CN119758301A - Radar control method and device, terminal equipment and storage medium - Google Patents
Radar control method and device, terminal equipment and storage medium Download PDFInfo
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- CN119758301A CN119758301A CN202411817347.5A CN202411817347A CN119758301A CN 119758301 A CN119758301 A CN 119758301A CN 202411817347 A CN202411817347 A CN 202411817347A CN 119758301 A CN119758301 A CN 119758301A
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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Abstract
The application is applicable to the technical field of radars and provides a radar control method, a radar control device, terminal equipment and a storage medium, wherein the method comprises the steps of controlling the radar to execute a first scanning strategy when scanning a first view field area; when a second view field area is scanned, the radar is controlled to execute a second scanning strategy, wherein the probability of the high-reflectivity object in the first view field area is larger than the probability of the high-reflectivity object in the second view field area, the concurrency rate of the second scanning strategy is higher than that of the first scanning strategy, the first scanning strategy with lower concurrency rate is adopted for executing the scanning control on the first view field area with higher probability of the high-reflectivity object, the crosstalk caused by the high-reflectivity object can be effectively reduced, and the second scanning strategy with higher concurrency rate is adopted for executing the scanning control on the second view field area with lower probability of the high-reflectivity object, so that the measuring precision of the radar system can be improved.
Description
The present application is a divisional application, the application number of the original application is 202411232764.3, the application date of the original application is 2024, 9 and 4, and the whole content of the original application is incorporated by reference.
Technical Field
The application belongs to the technical field of radars, and particularly relates to a radar control method, a radar control device, terminal equipment and a storage medium.
Background
The vehicle-mounted laser radar can acquire a three-dimensional image of a physical space, so that the detection of the driving environment is realized. Autopilot requires that the lidar can resolve a long-range small target object with high accuracy, and in order to improve the accuracy of the lidar in identifying the long-range small target object, a lidar having a plurality of parallel transceiving channels is generally used for detection, where such lidar often includes a plurality of laser transmitters and a plurality of laser receivers that are densely arranged.
However, due to the improvement of detection precision in the field of the laser radar at present, the laser transmitters and the laser receivers are promoted to be densely arranged, so that optical crosstalk between adjacent channels is difficult to be avoided in the optical design of the laser radar, and therefore, the laser radar has crosstalk between the adjacent channels optically to a great extent.
Because the vehicle-mounted laser radar mainly corresponds to the driving environment for detection, a scene on a road mainly comprises two types of objects, one type is a lambertian body, and the other type is a high-reflection object. The echo intensity of the high-reflection object is more than 200 times of that of the lambertian body, and the reflection echo generated by the high-reflection object can cause serious crosstalk to the reflection echo generated by the lambertian body (namely, a non-high-reflection object), so that the detection precision of the laser radar is reduced.
Disclosure of Invention
The embodiment of the application provides a radar control method, a device, a terminal device and a storage medium, wherein for a first view field area with high probability of occurrence of a high-reflectivity object, a first scanning strategy with low concurrence is adopted to execute scanning control, so that crosstalk caused by the high-reflectivity object can be effectively reduced, and for a second view field area with low probability of occurrence of the high-reflectivity object, a second scanning strategy with high concurrence is adopted to execute scanning control, and the measurement precision of a radar system can be improved.
In a first aspect, an embodiment of the present application provides a radar control method, where a scan field area of a radar includes a first field area and a second field area, and a probability of a high-reflectivity object existing in the first field area is greater than a probability of a high-reflectivity object existing in the second field area, where the radar control method includes:
Controlling the radar to execute a first scanning strategy when scanning the first field of view area;
And when the second field of view area is scanned, controlling the radar to execute a second scanning strategy, wherein the concurrence rate of the second scanning strategy is higher than that of the first scanning strategy.
In an implementation manner of the first aspect, before the controlling the radar to execute the first scanning strategy while scanning the first field of view area, the method further includes:
dividing the scanning view field area into the first view field area and the second view field area according to the distribution condition of the high-reflectivity objects in the scanning view field area.
In an implementation manner of the first aspect, the dividing the scan field of view area into the first field of view area and the second field of view area according to a distribution situation of the high reflectivity object in the scan field of view area includes:
And dividing the field radar area into a first field area and a second field area according to the installation position of the radar and the installation position of the high-reflectivity object on the road.
In an implementation manner of the first aspect, the dividing the field radar area into a first field of view area and a second field of view area according to the installation position of the radar and the installation position of the high reflectivity object on the road includes:
and determining a 0 degree line according to the installation position of the radar, dividing an area above the 0 degree line into a first view field area, and dividing an area below the 0 degree line into a second view field area.
In an implementation manner of the first aspect, the dividing the scan field of view area into the first field of view area and the second field of view area according to a distribution situation of the high reflectivity object in the scan field of view area includes:
Acquiring scanning data of a previous scanning period or a previous frame scanning;
Under the condition that a high-reflectivity object exists in the scanning view field area according to the scanning data, determining the area where the high-reflectivity object exists in the scanning view field area according to the scanning data;
The region of the high reflectivity object is divided into a first field of view region.
In an implementation manner of the first aspect, the radar includes a scanning device, and the radar control method further includes:
and determining the field area of view of the current scanning area according to the motion parameters of the scanning device of the radar.
In an implementation manner of the first aspect, the radar includes a scanning area array, and the radar control method further includes:
And determining a scanning channel corresponding to the first field area and a scanning channel corresponding to the second field area according to the field division result.
In one implementation of the first aspect, the first scanning strategy has a smaller emissivity power than the second scanning strategy.
In one implementation of the first aspect, the first field of view region is time-shared with the second field of view region,
In a second aspect, an embodiment of the present application provides a radar control device, where a scan field of view area of a radar includes a first field of view area and a second field of view area, and a probability that a high-reflectivity object exists in the first field of view area is greater than a probability that a high-reflectivity object exists in the second field of view area, the radar control device including:
A first control unit for controlling the radar to execute a first scanning strategy when scanning the first field of view region;
And the second control unit is used for controlling the radar to execute a second scanning strategy when scanning the second field of view area, wherein the concurrence rate of the second scanning strategy is higher than that of the first scanning strategy.
In a third aspect, an embodiment of the present application provides a terminal device, where the terminal device includes a processor, a memory, and a computer program stored in the memory and executable on the processor, where the processor implements the method as described in the first aspect or any optional manner of the first aspect when the processor executes the computer program.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium storing a computer program which, when executed by a processor, implements a method as described in the first aspect or any of the alternatives of the first aspect.
In a fifth aspect, an embodiment of the application provides a computer program product for causing a terminal device to carry out the method of the first aspect or any of the alternatives of the first aspect, when the computer program product is run on the terminal device.
Compared with the prior art, the embodiment of the application has the beneficial effects that:
According to the radar control method, the device, the terminal equipment and the computer readable storage medium, a field-of-view area can be divided into the first field-of-view area and the second field-of-view area according to the distribution condition of the high-reflectivity objects in the scanning field-of-view area, the first scanning strategy with relatively low concurrence rate is adopted for executing scanning control on the first field-of-view area with relatively high probability of the high-reflectivity objects, crosstalk caused by the high-reflectivity objects can be effectively reduced, the second scanning strategy with relatively high concurrence rate is adopted for executing scanning control on the second field-of-view area with relatively low probability of the high-reflectivity objects, and the measuring precision of a radar system can be improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a laser radar according to an embodiment of the present application;
fig. 2 is a schematic diagram of an implementation flow of a radar control method according to an embodiment of the present application;
FIG. 3 is a schematic illustration of a division of a scan field of view region;
FIG. 4 is a view of a scan field of view of a radar according to another embodiment;
FIG. 5 is a schematic diagram of an emission array distribution of a scanning area array according to an embodiment of the present application;
FIG. 6 is a schematic diagram of another scan area array emission array distribution according to an embodiment of the present application;
Fig. 7 is a schematic structural diagram of a radar control device according to an embodiment of the present application;
Fig. 8 is a schematic structural diagram of a terminal device according to an embodiment of the present application;
Fig. 9 is a schematic structural diagram of a computer readable storage medium according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It should be understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations. Furthermore, the terms "first," "second," "third," and the like in the description of the present specification and in the appended claims, are used for distinguishing between descriptions and not necessarily for indicating or implying a relative importance.
It should also be appreciated that references to "one embodiment" or "some embodiments" or the like described in this specification mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
A lidar is a radar system that detects information such as a position, a speed, etc. of a target by emitting a laser beam, and can detect the reflectivity of an object for target recognition in addition to the distance of the object. The specific working principle of the laser radar is that a detection signal is emitted to a target, the detection signal is reflected by a target object after reaching the target, so that echo data is formed, the laser radar can determine relevant information of the target, such as target distance, position, height, speed, gesture, shape, reflectivity and the like, by receiving the signal (echo data) reflected by the target, and therefore target detection, target tracking and target identification are realized. Where the reflectivity of an object refers to the percentage of the radiant energy reflected by the object to the total radiant energy of the incident signal. The reflectivity of different objects is different, and the reflectivity of the objects is mainly determined by factors such as the surface properties of the objects, the wavelength of incident signals, the incident angle and the like.
Referring to fig. 1, for example, fig. 1 shows a schematic view of a laser radar. As shown in fig. 1, lidar 10 generally includes a transmit module 11, a scanning system 12, a receive module 13, and a control system 14. The above-described emitting module 11 may include a light source system 111.
The light source system 111 is used for generating a laser beam required for detection by the laser radar 10, and specifically, the light source system 111 may include optical devices such as a laser and a transmitting lens group. The scanning system 12 is configured to angularly deflect the laser beam generated by the light source system 111 so that the laser beam can strike different positions at different times. The scanning system 12 may be a mechanical scanning system (i.e., a rotary drive stage), or a semi-solid scanning system (i.e., a rotating mirror, a vibrating mirror, or a combination of both), and the application is not limited solely to the form of the scanning system.
It can be understood that the laser radar in the application can also be a solid-state laser radar, namely, scanning is realized by controlling light sources with different angles to emit light in sequence. After reaching the target object, the laser beam emitted by the light source system is reflected by the target object, the reflected light pulse is received by a receiving sensor (sensor) 131 in the receiving module 13, and then the echo signal processing circuit processes the echo signal to generate corresponding detection information.
The light source system may use a vertical cavity surface emitting laser (vertical cavitysurface EMITTING LASER, VCSEL), an edge emitting laser (EDGE EMITTING LASER, EEL), or the like, and the sensor may be composed of an array of silicon photomultipliers (Silicon photomultiplier, siPM). SiPM arrays are made up of a large number (typically hundreds to thousands) of avalanche diode (AVALANCHE DIODE, APD) cells, each made up of an avalanche diode in series with a large-value quench resistor, connected in parallel to form a planar array (i.e., the SiPM array described above).
The vehicle-mounted laser radar can acquire a three-dimensional image of a physical space, so that the detection of the driving environment is realized. Autopilot requires that the lidar can resolve a long-range small target object with high accuracy, and in order to improve the accuracy of the lidar in identifying the long-range small target object, a lidar having a plurality of parallel transceiving channels is generally used for detection, where such lidar often includes a plurality of laser transmitters and a plurality of laser receivers that are densely arranged.
However, due to the improvement of detection precision in the field of the laser radar at present, the laser transmitters and the laser receivers are promoted to be densely arranged, so that optical crosstalk between adjacent channels is difficult to be avoided in the optical design of the laser radar, and therefore, the laser radar has crosstalk between the adjacent channels optically to a great extent.
Because the vehicle-mounted laser radar mainly corresponds to the driving environment for detection, a scene on a road mainly comprises two types of objects, one type is a lambertian body, and the other type is a high-reflection object. The lambertian body refers to an object which can uniformly disperse incident laser and realize diffuse reflection, such as trees on roads, and the like. While a highly reflective object refers to an object having a reflection echo in the same direction as the incident laser light and having high directivity, such as a guideboard on a road or the like. The echo intensity of the high-reflection object is more than 200 times of that of the lambertian object, and the reflected echo generated by the high-reflection object can cause serious crosstalk to the reflected echo generated by the lambertian object (namely, a non-high-reflection object), so that the detection precision of the laser radar is reduced.
Based on the above, the embodiment of the application provides a radar control method, which can divide a view field area into a first view field area and a second view field area according to the distribution condition of high-reflectivity objects in a scanning view field area, and for the first view field area with high probability of occurrence of the high-reflectivity objects, a first scanning strategy with low concurrence rate is adopted to perform scanning control, so that crosstalk caused by the high-reflectivity objects can be effectively reduced, and for the second view field area with low probability of occurrence of the high-reflectivity objects, a second scanning strategy with high concurrence rate is adopted to perform scanning control, and the measurement accuracy of a radar system can be improved.
The radar control method provided by the embodiment of the application will be described in detail below:
Referring to fig. 2, fig. 2 shows an implementation flow of a radar control method according to an embodiment of the present application. As shown in FIG. 2, the radar control method may specifically include S11-S13.
It should be noted that, the execution main body of the radar control method provided in the embodiment of the present application may be the above-mentioned lidar 10, and may specifically be a control system in the lidar 10. Of course, the execution main body of the radar control method may also be a terminal device in communication connection with the laser radar 10, where the terminal device may be a terminal such as a mobile phone, a desktop computer, a notebook computer, a tablet computer, or a wearable device, or may be a device such as a cloud server or a radar auxiliary computer in various application scenarios. The following description will be given by taking the execution subject as the laser radar 10 as an example:
in an embodiment of the present application, a scan field area of the radar may be divided into a first field area and a second field area, where a probability that a high-reflectivity object exists in the first field area is greater than a probability that a high-reflectivity object exists in the second field area.
In a specific application, the scan-field-of-view area of the radar may be divided into a first field-of-view area and a second field-of-view area according to the distribution of the high-reflectivity object. Specifically, a region where the probability of occurrence of the high-reflectivity object is high is divided into a first field region, and a region where the probability of occurrence of the high-reflectivity object is low is divided into a second field region.
In practical application, in a road scene, the high-reflectivity object is mainly a guideboard, and in practice, the guideboard is usually arranged on two sides of a road or in the air of about 3 meters, so that the scanning field of view area of the radar can be divided based on the installation position of the high-reflectivity object such as the guideboard.
As an example, as shown in fig. 3, fig. 3 shows a schematic view of division of a scan-field-of-view region, in the example shown in fig. 2, a radar may be mounted on the roof of a vehicle, a line passing through the radar mounting center and parallel to the horizon may be set to 0 ° line according to the mounting position of the radar, a region above 0 ° line may be divided into a first field-of-view region, and a region below 0 ° line may be divided into a second field-of-view region.
It should be noted that, the radar may be installed at other positions of the vehicle, for example, other positions of a front bumper, and the scan-field division may adjust the division of the first field of view region and the second field of view region according to the information such as the radar installation angle, the radar installation position, and the distance between the radar and the ground.
In other implementations, since there are more guideboards on both sides of the road, the corresponding field of view on both sides of the road may be divided into the first field of view. For example, referring to fig. 4, fig. 4 illustrates a division of a scan field area of a radar according to another embodiment of the present application. As shown in fig. 4, the first field of view region includes an aerial field of view region a, a left road field of view region b, and a right road field of view region c, and the second field of view region includes a middle road field of view region d.
In some embodiments, the radar may further determine a location of a high-reflectivity object existing in a radar field of view according to echo data obtained by a previous frame of scanning, that is, determine an area where the high-reflectivity object is located, and then divide a first field of view area and a second field of view area according to the location of the high-reflectivity object determined by echo data obtained by the previous frame of scanning, where the first field of view area is an area where the high-reflectivity object is located, and the second field of view area is an area that does not include the high-reflectivity object.
In some embodiments, for a double-scan radar, that is, a frame of echo data includes echo data obtained by multiple scans, the spatial position of a high-reflectivity object existing in the radar field of view can be determined by the echo data obtained by the previous scan, and the scan field of view area of the radar is divided according to the spatial position of the obtained high-reflectivity object.
In a specific application, determining whether a high-reflectivity object exists in the detection area according to the point cloud data of the previous frame may be to analyze the reflectivity of a target object in the detection area according to the point cloud data, and determine whether a high-reflectivity object exists in the detection area based on the reflectivity.
In some implementations, it may also be determined whether a high reflectivity object is present in the detection region based on an indication of echo amplitude, pulse width, echo area, echo power, echo energy, etc. of the echo data.
In a specific application, after receiving echo data and recovering point cloud data based on the echo data, the laser radar can acquire the echo intensity of each point in the point cloud data, if the echo intensity is greater than a preset intensity threshold value, the point can be determined to belong to a high-reflectivity object, and the spatial position of the high-reflectivity object can be determined by integrating the points belonging to the high-reflectivity object. It should be noted that, the preset intensity threshold may be set according to specific parameters and performance parameters of the device in the actual application process, which is not particularly limited by the present application.
In a specific application, the laser radar can determine the echo area value of the echo point cloud according to the received point cloud data, if the echo area value of a certain point is greater than a preset area threshold value, the point can be determined to be the point corresponding to the high-reflectivity object, and the spatial position of the high-reflectivity object can be determined by integrating all the points belonging to the high-reflectivity object. It should be noted that, the preset area threshold may be set according to a specific parameter and a performance parameter of the device in an actual application process, which is not particularly limited by the present application.
In a specific application, the laser radar can also determine the reflectivity of each point according to the received point cloud data, if the reflectivity of a certain point is greater than a preset reflectivity threshold value, the point can be determined to be the point corresponding to the high-reflectivity object, and the spatial position of the high-reflectivity object can be determined by integrating all the points belonging to the high-reflectivity object. It should be noted that, the preset reflectivity threshold may be set according to specific parameters and performance parameters of the device in the actual application process, environmental parameters in the actual application scene, and the like, which is not particularly limited by the present application.
It should be noted that, the calculation modes of the echo intensity, the echo area value and the reflectivity can be implemented based on the existing calculation modes, which is not described in detail in the present application.
It should be noted that, the division manner of the scan field area of the radar may also be applied in combination, for example, in the first scan period, the first field area and the second field area may be divided based on the division situation of the scan field area of the radar in fig. 3 or fig. 4, after the second scan period, the division situation of the scan field area may be adjusted in real time according to the scan data obtained in the previous scan period, for example, in the first frame scan, the first field area and the second field area may be divided based on the division situation of the scan field area of the radar in fig. 3 or fig. 4, after the second frame scan is started, the division situation of the scan field area may be adjusted in real time according to the echo data of the previous frame, and the area where a high reflectivity object may exist may be divided into the first field area, so that the scan field area of the radar may be adjusted in time according to the distribution of the actually detected high reflectivity object, so as to realize more accurate field area division.
In S11, the radar is controlled to execute a first scanning strategy while scanning the first field of view region.
In a specific application, the first scanning strategy may be a scanning strategy for objects with high reflectivity, and the first scanning strategy may be a low concurrent emission strategy, i.e. reducing concurrent channels, so as to reduce crosstalk.
In some implementations, the first scanning policy may be a burst control policy, that is, controlling different transmission channels to transmit at different times, where the concurrency rate is 0.
In other implementations, the first scanning strategy may also be a low concurrency control strategy, that is, fewer concurrent transmission channels are used each time, so as to reduce crosstalk between channels.
In some implementations, the first scanning strategy not only can reduce the emission concurrency rate, but also can reduce the emission power, and can adjust the jitter time of the emission channels, so as to further reduce the crosstalk between the channels.
In some embodiments, for radar systems with mechanical scanning devices, MEMS solid-state laser, semi-solid state scanning systems, the radar is performing a scan with a field of view that is related to a motion parameter of the scanning device (e.g., a rotation rate, a rotation angle, etc.), so that it may be determined whether the field of view area currently scanned by the radar is the first field of view area according to the motion parameter of the scanning device, e.g., the rotation angle, etc., and if the field of view area currently scanned by the radar is the first field of view area, the radar may be controlled to scan according to the first scanning strategy.
The scanning device can be a galvanometer, a motor and the like.
In some embodiments, for a radar system of an area array scanning device, when scanning is performed, a radar may divide a scanning area array into a scanning channel corresponding to a first field of view region and a scanning channel corresponding to a second field of view according to a scanning field of view, and then when scanning is performed, control the scanning channel corresponding to the first field of view region to perform a first scanning strategy.
For example, as shown in fig. 5, assuming that the scanning area array of the radar includes 12 transmitting channels in total of 3 rows and 4 columns, where 4 transmitting channels p11, p12, p13, and p14 in the first row are the scanning channels corresponding to the first field of view region, when the radar performs the scanning task, the radar controls the 4 transmitting channels to perform the first scanning strategy, that is, transmit the detection signal according to the scanning strategy with low concurrency or low concurrency and low transmitting power.
As another example, as shown in fig. 6, assuming that the scanning area array of the radar includes 12 transmitting channels in total of 3 rows and 4 columns, where 4 transmitting channels p11, p12, p13, p14 in the first row, 1 st transmitting channel p21 in the second row, 4 th transmitting channel p24 in the second row, 1 st transmitting channel p31 in the third row, and 4 th transmitting channel p34 in the third row are scanning channels corresponding to the first field of view region, the radar may control the 8 transmitting channels to execute the first scanning strategy, that is, transmit the probe signal according to the scanning strategy with low concurrence or low concurrence low transmitting power when executing the scanning task.
In S12, the radar is controlled to execute a second scanning strategy while scanning the second field of view region.
In a specific application, the second scanning strategy may be a scanning strategy for dealing with low-reflectivity objects, and in order to more accurately identify the obstacles on the road, the second scanning strategy may be a high concurrent emission strategy, i.e. a concurrent channel is added to improve the detection performance of the radar. Among them, it is understood that a high concurrent transmission strategy refers to a strategy in which there are more channels transmitting simultaneously.
In a specific application, the concurrency rate of the second scanning strategy is greater than the concurrency rate of the first scanning strategy. Wherein concurrency refers to the ratio of the number of channels transmitting simultaneously to the total number of channels.
In some implementations, the second scanning strategy may not only increase the transmission concurrency rate, but also increase the transmission power, so as to further improve the detection performance of the radar.
In some embodiments, for a radar system having a mechanical scanning device and a radar system of a semi-solid scanning system, when the radar performs scanning, a field of view of the scanning is related to a motion parameter (such as a rotation rate, a rotation angle, and the like) of the scanning device, so that whether a field of view area scanned by the current radar is a second field of view area can be determined according to the motion parameter (such as the rotation angle, and the like) of the scanning device, and if the field of view area scanned by the current radar is the second field of view area, the radar can be controlled to scan according to a second scanning strategy.
In some embodiments, for the radar system of the area array scanning device, when scanning is performed, the radar may divide the scanning area array into a scanning channel corresponding to the first field of view region and a scanning channel corresponding to the second field of view region according to the scanning field of view, and then when scanning is performed, control the scanning channel corresponding to the second field of view region to perform the second scanning strategy.
For example, referring to fig. 5 again, as shown in fig. 5, assuming that the scanning area array of the radar includes 12 emission channels in total of 3 rows and 4 columns, where 4 emission channels p21, p22, p23, p24 in the second row and 4 emission channels p31, p32, p33, p34 in the third row are the scanning channels corresponding to the second field of view region, when the radar performs the scanning task, the radar controls the 8 emission channels to perform the second scanning strategy, that is, to emit the detection signals according to the scanning strategy with high concurrence or high concurrence high emission power.
As another example, referring to fig. 6 again, as shown in fig. 6, assuming that the radar scanning area array includes 12 transmission channels in total of3 rows and 4 columns, where the second row 2 nd transmission channel p22, the second row 3 rd transmission channel p23, the third row 2 nd transmission channel p32, and the third row 3 rd transmission channel p33 are the scanning channels corresponding to the second field of view region, when the radar performs the scanning task, the radar controls the 4 transmission channels to perform the second scanning strategy, that is, to transmit the detection signals according to the second scanning strategy with high concurrence or high concurrence high transmission power.
It should be noted that, the division of the field area to which the transmitting channels of the radar scanning area array shown in fig. 5 and fig. 6 belong is only an example and not a limitation, in the practical application process, the detection area corresponding to each transmitting channel in the area array can be determined according to the radar installation after the radar installation is completed, then the detection area corresponding to the transmitting channel is compared with the division result of the scanning field area according to the division result of the scanning field area, and the scanning field area corresponding to each transmitting channel can be determined, that is, whether each transmitting channel is the scanning channel corresponding to the first field area or the scanning channel corresponding to the second field area can be determined.
It can be seen that, according to the radar control method provided by the embodiment of the application, the field-of-view area is divided into the first field-of-view area and the second field-of-view area according to the distribution condition of the high-reflectivity objects in the scanning field-of-view area, the scanning control is performed by adopting the first scanning strategy with lower concurrence rate for the first field-of-view area with higher probability of the high-reflectivity objects, the crosstalk caused by the high-reflectivity objects can be effectively reduced, and the scanning control is performed by adopting the second scanning strategy with higher concurrence rate for the second field-of-view area with lower probability of the high-reflectivity objects, so that the measurement accuracy of the radar system can be improved. Wherein concurrency refers to the ratio of the number of channels transmitting simultaneously to the total number of channels.
In an embodiment of the present application, when the radar performs the scanning task, the scanning task of the first field of view area and the scanning task of the second field of view area may also be performed in a time-sharing manner, that is, the first field of view area and the second field of view area transmit the detection signal in a time-sharing manner.
In an embodiment of the present application, the radar control method may further include dividing the scan field of view area into a first field of view area and a second field of view area according to a distribution of the high reflectivity object in the scan field of view area.
In the embodiment of the present application, the content of the division of the scan field area can be referred to the related discussion of the previous embodiment, which is not repeated herein, and the scan complexity can be effectively simplified and the encoding strategy can be simplified by dividing the scan field area in advance and then formulating the corresponding scanning strategy.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present application.
Based on the radar control method provided in the above embodiment, the embodiment of the present invention further provides an embodiment of a radar control device for implementing the above method embodiment.
Referring to fig. 7, fig. 7 is a schematic structural diagram of a radar control device according to an embodiment of the application. In the embodiment of the present application, each unit included in the radar control device is used to execute each step in the embodiment corresponding to fig. 2. Refer specifically to fig. 2 and the related description in the corresponding embodiment of fig. 2. For convenience of explanation, only the portions related to the present embodiment are shown. As shown in fig. 7, the radar control device 70 may include a first control unit 701 and a second control unit 702. The scan field of view region of the radar comprises a first field of view region and a second field of view region, wherein the probability of the presence of a high reflectivity object in the first field of view region is greater than the probability of the presence of a high reflectivity object in the second field of view region. Wherein:
the first control unit 701 is configured to control the radar to execute a first scanning strategy when scanning the first field of view region;
The second control unit 702 is configured to control the radar to execute a second scanning policy when scanning the second field of view region, where a concurrence rate of the second scanning policy is higher than a concurrence rate of the first scanning policy.
In some implementations, the radar control device further includes a dividing unit, where the dividing unit is configured to divide the scan field of view area into the first field of view area and the second field of view area according to a distribution of high-reflectivity objects in the scan field of view area.
In some implementations, the dividing unit is specifically configured to divide the field radar area into a first field of view area and a second field of view area according to an installation position of the radar and an installation position of a high-reflectivity object on a road.
In some implementations, the dividing unit is specifically configured to determine a 0 ° line according to an installation position of the radar, divide an area above the 0 ° line into a first field of view area, and divide an area below the 0 ° line into a second field of view area.
In some implementations, the dividing unit is specifically configured to obtain scan data of a previous scan period or a previous frame, determine, according to the scan data, an area in which a high-reflectivity object is located in a scan view field area when it is determined that the high-reflectivity object exists in the scan view field area according to the scan data, and divide the area of the high-reflectivity object into a first view field area.
In some implementations, the radar includes a scanning device, and the radar control apparatus further includes a region determining unit configured to determine a field of view region of a current scanning region according to a motion parameter of the scanning device of the radar.
In some implementations, the radar includes a scanning area array, and the radar control device further includes a channel determining unit, where the channel determining unit is configured to determine, according to a field-of-view division result, a scanning channel corresponding to the first field-of-view area and a scanning channel corresponding to the second field-of-view area.
In some implementations, the first scanning strategy has a lower emissivity power than the second scanning strategy.
In some implementations, the first field of view region is time-shared with the second field of view region.
Therefore, the radar control device provided by the embodiment of the application can divide the view field area into the first view field area and the second view field area according to the distribution condition of the high-reflectivity objects in the scanned view field area, and can perform scanning control by adopting a first scanning strategy with lower concurrence rate for the first view field area with higher probability of the high-reflectivity objects, can effectively reduce crosstalk caused by the high-reflectivity objects, and can perform scanning control by adopting a second scanning strategy with higher concurrence rate for the second view field area with lower probability of the high-reflectivity objects, so that the measurement accuracy of the radar system can be improved.
Fig. 8 is a schematic structural diagram of a terminal device according to another embodiment of the present application. As shown in fig. 8, the terminal device 8 provided in this embodiment includes a processor 80, a memory 81, and a computer program 82, such as an image segmentation program, stored in the memory 81 and executable on the processor 80. The steps of the various embodiments of the radar control method described above, such as S11-S12 shown in fig. 2, are implemented by the processor 80 executing the computer program 82. Or the processor 80 may perform the functions of the modules/units in the embodiments of the terminal device, for example, the functions of the units 701 to 702 shown in fig. 7, when executing the computer program 82.
Illustratively, the computer program 82 may be partitioned into one or more modules/units that are stored in the memory 81 and executed by the processor 80 to complete the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing a specific function for describing the execution of the computer program 82 in the terminal device 8. For example, the computer program 82 may be divided into an acquisition unit, a determination unit and a calculation unit, and specific functions of each unit are described in the corresponding embodiment of fig. 7, which is not repeated herein.
The terminal device may include, but is not limited to, a processor 80, a memory 81. It will be appreciated by those skilled in the art that fig. 8 is merely an example of the terminal device 8 and is not limiting of the terminal device 8, and may include more or fewer components than shown, or may combine certain components, or different components, e.g., the terminal device may further include an input-output device, a network access device, a bus, etc.
The Processor 80 may be a central processing unit (Central Processing Unit, CPU), other general purpose Processor, digital signal Processor (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), off-the-shelf Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 81 may be an internal storage unit of the terminal device 8, for example, a hard disk or a memory of the terminal device 8. The memory 81 may be an external storage device of the terminal device 8, such as a plug-in hard disk, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD), or the like, which are provided in the terminal device 8. Further, the memory 81 may include both the internal storage unit and the external storage device of the terminal device 8. The memory 81 is used for storing the computer program and other programs and data required for the terminal device. The above-described memory 81 may also be used to temporarily store data that has been output or is to be output.
The embodiment of the application also provides a computer readable storage medium. Referring to fig. 9, fig. 9 is a schematic structural diagram of a computer readable storage medium according to an embodiment of the present application, as shown in fig. 9, a computer program 82 is stored in the computer readable storage medium 90, and the computer program 82 can implement the radar control method when executed by a processor.
The embodiment of the application provides a computer program product which can realize the radar control method when being executed by terminal equipment when being run on the terminal equipment.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of each functional unit and module is illustrated, and in practical application, the above-mentioned functional allocation may be performed by different functional units and modules according to needs, i.e. the internal structure of the above-mentioned terminal device is divided into different functional units or modules, so as to perform all or part of the above-mentioned functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference may be made to related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The foregoing embodiments are merely for illustrating the technical solution of the present application, but not for limiting the same, and although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that the technical solution described in the foregoing embodiments may be modified or substituted for some of the technical features thereof, and that these modifications or substitutions should not depart from the spirit and scope of the technical solution of the embodiments of the present application.
Claims (10)
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