to the field of unmanned driving, and in particular, to a radar detection method, an apparatus, a storage medium, and an electronic device.
Background
Currently, a radar mounted on a vehicle is widely used as a core sensor of a driving assistance system to assist a driver by detecting a surrounding environment. For example, a reverse sensor that informs a driver of the presence of an obstacle in the vicinity of the driver by sound when the vehicle is reversing can eliminate the trouble of left and right visibility when the driver reverses the vehicle and eliminate the defect of a blind spot in the field of view.
With the development of the unmanned technology, more and more unmanned equipment can be loaded with the radar, and the unmanned equipment is controlled according to the detection result of the radar.
In the prior art, a control strategy of a radar is usually fixed when the radar leaves a factory, but the vehicle needs to be driven in different environments, and the fixed control strategy is difficult to realize accurate detection in different environments.
For example, when the frequency of the radar is fixed, when a vehicle carrying the same frequency of the radar meets, the two parties will cause co-frequency interference; for another example, in the case of an ultrasonic radar, the propagation speed of ultrasonic waves varies with temperature, and when the obstacle distance is calculated at a fixed propagation speed, it is difficult to avoid the influence of the temperature variation, thereby affecting the ranging accuracy.
Disclosure of Invention
Embodiments of the present specification provide a radar detection method, an apparatus, a storage medium, and an electronic device, so as to partially solve the problems in the prior art.
The embodiment of the specification adopts the following technical scheme:
a radar detection method, comprising:
acquiring environmental information around a target device through a wireless network, wherein the environmental information at least comprises any one or a combination of the following: road information, and shape information and pose information of the obstacle;
adjusting a control strategy of the target radar according to the acquired environmental information, wherein the control strategy at least comprises at least one parameter of the target radar;
and detecting each obstacle around the target equipment by adopting the target radar after the control strategy adjustment, and determining the position of each obstacle according to the detection result.
Optionally, before adjusting the control strategy of the target radar, the method further includes:
detecting each obstacle around the target equipment by adopting a target radar before the control strategy adjustment;
adjusting the control strategy of the target radar according to the acquired environmental information, specifically comprising:
and adjusting the control strategy of the target radar according to the acquired environmental information and the detection result of the target radar before the control strategy is adjusted.
Optionally, the target device carries a target radar and each non-target radar;
determining the position of each obstacle according to the detection result, specifically comprising:
determining an echo of the target obstacle received by a target radar;
judging whether the echo intensity of the echo exceeds a preset first echo threshold value or not;
when the echo strength exceeds the first echo threshold value, determining the position of the target obstacle according to the echo received by the target radar;
and when the echo intensity does not exceed the first echo threshold value, determining the position of the target obstacle according to the echoes received by each non-target radar.
Optionally, determining the position of the target obstacle according to the echoes received by each non-target radar specifically includes:
when the environment information comprises the pose of the obstacle, judging whether the detection range of each radar comprises the position of the target obstacle; judging whether the echo intensity of the target obstacle echo received by each non-target radar exceeds a preset second echo threshold value or not;
when the position of the target obstacle is located in the detection range of the target radar and at least one non-target radar, the non-target radar is used as a designated non-target radar, and if the echo intensity of the target obstacle received by the designated non-target radar exceeds a preset second echo threshold value, the position of the target obstacle is determined according to the echo received by the designated non-target radar;
when the positions of the target obstacles are not located in the detection ranges of the target radar and the at least one non-target radar at the same time, or the echo intensities of the echoes received by the non-target radars in the detection ranges including the position of the target obstacle do not exceed a preset second echo threshold value, selecting a designated non-target radar according to the intensity of the echo of the target obstacle received by the non-target radars, and determining the position of the target obstacle according to the echo of the target obstacle received by the designated non-target radar.
Optionally, when the environment information includes a shape and a pose of an obstacle, adjusting a control strategy of the target radar specifically includes:
determining the distance between each part of the target obstacle and the target radar and the echo area of each part to the target radar according to the environment information;
and when the echo area of the part nearest to the target radar is smaller than a preset area threshold value, reducing the echo threshold value of the target radar and/or improving the transmitting power of the target radar.
Optionally, when the environment information includes road information, adjusting a control strategy of the target radar specifically includes:
and when the target road meets a preset concave-convex condition, shortening the echo receiving time of the target radar, and/or taking the echo which does not exceed a preset third echo threshold value as the echo for determining the position of each obstacle.
Optionally, after the control strategy of the target radar is adjusted, before detecting each obstacle around the target device by using the target radar after the control strategy is adjusted, the method further includes:
verifying and detecting each obstacle around target equipment by adopting the target radar after the control strategy adjustment, and taking a detection result of the verification and detection as a first detection result;
and continuously adjusting the control strategy of the target radar according to the first detection result.
Optionally, a detection result obtained by detecting each obstacle around the target device by using the target radar adjusted by the control strategy is used as a second detection result;
determining the position of each obstacle according to the detection result, specifically comprising:
and determining the position of the target obstacle according to the first detection result and the second detection result.
This specification provides a radar detection device, includes:
an environment obtaining module, configured to obtain, through a wireless network, environment information around a target device, where the environment information at least includes any one or a combination of the following: road information, and shape information and pose information of the obstacle;
the strategy adjusting module is used for adjusting a control strategy of the target radar according to the acquired environment information, wherein the control strategy at least comprises at least one parameter of the target radar;
and the detection module is used for detecting each obstacle around the target equipment by adopting the target radar after the control strategy adjustment, and determining the position of each obstacle according to the detection result.
The present specification provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the above-described radar detection method.
The present specification provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the above radar detection method when executing the program.
The technical scheme of at least one radar detection adopted by the specification can achieve the following beneficial effects:
the method comprises the steps of obtaining environmental information around target equipment through a wireless network, adjusting a control strategy for a target radar carried on the target equipment according to the obtained environmental information, detecting obstacles by the target radar after the control strategy is adjusted, and calculating the position of each obstacle according to a detection result. The position of the obstacle is determined according to the information detected by the radar carried by the target equipment, the detection real-time performance and the detection authenticity are guaranteed, the control strategy of the radar is adjusted according to the environment information acquired by the wireless network, the radar can be guaranteed to work under appropriate parameters all the time, and the radar detection accuracy is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the specification and are incorporated in and constitute a part of this specification, illustrate embodiments of the specification and together with the description serve to explain the specification and not to limit the specification in a non-limiting sense. In the drawings:
fig. 1 is a schematic flow chart of a radar detection method in the present specification;
FIG. 2 is a schematic view of road surface information in the present specification;
FIG. 3 is a schematic diagram of shape information and position information of an obstacle in the present specification;
FIG. 4 is a schematic diagram of a measurement method according to the present disclosure;
FIG. 5 is a schematic view of a radar detection apparatus provided herein;
fig. 6 is a schematic diagram of an electronic device corresponding to fig. 1 provided in the present specification.
Detailed Description
In order to make the objects, technical solutions and advantages of the present disclosure more clear, the technical solutions of the present disclosure will be clearly and completely described below with reference to the specific embodiments of the present disclosure and the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present disclosure, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present specification without any creative effort belong to the protection scope of the present specification.
For a long time, the environmental information that the unmanned device uses to provide the driver with driving assistance comes only from the sensing device mounted on the unmanned device itself. However, with the development of wireless communication technology, unmanned devices have been able to achieve information acquisition and information interaction based on wireless networks, for example, unmanned devices using Vehicle-to-electric wireless communication technology (V2X) can acquire environmental information through V2X communication, and similarly, the information acquired through the wireless networks can also provide assistance for driving.
However, at present, the transmission method for transmitting information through a wireless network has a delay, and thus it is difficult to meet the real-time requirement of driving assistance, and the information acquired through the wireless network is not sensed by the sensing device mounted on the vehicle, so that there is a problem of trust in the trueness of the information naturally. Therefore, in the present specification, the information acquired through the wireless network is not directly provided to the driver as the driving assistance, but only as a basis for adjusting the control strategy of the radar mounted on the unmanned aerial vehicle itself, and the information acquired by the radar mounted on the unmanned aerial vehicle itself is still the information for assisting the driving.
The real-time performance and the authenticity of the information for providing assistance for driving can be guaranteed, the radar control strategy can be adjusted according to the environment information acquired by the wireless network, the radar can be guaranteed to be capable of detecting with a proper control strategy all the time along with the environment, and the accuracy of radar detection is improved.
Of course, with the development of the unmanned technology, when the unmanned device does not need a driver, the control of the unmanned device can be directly realized according to the information acquired by the radar. For example, in the following part of this specification, each embodiment will be described taking as an example the case where the unmanned aerial vehicle realizes control of itself by a detection result of the radar.
The technical solutions provided by the embodiments of the present description are described in detail below with reference to the accompanying drawings.
Fig. 1 is a schematic flow chart of a radar detection method in this specification, which specifically includes the following steps:
s100: acquiring environmental information around a target device through a wireless network, wherein the environmental information at least comprises any one or a combination of the following: road information, and shape information and pose information of the obstacle.
The radar carried by the target device detects the environment around the target device by adopting the method provided by the specification, and controls the target device according to the detection result. The target device may include an autonomous vehicle and a vehicle having a driving assistance function, and the target device may be a delivery vehicle applied to a delivery field.
In the method provided in this specification, the radar carried by the target device may be an ultrasonic radar, where the target device is at least carried by a target radar, and the target radar includes a transmitting end capable of transmitting a probe signal and a receiving end capable of receiving an echo. And measuring and calculating the distance between the target equipment and the obstacle through the time difference between the detection signal sent by the transmitting end and the echo received by the receiving end.
The target device can wirelessly communicate with other terminals or servers using a Wireless Network, which may be various Wireless networks provided by Network operators and capable of providing Wireless Communication services for the target device with other terminals or servers, such as Cellular Mobile Communication (Cellular Mobile Communication), Wireless Wide Area Network (WWAN), Wireless Local Area Network (WLAN), Near Field Communication (NFC), bluetooth, and the like, wherein a fifth generation Mobile Communication technology (5G) in Cellular Mobile Communication is a Wide choice of Wireless networks for vehicles due to its high transmission rate and low delay. In this specification, any existing network providing a wireless communication service may be selected as the wireless network, and is not limited thereto.
According to the wireless communication mode adopted by the target device, the target device may implement wireless communication with various other terminals or servers, for example, for a target device supporting V2X, where X communicating with the target device may be Infrastructure (Infrastructure), Pedestrian (Pedestrian), vehicle (vehicle) or network (network) in general, the target device may obtain environment information such as road condition information and road information sent by other terminals or servers through communication with a roadside terminal, other vehicles, pedestrians and servers, where the environment information may be information collected by sensing devices of other terminals, such as road surface condition collected by the roadside terminal, or information directly obtained through network query or reading of a storage medium, such as temperature at the current time, rain and snow conditions, inherent attributes of vehicles (such as shape, and the like), Surface material, etc.), the description does not limit the type of environmental information.
Due to the control requirements of the target device, the acquired environment information is typically environment information around the target device (e.g., environment information within 20 meters of the target device), and of course, any distance range may be considered as the surroundings of the unmanned vehicle. However, as the unmanned vehicle, the traveling tendency of the target device is generally known, and therefore, only the environmental information in the traveling tendency direction of the unmanned vehicle (for example, the environmental information of the area to be passed by the target device within 1 minute in the future) may be acquired, and it can be seen that there are many existing methods for selecting the range of the acquired environmental information, which is not limited in this specification, but the environmental information includes at least any one or a combination of the obstacle shape information and the posture information.
S102: and adjusting a control strategy of the target radar according to the acquired environment information, wherein the control strategy at least comprises at least one parameter of the target radar.
As known to those skilled in the art, in the process of transmitting and receiving signals, parameters of the radar may be set or adjusted, generally, parameters are set for the radar at the time of factory shipment, and taking an operating frequency of the ultrasonic radar as an example, three commonly used operating frequencies are 40kHz, 48kHz and 58kHz, generally, the higher the frequency is, the higher the sensitivity is, but the smaller the detection angle in the horizontal and vertical directions is, so the operating frequency of the radar is often set to 40Hz at the time of factory shipment, so that the ultrasonic radar can normally detect in most environments. However, the problem caused by the fixed working frequency is not only that the detection with higher sensitivity cannot be realized, but also that when the target device encounters a vehicle carrying a vehicle-mounted radar with the same frequency, the two parts can mutually cause the same frequency interference.
Therefore, in the radar detection method provided in the present specification, the target radar may adjust each parameter according to the acquired environment information. Specifically, the control strategy may include what transmission period, what transmission power, what frequency the transmitting end of the target radar transmits, and what echo the receiving end receives in how long the receiving time in each period, how much the received signal strength exceeds (or is lower than) a threshold, and of course, may determine the interval duration between the next transmitted signal and the last transmitted signal of the transmitting end at a time in a non-periodic manner, and for a target device equipped with at least two radars, the control strategy may further include in what order each radar transmits signals sequentially. That is, the control strategy includes transmission power, operating frequency, transmission period, reception time, reception threshold, interval duration, and polling sequence, and the adjusting the control strategy is to adjust at least one of the above parameters.
The corresponding relation between the received environment information and the control strategy to be adjusted is preset, wherein the adjustment of the control strategy comprises the adjustment of which parameters and how to adjust each parameter. According to the received environment information and the preset corresponding relation, the radar parameters can be adjusted by the control strategy corresponding to the environment information.
S104: and detecting each obstacle around the target equipment by adopting the target radar after the control strategy adjustment, and determining the position of each obstacle according to the detection result.
The target equipment carries on the target radar at least, can carry on non-target radar, wherein, the target radar includes transmitting terminal and receiving terminal to send and be used for carrying out the signal surveyed to the barrier, non-target radar includes the receiving terminal at least, and non-target radar receives the echo of the signal that the target radar transmitted.
The detection of each obstacle around the target device by the target radar means that a transmitting end of the target radar transmits a detection signal, and when the detection signal is reflected by the obstacle, an echo is generated, so that a detection result means an echo generated by a signal transmitted by the target radar received by a receiving end of each radar mounted on the target device, and further, when the radar mounted on the target device also includes non-target radars other than the target radar, the detection result means echoes generated by signals transmitted by the target radar and received by the non-target radars.
When the target device is only loaded with the target radar, the distance between the target device and the obstacle reflecting the detection signal can be measured according to the time difference between the detection signal transmitted by the target radar and the received echo, in short, one half of the product of the time difference and the ultrasonic wave speed is taken as the distance between the target device and the target obstacle, and the relative speed between the target device and the target obstacle needs to be considered because the vehicle is moving. The ultrasonic wave velocity and the relative velocity of the target device and the target obstacle can be considered as the estimation coefficients of the distance estimation.
When the target device is further equipped with a non-target radar, the distance between the target device and the target obstacle may be measured by another measuring method, instead of measuring the distance based on the echo received by the target radar.
The radar detection method provided by the present specification may be executed by a target device, where steps S100 to S102 may be executed by the target device itself, or may be executed by an electronic device (such as a mobile phone, a computer, etc.) or a server capable of performing information transmission with the target device or controlling the target device, and when steps S100 to S102 are executed by an electronic device or a server other than the target device, the target device may execute step S104 after the control policy is adjusted.
As can be seen from the method described in fig. 1, the present specification provides a radar detection method, which obtains environment information around a target device through a wireless network, adjusts a control strategy for a target radar mounted on the target device according to the obtained environment information, detects an obstacle with the target radar after the control strategy is adjusted, and calculates a position of each obstacle with a detection result. Therefore, the position of the obstacle is determined according to the information detected by the radar carried by the target equipment, the detection real-time performance and the detection authenticity are guaranteed, the control strategy of the radar is adjusted according to the environmental information acquired by the wireless network, the radar can be guaranteed to work under appropriate parameters all the time, and the radar detection accuracy is improved.
The present specification provides embodiments one to seven, which exemplify how to adjust the control strategy of the radar according to the environment information. In the present specification, if a plurality of obstacles exist around the target device, each obstacle is set as a target obstacle, and an adjustment strategy for the obstacle is determined.
The first embodiment is as follows: when the acquired environmental information includes the position of the target obstacle, if it is determined that the target obstacle is far away from the target device according to the position of the target obstacle, the echo reflected by the target obstacle may not be used as a detection result for measuring and calculating the position of the target obstacle due to low echo intensity.
Example two: when the acquired environmental information includes the working conditions of other surrounding ultrasonic radars, if the other ultrasonic radars have the same working frequency as the target radar, when the receiving end receives the echoes of the signals transmitted by the other ultrasonic radars, the receiving end often measures and calculates the position of the target obstacle as the echoes of the signals transmitted by the target radar as a detection result, so as to measure and calculate the position of the wrong target obstacle, namely, false alarm caused by co-frequency interference.
The transmitting period or interval duration of the radar can be adjusted, so that the receiving end cannot receive the echoes of signals transmitted by other radars within the time of receiving the echoes; the working frequency of the target radar can be adjusted, the working frequency of the signals transmitted by the target radar is different from the working frequency of the signals transmitted by other radars after adjustment, and the echoes of the signals transmitted by other radars can be filtered out without misinformation.
When the radar carried by the target equipment comprises non-target radars except for the target radar, the interference conditions of peripheral radars are different according to different positions of all radars distributed on the target equipment, so that the polling sequence of the radars sequentially transmitted can be adjusted, the radars carried by the target equipment interfered by the peripheral other radars can be staggered with other radars, for example, the radars are carried on the left side and the right side of the target equipment, and the other radars which can cause same-frequency interference are arranged on the left side of the target equipment, and the polling sequence can be adjusted to ensure that the receiving end of the left-side radar cannot receive the echoes of signals transmitted by the other radars within the time of receiving the echoes.
Example three: when the acquired environmental information includes the material of the obstacle, the wave absorbing capability of the ultrasonic wave of the different materials is different, and the receiving threshold of the receiving end can be reduced for the target obstacle with strong wave absorbing capability of the surface material, so that the echo of the target obstacle can be received.
Example four: when the acquired environmental information includes road information, if the surface of the target road is uneven, the detection of the radar is affected from two aspects: firstly, the ultrasonic wave is received by the receiving end after being reflected for many times by the concave-convex surface, so that the echo received by the receiving end has time difference, and the position of the target obstacle is difficult to be calculated. As shown in fig. 2, when the road surface is an ideal road surface and there is no irregularity, the distance D2 between the road surface point of the reflected echo and the target device at the included angle should be measured according to the echo reflected by the road surface, but on the uneven ground, the echo reflected by the ground bulge is L, and an obstacle is measured from the echo L to the target device D1, that is, false radar alarm is caused.
Aiming at the influence of the rugged road surface from the first aspect, the receiving time of the receiving end on the echo can be shortened, and the echo after multiple reflections is not considered when the position of the target obstacle is measured and calculated; as for the influence from the second aspect, as can be seen from fig. 2, the distance between the protrusion and the target device is closer to the distance of the target device on the real ground, so that the attenuation of the ultrasonic wave is less and the echo intensity of the echo is stronger than the time for the signal reflected by the real ground to propagate in the air, and based on this characteristic, the echo not exceeding the preset third echo threshold value can be used as the echo for determining the position of the target obstacle, so as to filter the echo with too strong echo intensity, and avoid false alarm. Of course, there is no relation between the above two influences, so when adjusting the control strategy, one of the reception time and the reception threshold may be selected to be adjusted, or both the reception time and the reception threshold may be adjusted at the same time, which is not limited in the present specification.
Example five: when the acquired environment information includes the shape information and the pose information of the obstacle, the echo area of each part of the target obstacle relative to the target radar and the distance relative to the target device can be determined. For example, when the shape and the posture of the target obstacle are as shown in fig. 3, the echo area of the target radar is small in the portion closest to the target device, the echo intensity of the reflected echo is also small, and if the echo intensity is smaller than the reception threshold of the radar receiving end, the true distance D2 between the target device and the target obstacle is erroneously detected as D1.
The receiving threshold value of the radar receiving end can be adjusted, the echo reflected by the part, which is closest to the target equipment but has a smaller echo area, of the target obstacle is received, and therefore the real distance between the target equipment and the target obstacle is measured and calculated.
Besides determining the echo areas of the parts of the target obstacle according to the shape information and the pose information in the environment information, when the echo of the target obstacle received by the receiving end for the last time is weaker in the echo intensity of the short-distance echo compared with the echo of the short-distance echo, it can also be determined whether the echo area of the part of the target obstacle closest to the target device is smaller than that of the target radar, so as to adjust the receiving threshold of the radar receiving end in the same manner as described above in the embodiment.
Example six: when the acquired environment information includes pose information of an obstacle, if the environment information indicates that no obstacle exists in a specified range, an echo reflected by an object in the same specified range exists in an echo received by a receiving end last time, and the echo can be generally considered as an interference signal, so that a receiving threshold of a radar receiving end can be increased, and the interference signal can be filtered.
Example seven: when the acquired environmental information includes the operating conditions of other surrounding ultrasonic radars, if an interference signal not emitted by the other ultrasonic radars exists in the echo received by the receiving end last time, the interference signal is generally considered as environmental noise. The environmental noise can be filtered by a method of improving a receiving threshold, and in addition, for the periodic environmental noise, the receiving end can be prevented from receiving the periodic environmental noise by adjusting the transmitting period of the radar. Of course, when the control strategy is adjusted, one of the reception threshold or the transmission period may be selected to be adjusted, or the reception threshold and the transmission period may be adjusted at the same time, which is not limited in this specification.
It should be noted that, in this specification, instead of taking the received environment information as a whole and determining the control strategies for all the radars carried by the target device according to the whole, the environment information affecting the radar in the environment information is divided into a plurality of partial environment information for each radar, and the control strategy for the radar is determined for each partial environment information, and the overall control strategy for the radar is the superposition of all the control strategies determined by the radar.
Specifically, the determination of the control strategy for the partial environment information based on the partial environment information may be considered to determine a control strategy based on partial types of environment information (for example, surface material) in the environment information, or may be considered to determine a control strategy for a partial detection object based on environment information related to the detection object, and in the above embodiment, the control strategy for the detection object is determined by the radar based on environment information of each detection object (target obstacle, target road surface). And the superposition of all control strategies of the radar determined by the radar according to the environment information of each part type and the environment information of each detection object is the overall control strategy of the radar.
In practical application, after the control strategy is adjusted for the radar, verification detection is often performed on surrounding obstacles, and whether the adjustment of the control strategy is appropriate is verified according to a first detection result obtained by the verification detection. Based on the first detection result, the control strategy may be continuously adjusted before the target radar performs the next detection, or of course, the control strategy may not be adjusted.
The first detection result reflects from different aspects whether the adjustment of the respective control strategy is appropriate. For the second embodiment, when the echo received by the receiving end does not include signals sent by other radars, the control strategy adjusted by the radar in the second embodiment may be considered to be appropriate; for the seventh embodiment, when the environmental noise received by the receiving end in the verification probe is less than the environmental noise received by the receiving end before the control strategy is adjusted, the control strategy adjusted in the seventh embodiment is considered to be appropriate.
In addition, the first detection result obtained by the verification detection can be used for determining the position of the obstacle together with the second detection result obtained by the target radar detection after the control strategy is adjusted. For example, for the fourth embodiment, the position of the obstacle determined in the first detection result and the position of the obstacle determined in the second detection result may be averaged, and the average value is used as the position of the obstacle, and of course, in fig. 2, when the control strategy is adjusted, a false alarm of the obstacle is not generated at the distance D1.
In addition, the measurement coefficient when the distance measurement is performed, that is, the ultrasonic wave speed and the relative speed of the target device and the target obstacle can be determined according to the environment information. The present specification provides an eighth embodiment and a ninth embodiment, which exemplify two determination methods for determining the estimation coefficient based on the environment information.
Example eight: when the acquired environmental information includes current weather information, such as temperature and humidity, rain and snow weather, and the like, since the propagation speed of the ultrasonic wave in the air with different temperatures and humidity is known, the propagation speed of the ultrasonic wave at the current moment of detection of the target radar can be determined.
Example nine: when the acquired environment information includes the speed (including the speed direction) of the target obstacle, the relative speed (including the speed direction) of the target obstacle and the target device can be determined according to the determined speed (including the speed direction) of the target device.
The position of the barrier is measured and calculated by the measuring and calculating coefficient determined according to the environment information, so that measuring and calculating errors caused by the change of the measuring and calculating coefficient along with the environment can be avoided, and the measuring and calculating precision is improved.
As known to those skilled in the art, when the target device is only equipped with the target radar, the distance between the target device and the obstacle reflecting the detection signal can be measured and calculated (hereinafter referred to as direct measurement method) according to the time difference between the detection signal transmitted by the target radar and the reception of the echo; when the target device is further equipped with a non-target radar, the distance between the target device and the obstacle can be measured and calculated based on the echo received by the non-target radar.
For example triangulation of the position of an obstacle can be determined jointly from echoes received by the target radar and the non-target radar. As shown in fig. 4, P1 and P2 are two radars mounted on a target device, respectively, where P2 is a target radar including a transmitting end and a receiving end, P1 is a non-target radar including at least a receiving end, P3 is a target obstacle, and distances between the target obstacle P3 and the radars P1 and P2 are D1 and D2, respectively. After the P2 transmits the signal, the echoes reflected by the P3 are received after the time lengths T1 and T2 of P1 and P2, respectively. The position of the target obstacle P3 can be determined by triangulation from echoes received by the target radar P2 and the non-target radar P1, without considering the relative velocity of the target device and the obstacle, knowing:
substituting into T1, T2 and ultrasonic propagation velocity vuSolving to obtain:
if the positions of the radars P1 and P2 are known, the position of the obstacle P3 can be determined according to the distance of the obstacle P3 relative to the radars P1 and P2. When two positions exist simultaneously, the distances between the two positions and the radars P1 and P2 are D1 and D2 respectively, the position of the obstacle can be determined according to the distribution of the radars relative to the target device and the detection direction of the radars.
Taking two obstacle measuring and calculating methods, namely measuring and calculating the distance between an obstacle and a target device by adopting a direct measuring method according to echoes received by a target radar and a specified non-target radar and measuring and calculating the distance between the obstacle by adopting a triangulation method, as an example, the description provides ten to twelve embodiments, and exemplarily illustrates how to adopt different measuring and calculating methods to determine the position of the target obstacle without considering the relative speed of the target device and the target obstacle.
Firstly, the position of the obstacle cannot be directly determined according to the radar, the distance of the obstacle to each radar is determined, the distance of the obstacle to the target equipment can be determined according to the known distribution of each radar on the target equipment, and then the position of the obstacle around the target equipment is measured according to the determined position of the target equipment.
Example ten: when the echo intensity of the echo reflected by the target obstacle received by the target radar is greater than the preset first echo threshold value, the distance between the target obstacle and the target device can be determined by adopting a direct measurement method according to the time difference between the signal transmitted by the target radar and the received echo. In addition, since the detection range of the radar is known, when the acquired environment information includes pose information of the obstacle, if the position of the target obstacle is within the detection range of the target radar, the position of the target obstacle can be measured and calculated by adopting a direct measurement method. Of course, it is also possible to determine whether to select the direct measurement method as the method for measuring and calculating the position of the target obstacle according to the echo strength of the echo received by the target radar and whether the target obstacle is within the detection range of the target radar.
Example eleven: when the direct measurement method is not selected as the method for measuring and calculating the target obstacle, it is also possible to select a specific non-target radar from the non-target radars and measure and calculate the position of the target obstacle based on the echo received by the specific non-target radar by the triangulation method described above.
If the acquired environment information includes pose information of the obstacle, the designated non-target radar can be selected according to the echo intensity received by each non-target radar and whether the detection range of each non-target radar includes the position of the target obstacle. Specifically, when the position of the target obstacle is located in the detection range of both the target radar and at least one non-target radar, and the echo strength of the echo received by the non-target radar is greater than a preset second echo threshold value, the non-target radar is used as a designated non-target radar, and the position of the target obstacle is measured and calculated by the triangulation method according to the echo received by the designated non-target radar. In practical applications, the second echo threshold is usually smaller than the first echo threshold.
Example twelve: it is also possible to select a non-target radar having the strongest echo intensity of the received echoes as a specified non-target radar by comparing the echo intensities of the echoes received by the respective non-target radars, and measure and calculate the position of the target obstacle by the triangulation method as described above based on the echoes received by the specified non-target radar.
Twelve embodiments provided in the present specification include a method for adjusting a control strategy, a method for determining a measurement parameter, and a method for measuring a position of an obstacle, and the present specification further provides a method for verifying a degree of suitability of adjustment of a control strategy by using verification detection.
It is understood by those skilled in the art that the method for adjusting one or more control strategies as disclosed in any of the first to seventh embodiments may be used to adjust the control strategies, and/or the verification detection may be used to verify the appropriateness of the adjustment of the control strategies, and/or the method for determining one or more estimation parameters as disclosed in any of the eighth to ninth embodiments, and/or the method for estimating the position of one or more obstacles as disclosed in any of the tenth to twelfth embodiments may be used to obtain radar detection methods, which are within the scope of the present invention.
The radar detection method provided by the embodiments of the present specification is based on the same idea, and the present specification further provides a corresponding apparatus, a storage medium, and an electronic device.
Fig. 5 is a schematic structural diagram of a radar detection device provided in an embodiment of the present disclosure, where the radar detection device includes:
an environment obtaining module 500, configured to obtain, through a wireless network, environment information around a target device, where the environment information at least includes any one or a combination of the following: road information, and shape information and pose information of the obstacle;
a strategy adjusting module 502, configured to adjust a control strategy of the target radar according to the acquired environment information, where the control strategy at least includes at least one parameter of the target radar;
and the detection module 504 is configured to detect each obstacle around the target device by using the target radar after the control strategy adjustment, and determine the position of each obstacle according to the detection result.
Optionally, before adjusting the control strategy of the target radar, the detection module 504 is further configured to detect each obstacle around the target device by using the target radar before adjusting the control strategy; the policy adjustment module 502 is specifically configured to adjust a control policy of the target radar according to the acquired environmental information and a detection result of the target radar before the control policy is adjusted.
Optionally, the target device carries a target radar and each non-target radar; the detection module 504 is specifically configured to determine an echo of the target obstacle received by a target radar; judging whether the echo intensity of the echo exceeds a preset first echo threshold value or not; when the echo strength exceeds the first echo threshold value, determining the position of the target obstacle according to the echo received by the target radar; and when the echo intensity does not exceed the first echo threshold value, determining the position of the target obstacle according to the echoes received by each non-target radar.
Optionally, the detection module 504 is specifically configured to, when the environment information includes a pose of an obstacle, determine whether a detection range of each radar includes a position where the target obstacle is located; judging whether the echo intensity of the target obstacle echo received by each non-target radar exceeds a preset second echo threshold value or not; when the position of the target obstacle is located in the detection range of the target radar and at least one non-target radar, the non-target radar is used as a designated non-target radar, and if the echo intensity of the target obstacle received by the designated non-target radar exceeds a preset second echo threshold value, the position of the target obstacle is determined according to the echo received by the designated non-target radar; when the positions of the target obstacles are not located in the detection ranges of the target radar and the at least one non-target radar at the same time, or the echo intensities of the echoes received by the non-target radars in the detection ranges including the position of the target obstacle do not exceed a preset second echo threshold value, selecting a designated non-target radar according to the intensity of the echo of the target obstacle received by the non-target radars, and determining the position of the target obstacle according to the echo of the target obstacle received by the designated non-target radar.
Optionally, when the environment information includes the shape and the pose of the obstacle, the detection module 504 is specifically configured to determine, according to the environment information, distances between each portion of the target obstacle and the target radar, and echo areas of each portion to the target radar; and when the echo area of the part nearest to the target radar is smaller than a preset area threshold value, reducing the echo threshold value of the target radar and/or improving the transmitting power of the target radar.
Optionally, when the environment information includes road information, the detection module 504 is specifically configured to shorten an echo receiving time of the target radar when the target road meets a preset concave-convex condition, and/or use an echo that does not exceed a preset third echo threshold as an echo for determining a position of each obstacle.
Optionally, after the control strategy of the target radar is adjusted, before the target radar adjusted by the control strategy is used to detect each obstacle around the target device, the detection module 504 is further configured to verify and detect each obstacle around the target device by using the target radar adjusted by the control strategy, and use a detection result of the verification and detection as a first detection result; and continuously adjusting the control strategy of the target radar according to the first detection result.
Optionally, a detection result obtained by detecting each obstacle around the target device by using the target radar adjusted by the control strategy is used as a second detection result; the detection module 504 is further configured to determine a position of the target obstacle according to the first detection result and the second detection result.
The present specification also provides a computer-readable storage medium having stored thereon a computer program operable to execute the radar detection method provided in fig. 1 above.
This specification also provides a schematic block diagram of the electronic device shown in fig. 6. As shown in fig. 6, at the hardware level, the electronic device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory, but may also include hardware required for other services. The processor reads a corresponding computer program from the non-volatile memory into the memory and then runs the computer program to implement the radar detection method shown in fig. 1. Of course, besides the software implementation, the present specification does not exclude other implementations, such as logic devices or a combination of software and hardware, and the like, that is, the execution subject of the following processing flow is not limited to each logic unit, and may be hardware or logic devices.
In the 90 s of the 20 th century, improvements in a technology could clearly distinguish between improvements in hardware (e.g., improvements in circuit structures such as diodes, transistors, switches, etc.) and improvements in software (improvements in process flow). However, as technology advances, many of today's process flow improvements have been seen as direct improvements in hardware circuit architecture. Designers almost always obtain the corresponding hardware circuit structure by programming an improved method flow into the hardware circuit. Thus, it cannot be said that an improvement in the process flow cannot be realized by hardware physical modules. For example, a Programmable Logic Device (PLD), such as a Field Programmable Gate Array (FPGA), is an integrated circuit whose Logic functions are determined by programming the Device by a user. A digital system is "integrated" on a PLD by the designer's own programming without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Furthermore, nowadays, instead of manually making an Integrated Circuit chip, such Programming is often implemented by "logic compiler" software, which is similar to a software compiler used in program development and writing, but the original code before compiling is also written by a specific Programming Language, which is called Hardware Description Language (HDL), and HDL is not only one but many, such as abel (advanced Boolean Expression Language), ahdl (alternate Hardware Description Language), traffic, pl (core universal Programming Language), HDCal (jhdware Description Language), lang, Lola, HDL, laspam, hardward Description Language (vhr Description Language), vhal (Hardware Description Language), and vhigh-Language, which are currently used in most common. It will also be apparent to those skilled in the art that hardware circuitry that implements the logical method flows can be readily obtained by merely slightly programming the method flows into an integrated circuit using the hardware description languages described above.
The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, an Application Specific Integrated Circuit (ASIC), a programmable logic controller, and an embedded microcontroller, examples of which include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic for the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller as pure computer readable program code, the same functionality can be implemented by logically programming method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Such a controller may thus be considered a hardware component, and the means included therein for performing the various functions may also be considered as a structure within the hardware component. Or even means for performing the functions may be regarded as being both a software module for performing the method and a structure within a hardware component.
The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functions of the various elements may be implemented in the same one or more software and/or hardware implementations of the present description.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the description may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
This description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The above description is only an example of the present specification, and is not intended to limit the present specification. Various modifications and alterations to this description will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present specification should be included in the scope of the claims of the present specification.
Claims (11)
1. A radar detection method, comprising:
acquiring environmental information around a target device through a wireless network, wherein the environmental information at least comprises any one or a combination of the following: road information, and shape information and pose information of the obstacle;
adjusting a control strategy of the target radar according to the acquired environmental information, wherein the control strategy at least comprises at least one parameter of the target radar;
and detecting each obstacle around the target equipment by adopting the target radar after the control strategy adjustment, and determining the position of each obstacle according to the detection result.
2. The method of claim 1, wherein prior to adjusting the control strategy of the target radar, the method further comprises:
detecting each obstacle around the target equipment by adopting a target radar before the control strategy adjustment;
adjusting the control strategy of the target radar according to the acquired environmental information, specifically comprising:
and adjusting the control strategy of the target radar according to the acquired environmental information and the detection result of the target radar before the control strategy is adjusted.
3. The method of claim 1, wherein the target device is on-board a target radar and respective non-target radars;
determining the position of each obstacle according to the detection result, specifically comprising:
determining an echo of the target obstacle received by a target radar;
judging whether the echo intensity of the echo exceeds a preset first echo threshold value or not;
when the echo strength exceeds the first echo threshold value, determining the position of the target obstacle according to the echo received by the target radar;
and when the echo intensity does not exceed the first echo threshold value, determining the position of the target obstacle according to the echoes received by each non-target radar.
4. The method of claim 3, wherein determining the location of the target obstacle based on echoes received by each non-target radar comprises:
when the environment information comprises the pose of the obstacle, judging whether the detection range of each radar comprises the position of the target obstacle; judging whether the echo intensity of the target obstacle echo received by each non-target radar exceeds a preset second echo threshold value or not;
when the position of the target obstacle is located in the detection range of the target radar and at least one non-target radar, the non-target radar is used as a designated non-target radar, and if the echo intensity of the target obstacle received by the designated non-target radar exceeds a preset second echo threshold value, the position of the target obstacle is determined according to the echo received by the designated non-target radar;
when the positions of the target obstacles are not located in the detection ranges of the target radar and the at least one non-target radar at the same time, or the echo intensities of the echoes received by the non-target radars in the detection ranges including the position of the target obstacle do not exceed a preset second echo threshold value, selecting a designated non-target radar according to the intensity of the echo of the target obstacle received by the non-target radars, and determining the position of the target obstacle according to the echo of the target obstacle received by the designated non-target radar.
5. The method of claim 1, wherein when the environmental information includes a shape and pose of an obstacle, adjusting a control strategy of the target radar specifically includes:
determining the distance between each part of the target obstacle and the target radar and the echo area of each part to the target radar according to the environment information;
and when the echo area of the part nearest to the target radar is smaller than a preset area threshold value, reducing the echo threshold value of the target radar and/or improving the transmitting power of the target radar.
6. The method of claim 1, wherein when the environmental information includes road information, adjusting a control strategy of the target radar specifically comprises:
and when the target road meets a preset concave-convex condition, shortening the echo receiving time of the target radar, and/or taking the echo which does not exceed a preset third echo threshold value as the echo for determining the position of each obstacle.
7. The method of claim 1, wherein after adjusting the control strategy of the target radar, before detecting obstacles around the target device using the target radar after adjusting the control strategy, the method further comprises:
verifying and detecting each obstacle around target equipment by adopting the target radar after the control strategy adjustment, and taking a detection result of the verification and detection as a first detection result;
and continuously adjusting the control strategy of the target radar according to the first detection result.
8. The method according to claim 7, characterized in that a detection result obtained by detecting each obstacle around the target device by the target radar adjusted by the control strategy is taken as a second detection result;
determining the position of each obstacle according to the detection result, specifically comprising:
and determining the position of the target obstacle according to the first detection result and the second detection result.
9. A radar detection device, comprising:
an environment obtaining module, configured to obtain, through a wireless network, environment information around a target device, where the environment information at least includes any one or a combination of the following: road information, and shape information and pose information of the obstacle;
the strategy adjusting module is used for adjusting a control strategy of the target radar according to the acquired environment information, wherein the control strategy at least comprises at least one parameter of the target radar;
and the detection module is used for detecting each obstacle around the target equipment by adopting the target radar after the control strategy adjustment, and determining the position of each obstacle according to the detection result.
10. A computer-readable storage medium, characterized in that the storage medium stores a computer program which, when executed by a processor, implements the method of any of the preceding claims 1 to 8.
11. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of any of claims 1 to 8 when executing the program.
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Application publication date: 20210525 |