Radar data acquisition time planning method

Abstract

The invention discloses a radar data acquisition time planning method. The method comprises the following steps: acquiring an algorithm application demand corresponding to a radar data analysis algorithm, and analyzing the algorithm application demand to obtain a data volume corresponding to each frame of data scanned by a radar; determining the transmission time corresponding to each frame of data according to the data volume corresponding to each frame of data scanned by the radar and the storage space capacity of the radar controller; and planning radar data acquisition time according to the transmission time corresponding to each frame of data and the algorithm application demand. According to the technical scheme of the invention, the method and planning of radar data acquisition are optimized by analyzing the requirements of a radar data analysis algorithm on radar data acquisition and the bandwidth limited by the radar controller due to memory and other reasons; the method can overcome the difficulty that the existing radar cannot realize diversified rapid scanning in an application occasion with strict bandwidth requirements, and helps the radar in the cabin to be further integrated, intelligent and miniaturized.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of radar technology, and in particular to a radar data acquisition time planning method. Background Art

[0002] In recent years, the automotive industry has undergone tremendous changes. Electrification and intelligence have become new trends in the industry, and new energy vehicles have developed rapidly. Radar and cameras are called the "eyes" of electric vehicle autonomous driving. Currently, there are four mainstream "eyes", namely millimeter wave radar, laser radar, ultrasonic radar and camera, which have different functions and use different working principles. Among them, radar can not only be used for autonomous driving to perceive the outside, but can also be placed in the cabin for internal perception and other applications.

[0003] For different sensing functions, millimeter-wave radar can not only meet the needs well, but also protect privacy well compared to cameras. However, existing millimeter-wave radars rely on higher-bandwidth connections to transmit scanning data, and have not yet been well solved under low-bandwidth data transmission conditions, which makes it impossible to simplify the application of radar. In addition, the current limitations of changes in the scanning method of radar in the cabin lead to the hidden danger of targets not being recognized in different positions and states. When the accuracy and coverage of radar scanning are insufficient, the accuracy of recognition cannot be guaranteed. These problems have greatly restricted the development of different sensing functions of millimeter-wave radars. Summary of the invention

[0004] The embodiment of the present invention provides a radar data collection time planning method to overcome the difficulty that the existing radar cannot achieve diversified rapid scanning in application scenarios with strict bandwidth requirements.

[0005] According to one aspect of the present invention, a radar data acquisition time planning method is provided, comprising:

[0006] Obtaining algorithm application requirements corresponding to the radar data analysis algorithm, and analyzing the algorithm application requirements to obtain the data volume corresponding to each frame of radar scanning data;

[0007] Determine the transmission time corresponding to each frame of data according to the data volume corresponding to each frame of data scanned by the radar and the storage space capacity of the radar controller;

[0008] Plan the radar data collection time according to the transmission time corresponding to each frame of data and the algorithm application requirements.

[0009] In some embodiments of the present invention, the algorithm application requires carrying a sampling rate;

[0010] Determining the transmission time corresponding to each frame of data according to the amount of data corresponding to each frame of data scanned by the radar and the storage space capacity of the radar controller includes:

[0011] Obtaining a first trigger threshold corresponding to the storage space capacity of the radar;

[0012] determining an average data sampling rate based on the sampling rate;

[0013] determining a first time according to the first trigger threshold and the average data sampling rate;

[0014] Acquire a second trigger threshold corresponding to a storage space capacity of the radar controller and a first rate at which radar data is transmitted from the radar to the radar controller;

[0015] determining a second time according to the second trigger threshold and the first rate;

[0016] Acquire a second rate at which the radar data is transmitted from the radar controller to the end where the radar data analysis algorithm is located;

[0017] Determine a third time according to the amount of data corresponding to each frame of radar scanning data and the second rate;

[0018] Get the error time;

[0019] The transmission time corresponding to each frame of data is determined according to the first time, the second time, the third time and the error time.

[0020] In some embodiments of the present invention, planning the radar data acquisition time according to the transmission time corresponding to each frame of data and the algorithm application requirements includes:

[0021] Feeding back the transmission time corresponding to each frame of data to the radar data analysis algorithm, so that the radar data analysis algorithm generates register configuration information based on the algorithm application requirements and the transmission time corresponding to each frame of data, and sending the register configuration information to the radar controller;

[0022] The radar data collection time is configured based on the register configuration information, so that the radar performs a scanning task based on the radar data collection time.

[0023] In some embodiments of the present invention, after planning the radar data acquisition time according to the transmission time corresponding to each frame of data and the algorithm application requirements, the method further includes:

[0024] The radar sends the radar data obtained by scanning to the radar controller, and the radar controller receives the radar data and inputs the radar data into the radar data analysis algorithm so that the radar data analysis algorithm performs calculations based on the radar data to obtain recognition results.

[0025] In some embodiments of the present invention, the time required for each calculation of the radar data analysis algorithm is:

[0026] The product of the first time, the second time, the third time and the number of frames required for each calculation by the radar data analysis algorithm, the product of the error time and the number of frames required for each calculation by the radar data analysis algorithm, and the sum of the algorithm running time.

[0027] In some embodiments of the present invention, it further includes:

[0028] If the amount of data corresponding to each frame of radar scanning data is greater than a preset threshold, unreasonable configuration information is fed back, and the radar is controlled to scan based on a preset radar scanning mode.

[0029] According to another aspect of the present invention, a radar data acquisition time planning device is provided, the device comprising:

[0030] The acquisition and analysis module is used to acquire the algorithm application requirements corresponding to the radar data analysis algorithm, and analyze the algorithm application requirements to obtain the data volume corresponding to each frame of radar scanning data;

[0031] A determination module, used to determine the transmission time corresponding to each frame of data according to the data volume corresponding to each frame of data scanned by the radar and the storage space capacity of the radar controller;

[0032] The planning module is used to plan the radar data collection time according to the transmission time corresponding to each frame of data and the algorithm application requirements.

[0033] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0034] at least one processor; and

[0035] a memory communicatively connected to the at least one processor; wherein,

[0036] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the radar data acquisition time planning method described in any embodiment of the present invention.

[0037] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the radar data acquisition time planning method described in any embodiment of the present invention when executed.

[0038] According to another aspect of the present invention, an embodiment of the present invention further provides a computer program product, the computer program product includes a computer program, and when the computer program is executed by a processor, the radar data collection time planning method described in any embodiment of the present invention is implemented.

[0039] The embodiment of the present invention obtains the algorithm application requirements corresponding to the radar data analysis algorithm and analyzes the algorithm application requirements to obtain the data volume corresponding to each frame of radar scan data, determines the transmission time corresponding to each frame of data according to the data volume corresponding to each frame of radar scan data and the storage space capacity of the radar controller, and plans the radar data acquisition time according to the transmission time corresponding to each frame of data and the algorithm application requirements. Through the technical solution of the present invention, by analyzing the requirements of the radar data analysis algorithm for radar data acquisition and the bandwidth of the radar controller limited by memory and other reasons, the method and planning of radar data acquisition are optimized, which can overcome the difficulty of existing radars in achieving diversified and rapid scanning in application scenarios with strict bandwidth requirements, and help the in-cabin radar to go one step further in the direction of integration, intelligence and miniaturization.

[0040] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0042] Figure 1 is a flow chart of a radar data acquisition time planning method in an embodiment of the present invention;

[0043] Figure 2 is a schematic structural diagram of a radar data acquisition time planning device in an embodiment of the present invention;

[0044] Figure 3 It is a structural schematic diagram of an electronic device for implementing the radar data acquisition time planning method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0045] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0046] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and their meanings are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0047] It is understandable that before using the technical solutions disclosed in the embodiments of the present disclosure, the types, scope of use, usage scenarios, etc. of the personal information involved in the present disclosure should be informed to the user and the user's authorization should be obtained in an appropriate manner in accordance with relevant laws and regulations.

[0048] Embodiment 1

[0049] Figure 1 is a flow chart of a radar data acquisition time planning method in an embodiment of the present invention. This embodiment is applicable to the case of radar data acquisition time planning. The method can be executed by a radar data acquisition time planning device in an embodiment of the present invention. The device can be implemented in software and / or hardware. Figure 1 As shown, the method specifically comprises the following steps:

[0050] S101. Obtain algorithm application requirements corresponding to the radar data analysis algorithm, and analyze the algorithm application requirements to obtain the data volume corresponding to each frame of radar scanning data.

[0051] The radar data acquisition time planning method of the embodiment of the present invention is executed by a radar controller. In this embodiment, the radar controller may be an MCU (Microcontroller Unit, also known as a single-chip microcomputer). It should be noted that the radar data analysis algorithm may be an algorithm responsible for generating algorithm application requirements and performing calculation and analysis on radar scanning data. This embodiment does not limit which specific algorithm the radar data analysis algorithm is. Among them, the algorithm application requirements may be generated by the radar data analysis algorithm, and the radar scanning parameters required when performing radar data analysis. For example, the radar scanning parameters may include: number of frames, sampling rate, scanning frequency range, number of ADCs (Analog-to-Digital Converters) used, and the like.

[0052] It should be noted that the amount of data corresponding to each frame of data scanned by the radar may be the amount of data per frame scanned by the radar.

[0053] Specifically, according to the algorithm application requirements given by the radar data analysis algorithm, analysis is performed to obtain the data size of one frame of radar scanning, and then a judgment is made as to whether the scanning request is reasonable and whether the transmission integrity can be guaranteed.

[0054] S102, determining the transmission time corresponding to each frame of data according to the data volume corresponding to each frame of data scanned by the radar and the storage space capacity of the radar controller.

[0055] In this embodiment, the storage space capacity may be the capacity of the storage space of the radar controller itself.

[0056] It should be noted that the transmission time corresponding to each frame of data may be the time required for the radar data to be generated and transmitted back to the radar controller.

[0057] Specifically, the radar controller estimates its own storage space and calculates the time required for data to be generated and transmitted back. It can further generate a return schedule based on the transmission time corresponding to each frame of data and provide the radar data return schedule to the radar data analysis algorithm.

[0058] S103 , planning radar data collection time according to the transmission time corresponding to each frame of data and algorithm application requirements.

[0059] In this embodiment, the radar data collection time may be the time interval when the radar scans and collects radar data each time.

[0060] Specifically, the radar data analysis algorithm can decide whether to accept the scheduling process based on the schedule returned by the radar controller. If accepted, the radar controller configures the radar parameters by controlling the value of the register, and the radar scans and transmits data back according to the configured parameters.

[0061] The embodiment of the present invention obtains the algorithm application requirements corresponding to the radar data analysis algorithm and analyzes the algorithm application requirements to obtain the data volume corresponding to each frame of radar scan data, determines the transmission time corresponding to each frame of data according to the data volume corresponding to each frame of radar scan data and the storage space capacity of the radar controller, and plans the radar data acquisition time according to the transmission time corresponding to each frame of data and the algorithm application requirements. Through the technical solution of the present invention, by analyzing the requirements of the radar data analysis algorithm for radar data acquisition and the bandwidth of the radar controller limited by memory and other reasons, the method and planning of radar data acquisition are optimized, which can overcome the difficulty of existing radars in achieving diversified and rapid scanning in application scenarios with strict bandwidth requirements, and help the in-cabin radar to go one step further in the direction of integration, intelligence and miniaturization.

[0062] Optionally, the algorithm application requires to carry the sampling rate.

[0063] The sampling rate may refer to the number of times the radar samples the signal per unit time.

[0064] The transmission time corresponding to each frame of data is determined according to the amount of data corresponding to each frame of radar scanning and the storage space capacity of the radar controller, including:

[0065] Obtain a first trigger threshold corresponding to the storage space capacity of the radar.

[0066] In this embodiment, the first trigger threshold may be a threshold set by the user according to actual needs or experience. When the amount of data in the storage space of the radar reaches this threshold, the radar will be triggered to send radar data to the radar controller. This embodiment does not limit the specific data of the first trigger threshold.

[0067] Determine the average data sampling rate based on the sampling rate.

[0068] It is known that sampling rate usually refers to a fixed sampling frequency, that is, a fixed number of samples per unit time. The average sampling rate is a statistical average of the sampling frequency over a period of time when the sampling rate may vary. For a fixed sampling rate, the average sampling rate is equal to the sampling rate. For a variable sampling rate, the average sampling rate is the weighted average of all sampling rates, and the weight is the length of time corresponding to each sampling rate.

[0069] A first time is determined based on a first trigger threshold and an average data sampling rate.

[0070] In this embodiment, the first time may be represented by t1, and the first time t1 may be determined by:

[0071]

[0072] Specifically, the average data sampling rate is calculated based on the sampling rate carried in the algorithm application requirements, and then the quotient of the first trigger threshold corresponding to the storage space capacity of the radar and the average data sampling rate is calculated to obtain the first time.

[0073] A second trigger threshold corresponding to the storage space capacity of the radar controller and a first rate at which radar data is transmitted from the radar to the radar controller are acquired.

[0074] In this embodiment, the second trigger threshold may be a threshold set by the user according to actual needs or experience. When the amount of data in the storage space of the radar controller reaches this threshold, the radar controller will be triggered to package and send data to the radar data analysis algorithm. This embodiment does not limit the specific data of the second trigger threshold.

[0075] The first rate may be a rate at which radar data is transmitted from the radar to the radar controller.

[0076] A second time is determined based on the second trigger threshold and the first rate.

[0077] In this embodiment, the second time may be represented by t2, and the second time t2 may be determined by:

[0078]

[0079] A second rate at which radar data is transmitted from the radar controller to a terminal where a radar data analysis algorithm is located is obtained.

[0080] In this embodiment, the end where the radar data analysis algorithm is located can be, for example, a computer, that is, the radar data analysis algorithm runs on the computer, wherein the second rate can be the rate at which data is transmitted from the radar controller to the computer where the radar data analysis algorithm is located, or it can be the wireless transmission rate.

[0081] The third time is determined according to the data volume corresponding to each frame of radar scanning data and the second rate.

[0082] In this embodiment, the third time may be represented by t3, and the third time t3 may be determined by:

[0083]

[0084] Among them, the amount of radar data in one frame is the amount of data corresponding to each frame of radar scanning data, and the rate at which data is transmitted to the algorithm end is the rate at which radar data is transmitted from the radar controller to the computer where the radar data analysis algorithm is located, which can also be the wireless transmission rate.

[0085] Get the error time.

[0086] In this embodiment, the error time can be represented by t4, and the error time can include two parts: possible interference delay and error time, and the two parts are collectively referred to as error time in the embodiment of the present invention. Specifically, the error time can be obtained based on actual measurements during historical transmission, or can be preset by the user based on experience, which is not limited in this embodiment.

[0087] The transmission time corresponding to each frame of data is determined according to the first time, the second time, the third time and the error time.

[0088] Specifically, the transmission time t corresponding to each frame of data total The calculation method can be expressed as:

[0089] t total =t1+t2+t3+t4;

[0090] Among them, t total It indicates the transmission time corresponding to each frame of data, t1 indicates the first time, t2 indicates the second time, t3 indicates the third time, and t4 indicates the error time.

[0091] In actual operation, the radar has a small storage space, the radar controller has a large storage space, the radar data generation rate is fast, the radar data is transmitted from the radar to the radar controller at a fast rate, and the radar data is transmitted from the radar controller to the end where the radar data analysis algorithm is located at a slow rate. In some cases, the radar data generation rate may be greater than the rate at which the radar data is transmitted from the radar to the radar controller, so the radar's own storage space may be filled up at some time. Therefore, when the radar's storage space is filled up, the radar will be cleared and then the scan will be restarted. In addition, since the rate at which the radar data is transmitted from the radar to the radar controller is faster than the rate at which the radar data is transmitted from the radar controller to the end where the radar data analysis algorithm is located, the radar controller may be filled up at some time. Therefore, when the radar controller's storage space is filled up, it will wait for the remaining data to be transmitted before allowing the data to be transmitted to the radar controller.

[0092] Optionally, the radar data acquisition time is planned according to the transmission time corresponding to each frame of data and the algorithm application requirements, including:

[0093] The transmission time corresponding to each frame of data is fed back to the radar data analysis algorithm, so that the radar data analysis algorithm generates register configuration information based on the algorithm application requirements and the transmission time corresponding to each frame of data, and sends the register configuration information to the radar controller.

[0094] Specifically, the radar controller feeds back the transmission time corresponding to each frame of data to the radar data analysis algorithm, and the radar data analysis algorithm decides whether to accept the scheduling process. If accepted, it generates register configuration information based on the algorithm application requirements and the transmission time corresponding to each frame of data, and sends the register configuration information to the radar controller.

[0095] The radar data collection time is configured based on the register configuration information so that the radar performs a scanning task based on the radar data collection time.

[0096] Specifically, the radar controller configures the parameters of the radar by controlling the values ​​of the registers and prepares to receive the returned data.

[0097] The technical solution of the embodiment of the present invention can calculate the data size, transmission time and other related parameters of each configuration stage (since the radar can be configured into an infinite scanning mode, each configuration will be evaluated based on the data size of a certain number of frames to determine whether it is reasonable) according to the algorithm application requirements given by the radar data analysis algorithm, and generate the corresponding radar configuration on the algorithm side. The radar data analysis algorithm sends the generated radar configuration to the radar controller, which then configures the radar via wired transmission, thereby realizing the function of changing the radar scanning mode for different scenarios, thereby improving the scanning coverage and adapting to different working environments.

[0098] Optionally, after planning the radar data acquisition time according to the transmission time corresponding to each frame of data and the algorithm application requirements, it also includes:

[0099] The radar sends the radar data obtained by scanning to the radar controller, and the radar controller receives the radar data and inputs the radar data into the radar data analysis algorithm so that the radar data analysis algorithm calculates according to the radar data to obtain the recognition result.

[0100] Exemplarily, the recognition result may be a radar scanning recognition result obtained after a radar data analysis algorithm performs calculations based on radar data. For example, the recognition result may be a vehicle, a pedestrian, or a building.

[0101] Specifically, the radar is set with parameters, starts to perform scanning tasks, and sends data back to the radar controller. The radar controller receives the corresponding data, packages it and sends it to the radar data analysis algorithm. The radar data analysis algorithm calculates based on the radar data to obtain the recognition result.

[0102] Optionally, the time required for each calculation of the radar data analysis algorithm is:

[0103] The product of the first time, the second time, the third time and the number of frames required for each calculation of the radar data analysis algorithm, the product of the error time and the number of frames required for each calculation of the radar data analysis algorithm, and the sum of the algorithm running time.

[0104] In this embodiment, the number of frames required for the radar data analysis algorithm to perform calculations each time may be the minimum amount of radar data required for the radar data analysis algorithm to make a judgment, and this value is determined by the algorithm itself. Among them, the algorithm running time may be the running time for the radar data analysis algorithm to perform calculations each time to obtain the calculation results.

[0105] Specifically, the time t required for each calculation of the radar data analysis algorithm is t ' otal The calculation method is:

[0106] t t ' otal =t1+t2+n·t3+n·t4+t5;

[0107] Among them, t t ' otal is the time required for each calculation of the radar data analysis algorithm, t1 represents the first time, t2 represents the second time, n represents the number of frames required for each calculation of the radar data analysis algorithm, t3 represents the third time, t4 represents the error time, and t5 represents the algorithm running time.

[0108] Optionally, the method further includes:

[0109] If the amount of data corresponding to each frame of radar scanning data is greater than a preset threshold, unreasonable configuration information is fed back and the radar is controlled to scan based on the preset radar scanning mode.

[0110] The preset threshold may be a number of frames preset by the user according to actual needs or experience, and when the number of frames exceeds the threshold, the configuration is considered unreasonable. The preset radar scanning mode may be a mode of radar scanning data preset, which is not limited in this embodiment.

[0111] Specifically, the radar controller calculates the amount of data corresponding to each frame of radar scanning data based on the algorithm application requirements given by the radar data analysis algorithm and estimates its own storage space and transmission rate. When the amount of data corresponding to each frame of radar scanning data exceeds a preset threshold, it will feedback unreasonable configuration information to the radar data analysis algorithm, will not accept this algorithm application requirement, and will scan according to the preset radar scanning mode. The radar data analysis algorithm can choose to reconfigure or accept such a configuration.

[0112] The technical solution of the embodiment of the present invention provides a method for managing and optimizing the time planning of radar data collection in various radar application scenarios. By analyzing the requirements of the radar data analysis algorithm for radar data collection and the bandwidth of the radar controller limited by memory or data transmission rate, the radar data collection method and planning are optimized, including providing a timetable for radar data collection and a timing sequence for data transmission, so that the radar data analysis algorithm can more accurately analyze the results of radar detection. At the same time, due to the changes in the processing power of the radar controller and the dynamic data transmission bandwidth, the best radar data collection method can be flexibly planned. The technical solution of the embodiment of the present invention solves the problem of time scheduling and overcomes the difficulty of existing radars in achieving diversified and rapid scanning in applications with strict bandwidth requirements, helping the in-cabin radar to move further in the direction of integration, intelligence and miniaturization.

[0113] Embodiment 2

[0114] Figure 2 is a schematic diagram of the structure of a radar data acquisition time planning device in an embodiment of the present invention. This embodiment is applicable to the case of radar data acquisition time planning. The device can be implemented in software and / or hardware. The device can be integrated in any device that provides the function of radar data acquisition time planning, such as Figure 2 As shown, the radar data acquisition time planning device specifically includes: an acquisition and analysis module 201, a determination module 202 and a planning module 203.

[0115] The acquisition and analysis module 201 is used to acquire the algorithm application requirements corresponding to the radar data analysis algorithm, and analyze the algorithm application requirements to obtain the data volume corresponding to each frame of radar scanning data;

[0116] A determination module 202, configured to determine a transmission time corresponding to each frame of data according to the amount of data corresponding to each frame of data scanned by the radar and the storage space capacity of the radar controller;

[0117] The planning module 203 is used to plan the radar data collection time according to the transmission time corresponding to each frame of data and the algorithm application requirements.

[0118] Optionally, the algorithm application requires carrying a sampling rate;

[0119] The determination module 202 is specifically used for:

[0120] Obtaining a first trigger threshold corresponding to the storage space capacity of the radar;

[0121] determining an average data sampling rate based on the sampling rate;

[0122] determining a first time according to the first trigger threshold and the average data sampling rate;

[0123] Acquire a second trigger threshold corresponding to a storage space capacity of the radar controller and a first rate at which radar data is transmitted from the radar to the radar controller;

[0124] determining a second time according to the second trigger threshold and the first rate;

[0125] Acquire a second rate at which the radar data is transmitted from the radar controller to the end where the radar data analysis algorithm is located;

[0126] Determine a third time according to the amount of data corresponding to each frame of radar scanning data and the second rate;

[0127] Get the error time;

[0128] The transmission time corresponding to each frame of data is determined according to the first time, the second time, the third time and the error time.

[0129] Optionally, the planning module 203 is specifically used for:

[0130] Feeding back the transmission time corresponding to each frame of data to the radar data analysis algorithm, so that the radar data analysis algorithm generates register configuration information based on the algorithm application requirements and the transmission time corresponding to each frame of data, and sending the register configuration information to the radar controller;

[0131] The radar data collection time is configured based on the register configuration information, so that the radar performs a scanning task based on the radar data collection time.

[0132] Optionally, the device is further specifically used for:

[0133] The radar sends the radar data obtained by scanning to the radar controller, and the radar controller receives the radar data and inputs the radar data into the radar data analysis algorithm so that the radar data analysis algorithm performs calculations based on the radar data to obtain recognition results.

[0134] Optionally, the time required for each calculation of the radar data analysis algorithm is:

[0135] The product of the first time, the second time, the third time and the number of frames required for each calculation by the radar data analysis algorithm, the product of the error time and the number of frames required for each calculation by the radar data analysis algorithm, and the sum of the algorithm running time.

[0136] Optionally, the device is further specifically used for:

[0137] If the amount of data corresponding to each frame of radar scanning data is greater than a preset threshold, unreasonable configuration information is fed back, and the radar is controlled to scan based on a preset radar scanning mode.

[0138] The above-mentioned product can execute the radar data collection time planning method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0139] Embodiment 3

[0140] Figure 3 A schematic diagram of the structure of an electronic device 30 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0141] like Figure 3 As shown, the electronic device 30 includes at least one processor 31, and a memory connected to the at least one processor 31, such as a read-only memory (ROM) 32, a random access memory (RAM) 33, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 31 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 32 or the computer program loaded from the storage unit 38 to the random access memory (RAM) 33. In the RAM 33, various programs and data required for the operation of the electronic device 30 can also be stored. The processor 31, the ROM 32, and the RAM 33 are connected to each other through a bus 34. An input / output (I / O) interface 35 is also connected to the bus 34.

[0142] A number of components in the electronic device 30 are connected to the I / O interface 35, including: an input unit 36, such as a keyboard, a mouse, etc.; an output unit 37, such as various types of displays, speakers, etc.; a storage unit 38, such as a disk, an optical disk, etc.; and a communication unit 39, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 39 allows the electronic device 30 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0143] The processor 31 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 31 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The processor 31 performs the various methods and processes described above, such as the radar data acquisition time planning method:

[0144] Obtaining algorithm application requirements corresponding to the radar data analysis algorithm, and analyzing the algorithm application requirements to obtain the data volume corresponding to each frame of radar scanning data;

[0145] Determine the transmission time corresponding to each frame of data according to the data volume corresponding to each frame of data scanned by the radar and the storage space capacity of the radar controller;

[0146] Plan the radar data collection time according to the transmission time corresponding to each frame of data and the algorithm application requirements.

[0147] In some embodiments, the radar data acquisition time planning method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 38. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 30 via the ROM 32 and / or the communication unit 39. When the computer program is loaded into the RAM 33 and executed by the processor 31, one or more steps of the radar data acquisition time planning method described above can be performed. Alternatively, in other embodiments, the processor 31 can be configured to execute the radar data acquisition time planning method in any other appropriate manner (for example, by means of firmware).

[0148] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0149] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0150] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0151] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0152] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0153] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0154] In one embodiment, the embodiment of the present invention further includes a computer program product, the computer program product includes a computer program, and when the computer program is executed by a processor, the radar data collection time planning method of any embodiment of the present invention is implemented.

[0155] In the process of implementation, the computer program product can be written in one or more programming languages ​​or a combination thereof to perform the computer program code of the present invention, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, using an Internet service provider to connect through the Internet).

[0156] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0157] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A radar data acquisition time planning method, characterized in that: Applied to radar controllers, including: Obtaining algorithm application requirements corresponding to the radar data analysis algorithm, and analyzing the algorithm application requirements to obtain the data volume corresponding to each frame of radar scanning data; Determine the transmission time corresponding to each frame of data according to the data volume corresponding to each frame of data scanned by the radar and the storage space capacity of the radar controller; Plan the radar data collection time according to the transmission time corresponding to each frame of data and the algorithm application requirements.

2. The method according to claim 1, characterized in that The algorithm application requires carrying sampling rate; Determining the transmission time corresponding to each frame of data according to the amount of data corresponding to each frame of data scanned by the radar and the storage space capacity of the radar controller includes: Obtaining a first trigger threshold corresponding to the storage space capacity of the radar; determining an average data sampling rate based on the sampling rate; determining a first time according to the first trigger threshold and the average data sampling rate; Acquire a second trigger threshold corresponding to a storage space capacity of the radar controller and a first rate at which radar data is transmitted from the radar to the radar controller; determining a second time according to the second trigger threshold and the first rate; Acquire a second rate at which the radar data is transmitted from the radar controller to the end where the radar data analysis algorithm is located; Determine a third time according to the amount of data corresponding to each frame of radar scanning data and the second rate; Get the error time; The transmission time corresponding to each frame of data is determined according to the first time, the second time, the third time and the error time.

3. The method according to claim 1, characterized in that Planning the radar data acquisition time according to the transmission time corresponding to each frame of data and the algorithm application requirements includes: Feeding back the transmission time corresponding to each frame of data to the radar data analysis algorithm, so that the radar data analysis algorithm generates register configuration information based on the algorithm application requirements and the transmission time corresponding to each frame of data, and sending the register configuration information to the radar controller; The radar data collection time is configured based on the register configuration information, so that the radar performs a scanning task based on the radar data collection time.

4. The method according to claim 2, characterized in that: After planning the radar data acquisition time according to the transmission time corresponding to each frame of data and the algorithm application requirements, it also includes: The radar sends the radar data obtained by scanning to the radar controller, and the radar controller receives the radar data and inputs the radar data into the radar data analysis algorithm so that the radar data analysis algorithm performs calculations based on the radar data to obtain recognition results.

5. The method according to claim 4, characterized in that The time required for each calculation of the radar data analysis algorithm is: The product of the first time, the second time, the third time and the number of frames required for each calculation by the radar data analysis algorithm, the product of the error time and the number of frames required for each calculation by the radar data analysis algorithm, and the sum of the algorithm running time.

6. The method according to claim 1, characterized in that Also includes: If the amount of data corresponding to each frame of radar scanning data is greater than a preset threshold, unreasonable configuration information is fed back, and the radar is controlled to scan based on a preset radar scanning mode.

7. A radar data acquisition time planning device, characterized in that: include: The acquisition and analysis module is used to acquire the algorithm application requirements corresponding to the radar data analysis algorithm, and analyze the algorithm application requirements to obtain the data volume corresponding to each frame of radar scanning data; A determination module, used to determine the transmission time corresponding to each frame of data according to the data volume corresponding to each frame of data scanned by the radar and the storage space capacity of the radar controller; The planning module is used to plan the radar data collection time according to the transmission time corresponding to each frame of data and the algorithm application requirements.

8. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the radar data collection time planning method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the radar data acquisition time planning method according to any one of claims 1 to 6 when executed.

10. A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the radar data collection time planning method according to any one of claims 1 to 6 is implemented.

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