A method, device, electronic device and storage medium for configuring radar

Abstract

The present disclosure provides a method, device, electronic device and storage medium for configuring radars, wherein the method includes: obtaining a target scanning range for scanning by multiple radars, and dividing the target scanning range into multiple grids; determining the target scanning delay time for multiple radars to scan the same grid according to the scanning time for each radar to scan each grid under each candidate configuration parameter set; based on multiple target scanning delay times, selecting a target configuration parameter set from multiple groups of candidate configuration parameter sets, and performing parameter configuration for multiple radars according to the target configuration parameter set; wherein a group of candidate configuration parameter sets includes candidate configuration parameter sets for each radar when determining a target scanning delay time. The embodiment of the present disclosure selects corresponding configuration parameters for multiple radars according to the scanning delay time, thereby reducing the delay of multiple radars in data collection.

Description

Technical Field

[0001] The present disclosure relates to the field of radar technology, and in particular to a method, device, electronic device and storage medium for configuring a radar. Background Art

[0002] In recent years, lidar has been widely used in autonomous driving, drone exploration, map surveying and other fields due to its precise ranging capability. The point cloud data provided by lidar has generated specific applications in related fields such as target detection, mapping, positioning, and point cloud segmentation.

[0003] Taking autonomous driving as an example, when collecting environmental information, a single laser radar can only scan a limited number of physical points (that is, the corresponding amount of point cloud data is small), and it is impossible to obtain complete surrounding environment information. Therefore, it is usually necessary to set up multiple laser radars on the vehicle to collect point cloud data and fuse the point cloud data of these multiple laser radars. This requires the collection time between multiple laser radars to be synchronized.

[0004] Generally, multiple LiDARs can be controlled to trigger data collection at the same time by setting a synchronous clock. However, due to the operating mechanism of the internal clock of the LiDAR, there are problems with the synchronization of the internal clocks of different LiDARs. There is a large time difference between the raw data actually collected by multiple LiDARs, which results in the fused point cloud data being inaccurate and affecting the vehicle's perception of the surrounding environment. Summary of the invention

[0005] The disclosed embodiments at least provide a solution for configuring radars, which determines relevant scanning time information for grids divided by scanning ranges of multiple radars to select corresponding configuration parameters for the multiple radars, thereby reducing the synchronization delay of data acquisition of multiple radars and ensuring data reliability and accuracy of subsequent applications.

[0006] In a first aspect, an embodiment of the present disclosure provides a method for configuring a radar, the method comprising:

[0007] Acquire a target scanning range scanned by multiple radars, and divide the target scanning range into multiple grids;

[0008] According to the scanning time of each radar scanning each grid under each candidate configuration parameter set, the target scanning delay time when multiple radars scan the same grid is determined;

[0009] Based on multiple target scanning delay durations, a target configuration parameter set is selected from multiple groups of candidate configuration parameter sets, and parameters are configured for the multiple radars according to the target configuration parameter set; wherein a group of candidate configuration parameter sets includes candidate configuration parameter sets for each radar when determining a target scanning delay duration.

[0010] The method for configuring radars provided by the embodiment of the present disclosure can first divide the target scanning ranges of multiple radars into grids, and then determine the target scanning delay time for multiple radars to scan the same grid according to the scanning time of each radar scanning each grid under each candidate configuration parameter set. Here, each target scanning delay time corresponds to a group of candidate configuration parameter sets for multiple radars, and each group of candidate configuration parameter sets includes a candidate configuration parameter set corresponding to multiple radars, that is, each group of candidate configuration parameter sets can be a candidate configuration parameter set selected from multiple candidate configuration parameter sets corresponding to each radar, and then a candidate configuration parameter set selected from each radar is combined. In this way, based on multiple target scanning delay times, a target configuration parameter set that makes the target scanning delay time shortest can be selected from multiple groups of candidate configuration parameter sets, and parameters of multiple radars can be configured synchronously. In this way, the time delay of point cloud data acquisition by multiple radars can be reduced and the synchronization can be improved.

[0011] This is mainly because the target scanning delay duration is determined based on the relevant scanning time of scanning the grid under multiple candidate configuration parameter sets of each radar, which can characterize the scanning time difference of multiple radars scanning the same target. The larger the scanning time difference, the weaker the synchronization of multiple radars, and the smaller the scanning time difference, the stronger the synchronization of multiple radars. Here, a target configuration parameter set that makes the scanning time difference smaller can be selected for each radar. In this way, for the target falling into the grid, it can be ensured that the radar data collected synchronously by multiple radars scan the target at the same time, thereby improving the reliability and accuracy of the point cloud data of subsequent related applications.

[0012] In a possible implementation, determining the target scanning delay time for multiple radars to scan the same grid according to the scanning time for each radar to scan each grid under each candidate configuration parameter set includes:

[0013] For each grid of the plurality of grids, determining a scanning time for each radar to scan the grid under each candidate configuration parameter set;

[0014] The multiple radars are combined in pairs, and a difference in scanning time between two radars in each combination respectively scanning the same grid is determined to obtain a candidate scanning delay time corresponding to the combination;

[0015] Based on the candidate scanning delay durations corresponding to each combination, the target scanning delay durations of multiple radars scanning the same grid are determined.

[0016] In a possible implementation, determining the target scanning delay time when multiple radars scan the same grid based on the candidate scanning delay time corresponding to each combination includes:

[0017] A candidate scanning delay duration with the longest duration is selected from the candidate scanning delay durations corresponding to each combination as the target scanning delay duration.

[0018] In order to meet the synchronization requirements of multiple radars, here, for a grid, the longest candidate scanning delay time of multiple radars scanning this grid can be selected as the target scanning delay time. In this way, the maximum scanning time difference of all radars scanning the same target can be met, and then the corresponding configuration parameters can be determined, thereby realizing the parameter configuration of multiple radars.

[0019] In a possible implementation manner, selecting a target configuration parameter set from multiple groups of candidate configuration parameter sets based on multiple target scanning delay durations includes:

[0020] Based on a target scanning delay time of a same grid scanned by multiple radars, determine the sum of the target scanning delay times corresponding to the multiple grids under a set of candidate configuration parameter sets corresponding to the target scanning delay time;

[0021] A set of candidate configuration parameter sets with the smallest sum of target scan delay durations is selected as the target configuration parameter set.

[0022] In the disclosed embodiment, the sum of the target scanning delay times can represent the delay time obtained after scanning all grids. The longer the delay time, the worse the time synchronization brought by the corresponding set of candidate configuration parameter sets. Conversely, the shorter the delay time, the better the time synchronization brought by the corresponding set of candidate configuration parameter sets. Here, a set of candidate configuration parameter sets with the smallest sum of target scanning delay times can be used to configure parameters for multiple radars.

[0023] In a possible implementation manner, the configuration parameters in the candidate configuration parameter set include: a horizontal resolution angle and a scanning time interval corresponding to the horizontal resolution angle, and an initial phase angle value relative to the scanning positive direction and an initial scanning time corresponding to the initial phase angle value;

[0024] For any of the grids, the scanning time for the radar to scan the grid under the candidate configuration parameter set is determined according to the following steps:

[0025] Based on the position information of the radar in the target scanning range and the position range of the grid in the target scanning range, determining the angle range within which the grid falls relative to the positive scanning direction;

[0026] Determine whether the current scanning angle of the radar falls within the angle range of the grid based on the horizontal resolution angle of the radar and the scanning time interval corresponding to the horizontal resolution angle, and the initial phase angle value relative to the positive scanning direction and the initial scanning time corresponding to the initial phase angle value;

[0027] If so, the current scanning moment corresponding to the current scanning angle is determined as the scanning time when the radar scans the grid under the candidate configuration parameter set.

[0028] In a possible implementation manner, a set of candidate configuration parameter sets for the multiple radars is determined according to the following steps:

[0029] Acquire multiple original configuration parameter sets of each radar; each of the original configuration parameter sets includes multiple original configuration parameters and parameter values ​​corresponding to each original configuration parameter;

[0030] Selecting a standard configuration parameter from the plurality of original configuration parameters based on a preset configuration condition, and sorting the plurality of original configuration parameter sets of each radar in order of parameter values ​​of the standard configuration parameter from small to large;

[0031] According to the adjustment step of the parameter value of the standard configuration parameter, multiple candidate configuration parameter sets of the radar are selected from the sorted multiple original configuration parameter sets of each radar.

[0032] Here, in order to determine a set of candidate configuration parameter sets for multiple radars, the multiple original configuration parameter sets for each radar can be screened by adjusting the parameter values ​​of the selected standard configuration parameters, and then the screened multiple candidate configuration parameter sets for each radar can be determined. In this way, the number of groups of candidate configuration parameter sets for the multiple radars determined will also be reduced, thereby greatly reducing the subsequent calculation amount on the basis of ensuring the comprehensiveness of the radar configuration parameter set selection.

[0033] In a possible implementation, the selecting, according to the adjustment step of the parameter value of the standard configuration parameter, multiple candidate configuration parameter sets of the radar from the sorted multiple original configuration parameter sets of each radar includes:

[0034] According to the first adjustment step of the parameter value of the standard configuration parameter, select some original configuration parameter sets from the sorted multiple original configuration parameter sets of each radar, and determine a set of reference configuration parameter sets with the smallest sum of corresponding target scanning delay durations based on the selected some original configuration parameter sets of each radar;

[0035] Based on an original configuration parameter set corresponding to each radar in the determined set of reference configuration parameter sets, and a second adjustment step of the parameter value of the standard configuration parameter, multiple candidate configuration parameter sets for the radar are selected from the sorted multiple original configuration parameter sets of each radar; wherein the second adjustment step is smaller than the first adjustment step.

[0036] Here, based on the joint setting of the first adjustment step size and the second adjustment step size, the selection of configuration parameter sets under coarse granularity and fine granularity is realized, while reducing the subsequent calculation amount, further ensuring the accuracy of the subsequent target scanning delay duration calculation.

[0037] In a possible implementation manner, the multiple radars are all arranged on a driving device, and after configuring parameters for the multiple radars according to the target configuration parameter set, the method further includes:

[0038] Controlling multiple radars with completed parameter configuration to collect radar point cloud data of a first target scene;

[0039] Performing target detection based on the collected radar point cloud data to determine target object information in the first target scene;

[0040] Based on the target object information, the travel device is controlled.

[0041] Here, the data processing method provided by the embodiment of the present disclosure can be applied to target object detection, and the control of driving devices such as autonomous driving vehicles can be achieved through the target detection results.

[0042] In a possible implementation manner, the multiple radars are respectively arranged at relative positions of a target traffic intersection in a second target scene according to set angles, and after configuring parameters for the multiple radars according to the target configuration parameter set, the method further includes:

[0043] Controlling the plurality of radars whose parameters have been configured to collect radar point cloud data of the second target scene;

[0044] Based on the collected radar point cloud data, traffic status detection is performed on the target traffic intersection to obtain a traffic detection result.

[0045] Here, the data processing method provided by the embodiment of the present disclosure can be applied to traffic status detection. Traffic detection at traffic intersections can be achieved through radar point cloud data collected synchronously by multiple radars set at target traffic intersections, especially traffic intersections with a wider range.

[0046] In a second aspect, an embodiment of the present disclosure further provides a device for configuring a radar, the device comprising:

[0047] An acquisition module, used for acquiring a target scanning range scanned by multiple radars, and dividing the target scanning range into multiple grids;

[0048] A determination module, used to determine the target scanning delay time of multiple radars scanning the same grid according to the scanning time of each radar scanning each grid under each candidate configuration parameter set;

[0049] A configuration module is used to select a target configuration parameter set from multiple groups of candidate configuration parameter sets based on multiple target scanning delay time lengths, and perform parameter configuration for the multiple radars according to the target configuration parameter set; wherein a group of candidate configuration parameter sets includes candidate configuration parameter sets for each radar when determining a target scanning delay time length.

[0050] In a third aspect, an embodiment of the present disclosure further provides an electronic device, comprising: a processor, a memory, and a bus, wherein the memory stores machine-readable instructions executable by the processor, and the processor is used to execute the machine-readable instructions stored in the memory. When the electronic device is running, the processor communicates with the memory through the bus, and when the machine-readable instructions are executed by the processor, the steps of the method for configuring a radar as described in the first aspect and any of its various embodiments are performed.

[0051] In a fourth aspect, an embodiment of the present disclosure further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by an electronic device, the electronic device performs the steps of the method for configuring a radar as described in the first aspect and any of its various embodiments.

[0052] For a description of the effects of the above-mentioned radar configuration device, electronic device, and computer-readable storage medium, please refer to the description of the above-mentioned radar configuration method, which will not be repeated here.

[0053] In order to make the above-mentioned objectives, features and advantages of the present disclosure more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following is a brief introduction to the drawings required for use in the embodiments. The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present disclosure and are used together with the specification to illustrate the technical solutions of the present disclosure. It should be understood that the following drawings only illustrate certain embodiments of the present disclosure and should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can also be obtained based on these drawings without creative work.

[0055] Figure 1 A flowchart of a method for configuring a radar provided by Embodiment 1 of the present disclosure is shown;

[0056] Figure 2 A schematic diagram of a radar configuration device provided by Embodiment 2 of the present disclosure is shown;

[0057] Figure 3 A schematic diagram of an electronic device provided in Embodiment 3 of the present disclosure is shown. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical scheme and advantages of the embodiments of the present disclosure clearer, the technical scheme in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all of the embodiments. The components of the embodiments of the present disclosure generally described and shown here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present disclosure is not intended to limit the scope of the present disclosure claimed for protection, but merely represents the selected embodiments of the present disclosure. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present disclosure.

[0059] Research has found that in related technologies, a synchronous clock is generally set to ensure that each radar receives a clock trigger signal at the same time point, and then starts data collection. However, due to the operating mechanism of the radar's internal clock, it is easy to cause a large collection time difference between the original data collected by each radar, resulting in the fused point cloud data being inaccurate, affecting the vehicle's perception of the surrounding environment.

[0060] Based on the above research, the present disclosure at least provides a solution for configuring radars, which determines relevant scanning time information for grids divided by scanning ranges of multiple radars to select corresponding configuration parameters for multiple radars, thereby reducing the synchronization delay of data acquisition of multiple radars and ensuring data reliability and accuracy of subsequent applications.

[0061] The defects existing in the above solutions are the results obtained by the inventor after practice and careful research. Therefore, the discovery process of the above problems and the solutions proposed by the present disclosure for the above problems below should be the contributions made by the inventor to the present disclosure during the disclosure process.

[0062] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0063] To facilitate understanding of this embodiment, a method for configuring a radar disclosed in an embodiment of the present disclosure is first introduced in detail. The execution subject of the method for configuring a radar provided in an embodiment of the present disclosure is generally an electronic device with a certain computing capability, and the electronic device includes, for example: a terminal device or a server or other processing device, and the terminal device may be a user equipment (UE), a mobile device, a user terminal, a terminal, a cellular phone, a cordless phone, a personal digital assistant (PDA), a handheld device, a computing device, a vehicle-mounted device, a wearable device, etc. In some possible implementations, the method for configuring a radar may be implemented by a processor calling a computer-readable instruction stored in a memory.

[0064] The following describes the method for configuring a radar provided by an embodiment of the present disclosure by taking a terminal device as an example of an execution subject.

[0065] Embodiment 1

[0066] See also Figure 1 As shown, it is a flowchart of a method for configuring a radar provided by an embodiment of the present disclosure, and the method includes steps S101 to S103, wherein:

[0067] S101, obtaining a target scanning range for scanning by multiple radars, and dividing the target scanning range into multiple grids;

[0068] S102, determining a target scanning delay time for multiple radars to scan the same grid according to the scanning time of each radar scanning each grid under each candidate configuration parameter set;

[0069] S103. Based on multiple target scanning delay durations, select a target configuration parameter set from multiple groups of candidate configuration parameter sets, and perform parameter configuration for multiple radars according to the target configuration parameter set; wherein a group of candidate configuration parameter sets includes candidate configuration parameter sets for each radar when determining a target scanning delay duration.

[0070] Here, in order to facilitate understanding of the method for configuring radar provided by the embodiment of the present disclosure, the application scenario of the method for configuring radar can be described in detail first. The method for configuring radar provided by the embodiment of the present disclosure can be applied to any scenario requiring multi-radar synchronization, for example, it can be applied to target object detection in autonomous driving, it can also be applied to traffic state detection in vehicle-road collaboration, and it can also be applied to other scenarios, without specific limitation here.

[0071] Among them, the disclosed embodiment can use a rotating scanning radar to achieve multi-radar synchronization. The rotating scanning radar here can obtain point cloud data of relevant targets in the surrounding environment when rotating and scanning in the horizontal direction. In the process of rotating scanning, the radar can adopt a multi-line scanning method, that is, use multiple laser tubes to emit in sequence, and the structure is that multiple laser tubes are arranged longitudinally, that is, in the process of rotating scanning in the horizontal direction, multi-layer scanning in the vertical direction is performed. There is a certain angle between each laser tube, and the vertical emission field of view can be 30°~40°. In this way, when the radar device rotates a scanning angle, a data packet returned by the laser emitted by multiple laser tubes can be obtained, and the data packets obtained at each scanning angle can be spliced ​​to obtain the radar point cloud data.

[0072] Here, the synchronous operation of multiple radars can be to control multiple radars to synchronously collect radar point cloud data, and the radar point cloud data collected synchronously by each radar can be integrated and applied to the above-mentioned application scenarios. When it is necessary to perform synchronous operation of multiple radars, time synchronization is often required to ensure that the delay between radars is small.

[0073] Traditional multi-radar synchronization mainly includes three solutions: the first is hard trigger synchronization, which usually uses a high-precision Global Positioning System (GPS) as the system clock, and uses the GPS pulse signal to phase-lock the pulses of each radar. Multiple radars are synchronized under the trigger of the same pulse signal, and the delay can be down to the millisecond level; the second is software synchronization, which usually determines a unified clock domain for multiple radars; the third is motion compensation. Since the scanning time of a rotary scanning radar is relatively long (such as 100ms), the first and last points of each frame of the point cloud differ by 100ms. When the vehicle (such as a car) moves, the point cloud of the scanned target is deformed. Here, the motion of the vehicle can be compensated by high-precision GPS, and the point cloud can be corrected using the timestamp in the point cloud to restore the original appearance of the scanned target.

[0074] It is known that the above three multi-radar synchronization methods are mainly synchronized by scanning this direction at the same time. As for the first hard trigger synchronization method, it is limited by the operation mechanism of the internal clock of the radar, which easily leads to a large time difference between the original data collected by each radar, resulting in the fused point cloud data being inaccurate. As for the second software synchronization method, each radar has an independent acquisition cycle and cannot guarantee the same information to be collected at the same time. As for the third motion compensation synchronization method, the complexity is relatively high. At the same time, the above three synchronization methods are mainly synchronized by scanning this direction at the same time, but the core of synchronization is to allow the same target to be scanned at the same time. None of the above methods provide the above corresponding inspiration.

[0075] It is precisely to achieve the above-mentioned technical objectives that the embodiments of the present disclosure provide a method for configuring radars. The method determines relevant scanning time information for grids divided by scanning ranges of multiple radars to select corresponding configuration parameters for multiple radars, thereby reducing the synchronization delay of data acquisition of multiple radars and ensuring the data reliability and accuracy of subsequent applications.

[0076] The target scanning range in the embodiment of the present disclosure may be a superposition range obtained by superimposing the scanning ranges of each radar in the multiple radars. Here, still taking the rotary scanning laser radar as an example, after each radar rotates and scans in the horizontal direction, the scanning area falling into the horizontal direction may be a circular area. Here, the scanning areas scanned by the multiple radars are combined to determine the above target scanning range.

[0077] In practical applications, in order to facilitate subsequent analysis, the target scanning range can be defined as a rectangular area, a circular area, etc. Next, a rectangular area is used as an example for illustration.

[0078] It should be noted that, since the rotary scanning laser radar rotates and scans in the horizontal direction, each radar will be covered in the rectangular area determined in the above manner.

[0079] When the target scanning range corresponding to the multiple radars is determined, the target scanning range can be divided into grids according to the grid size. The grid size here can be an actual size, such as dividing the rectangular area corresponding to the target scanning range into grids with a length and width of 0.5 meters.

[0080] In order to achieve scanning synchronization for targets in a scene, the method for configuring radars provided in an embodiment of the present disclosure can determine the target scanning delay time for multiple radars to scan the same grid based on the scanning time for each radar to scan each grid under each candidate configuration parameter set, so as to select a target configuration parameter set according to the determined multiple target scanning delay times and thus achieve parameter configuration.

[0081] Among them, each target scanning delay duration in the embodiment of the present disclosure corresponds to a group of candidate configuration parameter sets of multiple radars, and each group of candidate configuration parameter sets includes a candidate configuration parameter set corresponding to multiple radars, that is, each group of candidate configuration parameter sets of multiple radars can be a candidate configuration parameter set selected from multiple candidate configuration parameter sets corresponding to each radar, and then combined from a candidate configuration parameter set selected from each radar.

[0082] Each radar in the embodiment of the present disclosure may correspond to a plurality of candidate configuration parameter sets, where a candidate configuration parameter set may be a set including a plurality of candidate configuration parameters and corresponding parameter values. The candidate configuration parameters may be parameters such as scanning frequency, horizontal resolution, initial phase angle, etc. Other candidate configuration parameters may be set in specific applications, and no specific limitation is made here.

[0083] In order to facilitate the understanding of the above combination process, the synchronization of three radars can be used as an example for illustration. If the first radar, the second radar and the third radar correspond to two, three and four candidate configuration parameter sets respectively, then through the combination operation of the above parameter sets, 24 (2×3×4) groups of candidate configuration parameter sets corresponding to multiple radars can be obtained.

[0084] In this way, each target scanning delay time can be determined by the time difference of scanning time of any two radars scanning the same grid under a corresponding set of candidate configuration parameters for multiple radars. In order to meet the parameter configuration requirements of all radars, here, for the same grid, the target scanning delay time can be determined based on the selection principle of the largest time difference (corresponding to the longest scanning delay time).

[0085] When it is determined that each group of candidate configuration parameter sets corresponds to the target scanning delay time of the same grid, the target scanning delay information corresponding to all grids can be determined by analyzing the target scanning delay time. Based on this target scanning delay information, a group of target configuration parameter sets can be selected for multiple radars.

[0086] In the disclosed embodiment, corresponding parameter configurations are performed on multiple radars according to a selected set of target configuration parameter sets, and the multiple radars after parameter configuration can be controlled to synchronously collect radar point cloud data of related scenes.

[0087] Here, when a group of target configuration parameter sets corresponding to multiple radars are selected, each radar can correspond to one target configuration parameter set in the group of target configuration parameter sets, and the parameters of the corresponding radar are configured based on the target configuration parameter set, thereby realizing the joint configuration of multiple radars and reducing the synchronization delay of multiple radar data acquisition. In this way, for targets falling into the grid, it can be ensured that multiple radars scan the target at the same time and obtain multiple point cloud data of the target at the same time, thereby ensuring the reliability and accuracy of the point cloud data of subsequent related applications.

[0088] The method for configuring radars provided in the embodiment of the present disclosure can determine the target scanning delay time of multiple radars scanning the same grid based on the scanning time of each radar scanning each grid, which can be specifically implemented by the following steps:

[0089] Step 1: for each grid among the multiple grids, determining the scanning time for each radar to scan the grid under each candidate configuration parameter set;

[0090] Step 2: Combine multiple radars in pairs, determine the difference in scanning time when two radars in each combination scan the same grid, and obtain the candidate scanning delay time corresponding to the combination;

[0091] Step 3: Based on the candidate scanning delay times corresponding to each combination, determine the target scanning delay times when multiple radars scan the same grid.

[0092] The target scanning delay here can represent the scanning time difference of different radars, and can be determined based on the screening results of candidate scanning delays corresponding to two radars in multiple combinations. In order to implement parameter configuration for each radar, the longest candidate scanning delay can be selected as the target scanning delay.

[0093] Among them, the candidate scanning delay time corresponding to the two radars of each combination can be determined based on the subtraction result of the scanning time when the two radars of this combination scan the same grid respectively, that is, the greater the scanning time difference between the scanning times when the two radars scan the same grid, the longer the corresponding candidate scanning delay time.

[0094] In the disclosed embodiment, considering the key role of the scanning time of each radar scanning the same grid in determining the candidate scanning delay duration, the above process of determining the scanning time can be described in detail through the following steps.

[0095] Step 1: Based on the position information of the radar in the target scanning range and the position range of the grid in the target scanning range, determine the angle range within which the grid falls relative to the positive scanning direction;

[0096] Step 2: based on the horizontal resolution angle of the radar and the scanning time interval corresponding to the horizontal resolution angle, as well as the initial phase angle value relative to the positive scanning direction and the initial scanning time corresponding to the initial phase angle value, determine whether the current scanning angle of the radar falls within the angle range of the grid;

[0097] Step 3: If yes, the current scanning moment corresponding to the current scanning angle is determined as the scanning time when the radar scans the grid under the candidate configuration parameter set.

[0098] Here, in order to facilitate the determination of the scanning time of the radar scanning each grid, we can first determine whether the current scanning angle of the radar falls within the angle range corresponding to the grid. If it is determined that it has fallen within the angle range corresponding to a certain grid, we can determine that the radar has scanned this grid. In this way, the scanning time of the radar scanning to this grid can be determined based on the current scanning time corresponding to the current scanning angle.

[0099] The angle range corresponding to the above-mentioned grid can be determined based on the position information of the radar in the target scanning range and the position range of the grid in the target scanning range.

[0100] In a specific application, once the position range of a grid in the target scanning range is determined, the first position point that the radar first scans in this position range and the second position point that the radar last scans in this position range can be determined. In this way, a starting grid angle for this grid can be determined based on the line connecting the radar and the first position point, and an ending grid angle for this grid can be determined based on the line connecting the radar and the second position point. In this way, the grid angle range determined by the starting grid angle and the ending grid angle can be determined as the angle range within which the grid falls relative to the positive scanning direction.

[0101] In addition, in the embodiment of the present disclosure, the current scanning angle of the radar can be determined based on the horizontal resolution angle of the radar and the scanning time interval corresponding to the horizontal resolution angle, as well as the initial phase angle value relative to the positive scanning direction and the initial scanning time corresponding to the initial phase angle value.

[0102] Here, in order to facilitate understanding of the calculation process of the current scanning angle, the following example can be used in conjunction with a rotating scanning laser radar. Under the premise of setting a scan time of 100ms per circle (corresponding to 360°) and transmitting 1800 times per circle, the minimum horizontal resolution angle of the radar can be first calculated to be 360° / 1800=0.5°. Here, starting from time 0, the current scanning angle of all positions in the relevant scene scanned within a cycle of 100ms is calculated (the current scanning angle can be determined based on the offset angle of the positive scanning direction). In the disclosed embodiment, the current scanning angle can be determined according to the following steps:

[0103]

[0104] Among them, θ is used to represent the current scanning angle relative to the positive scanning direction, It is used to characterize the initial phase angle value relative to the positive scanning direction, and t-t0 is used to characterize the scanning time interval.

[0105] When the current scanning angle of the radar is determined according to the above formula, a ray with an angle of θ relative to the positive scanning direction can be determined with the position of the radar in the scene as the starting point. Based on the determination result of the angle range that each grid falls into, it can be determined which grids in the target scanning range this ray has passed through, and the scanning time for scanning these grids can also be determined.

[0106] Here, in order to facilitate the subsequent determination of the candidate scanning delay time corresponding to each combination, multiple scanning time matrices under the candidate configuration parameter set can be determined for each radar, and each scanning time matrix can record the time when each grid is first scanned by the radar under a candidate configuration parameter set. Here, taking time 0 as the starting time as an example, at time t = 10ms, the laser emitted by the radar will pass through some grids, and the elements in the matrix T corresponding to these grids are recorded as 10ms, and so on, the time of each element on the T matrix after a scanning cycle can be calculated.

[0107] It should be noted that in a specific application, if a grid is scanned by multiple transmissions, only the time of scanning once can be retained, which can be the time of the first scan, the time of the last scan, or the average time of multiple scans. If a grid is not scanned, the position is marked as invalid.

[0108] In addition, the scanning time matrix of the radar in the embodiment of the present disclosure reflects the moment when the radar scans different positions in the scene, and this moment is determined by factors such as the position of the radar, the initial phase angle, the scanning frequency, and the horizontal resolution. Generally speaking, the scanning frequency and the horizontal resolution can be determined when the radar leaves the factory. In the process of parameter configuration of the embodiment of the present disclosure, it can mainly be determined how to set the initial phase angle value for different radars.

[0109] On the premise of determining the scanning time matrix corresponding to each radar, the scanning time matrices of the two radars in the combination can be subtracted to obtain the candidate scanning delay time matrix. The candidate scanning delay matrix here can record the scanning time difference of each grid scanned by the two radars in the combination. That is, through matrix operation, the determination of the candidate scanning delay time under multiple grids and multiple combinations can be realized, which is equivalent to using a parallel processing algorithm, which will greatly improve the speed of data processing.

[0110] On the premise of determining the candidate scanning delay time, the target scanning delay time can be determined based on the maximum scanning time difference. Specifically, it can be implemented according to the following formula:

[0111]

[0112] Among them, D(i, j) is used to represent the target scanning delay time, p, q are used to represent the radar number, T p (i, j) is used to represent the scanning time matrix corresponding to radar number p, T q (i, j) is used to represent the scanning time matrix corresponding to radar No. q.

[0113] Based on the above formula, it can be known that the target scanning delay duration in the embodiment of the present disclosure can be determined by the maximum scanning time difference for each grid, so that the parameter configuration of each grid can be taken into account.

[0114] The method for configuring a radar provided by an embodiment of the present disclosure can select a target configuration parameter set based on the multiple target scanning delay time lengths to configure parameters of the multiple radars based on the selected target configuration parameter set, when multiple target scanning delay time lengths are determined. The method can be specifically implemented by the following steps:

[0115] Step 1: based on the scanning delay time of a target in the same grid scanned by multiple radars, determine the sum of the target scanning delay time corresponding to the multiple grids under a corresponding set of candidate configuration parameter sets;

[0116] Step 2: Select a set of candidate configuration parameter sets with the smallest sum of target scanning delay durations as the target configuration parameter set.

[0117] Here, the target scanning delay time of each grid in the multiple grids scanned by multiple radars under a set of candidate configuration parameter sets can be summed to obtain the sum of the target scanning delay time corresponding to the multiple grids under a set of candidate configuration parameter sets. The sum of the target scanning delay time reflects the cumulative delay of the scanning time difference corresponding to each grid in the entire target scanning range. The lower the cumulative delay, to a certain extent, it can be indicated that the currently selected set of candidate configuration parameter sets is more conducive to the synchronous operation of multiple radars. Therefore, the embodiment of the present disclosure can select a set of candidate configuration parameter sets with the smallest sum of target scanning delay time as the target configuration parameter set.

[0118] Considering the key role of determining a set of candidate configuration parameter sets for multiple radars for the above-mentioned target configuration parameter set, a detailed description is given below.

[0119] In the disclosed embodiment, the sum of target scanning delay durations of any number of radars, at any installation position, any initial phase angle, any scanning frequency, and any horizontal resolution can be calculated. Whether these variables can be changed depends on the specific situation. For example, the installation position of the radar may be certain specific positions on the vehicle body in the autonomous driving scenario, and the optional range is not large. The scanning frequency and horizontal resolution generally have 1-2 levels to choose from, and the initial phase angle of the radar can be freely controlled. Here, the disclosed embodiment does not limit the specific scenario.

[0120] Here, assuming that the initial phase angle of each radar can be selected from N1 types in the range of 0-360°, the installation position can be selected from N2 types, the scanning frequency can be selected from N3 types, the horizontal resolution can be selected from N4 types, and there are a total of N5 radars. Then, there are a total of N1×N2×N3×N4×N5 permutations and combinations of configurations, and each permutation and combination of configurations can correspond to the above-mentioned set of candidate configuration parameter sets.

[0121] In addition, the data processing method provided in the embodiment of the present disclosure can also determine a set of candidate configuration parameter sets for multiple radars according to the following steps:

[0122] Step 1: obtaining a plurality of original configuration parameter sets of each radar; each original configuration parameter set includes a plurality of original configuration parameters and a parameter value corresponding to each original configuration parameter;

[0123] Step 2: selecting a standard configuration parameter from a plurality of original configuration parameters based on a preset configuration condition, and sorting the plurality of original configuration parameter sets of each radar in order of parameter values ​​of the standard configuration parameter from small to large;

[0124] Step 3: According to the adjustment step of the parameter value of the standard configuration parameter, multiple candidate configuration parameter sets of the radar are selected from the sorted multiple original configuration parameter sets of each radar.

[0125] Here, first, multiple original configuration parameter sets of each radar can be obtained, and then standard configuration parameters can be selected from the multiple original configuration parameters based on preset configuration conditions. After sorting the multiple original configuration parameter sets of each radar in order from small to large according to the parameter values ​​of the standard configuration parameters, multiple candidate configuration parameter sets of the radar can be selected from the sorted multiple original configuration parameter sets of each radar according to the adjustment step size of the parameter values ​​of the standard configuration parameters.

[0126] That is, the embodiment of the present disclosure may select some original configuration parameter sets from multiple original configuration parameter sets as candidate configuration parameter sets based on the adjustment step of the parameter value of the standard configuration parameter, which may reduce the amount of computation while ensuring that the data is relatively complete.

[0127] The embodiment of the present disclosure may select multiple candidate configuration parameter sets for each radar according to the adjustment step size according to the following steps:

[0128] Step 1: According to the first adjustment step of the parameter value of the standard configuration parameter, select some original configuration parameter sets from the sorted multiple original configuration parameter sets of each radar, and determine a set of reference configuration parameter sets with the smallest sum of corresponding target scanning delay durations based on the selected some original configuration parameter sets of each radar;

[0129] Step 2: Based on an original configuration parameter set corresponding to each radar in a determined set of reference configuration parameter sets and a second adjustment step of the parameter value of the standard configuration parameter, multiple candidate configuration parameter sets for the radar are selected from the sorted multiple original configuration parameter sets of each radar; wherein the second adjustment step is smaller than the first adjustment step.

[0130] Here, the parameter set selection under the coarse-grained condition may be performed based on the first adjustment step size, and then the parameter set selection under the fine-grained condition may be performed based on the second adjustment step size.

[0131] In order to further understand the above parameter set selection process, a specific example is provided below for illustration.

[0132] Here, still taking three radars as an example, if the initial phase angle is used as a standard configuration parameter, and the first adjustment step of the parameter value of the standard configuration parameter is set to 30°, based on this adjustment step, some original configuration parameter sets can be selected from the various original configuration parameter sets of each radar, and the initial phase angle values ​​in the selected original configuration parameter sets can be 0°, 30°, 60°...360°, respectively, thereby achieving coarse-grained parameter set selection. Here, if a similar method for determining the sum of the target scanning delay duration is used as described above, a set of reference configuration parameter sets with the smallest sum of the corresponding target scanning delay durations is determined based on the selected original configuration parameter sets of some radars, and if the initial phase angle values ​​of the three radars corresponding to the determined set of reference configuration parameter sets are 0°, 30°, and 90°, respectively, fine-grained parameter set selection can be performed based on the set second adjustment step.

[0133] If the second adjustment step is set to 5°, then, from the various original configuration parameter sets of each radar after sorting, multiple candidate configuration parameter sets of the radar can be selected based on the initial phase angle values ​​of the three radars being 0°, 30°, and 90° respectively.

[0134] It should be noted that the first adjustment step and the second adjustment step in the embodiment of the present disclosure can be set synchronously for all radars, or different first adjustment step and second adjustment step can be set for different radars. Adjustments can be made here in combination with different application requirements, and no specific restrictions are made here.

[0135] In the specific application of the method for configuring radar provided in the embodiment of the present disclosure, multiple radars can be set on a driving device, and can also be set respectively at relative positions of the target traffic intersection to achieve different applications. In addition, the above-mentioned multiple radars can also be set at relevant positions of other related applications, and no specific restrictions are made here.

[0136] Here, when multiple radars are arranged on the driving device, a target object detection application can be implemented, corresponding to the first target scene. In the embodiment of the present disclosure, after the multiple radars with completed control parameter configuration collect radar point cloud data of the first target scene, target detection can be performed based on the collected radar point cloud data, target object information in the target scene can be determined, and the driving device can be controlled based on the target object information.

[0137] Among them, the information about the target object may include relevant posture information of the target object. In this way, the posture information and the driving information of the driving device itself can be combined to control the driving device to make more reasonable judgments, such as whether emergency braking is needed, whether overtaking is possible, etc.

[0138] It should be noted that the determination of target object information in the embodiments of the present disclosure can be achieved based on a pre-trained target object detection model, which will not be elaborated here.

[0139] Here, when multiple radars are respectively set at relative positions of the target traffic intersection according to set angles, a traffic detection application can be implemented, corresponding to the second target scene. In the disclosed embodiment, especially for a target traffic intersection involving a large road surface, one radar often cannot obtain complete intersection information. Here, the method for configuring radars provided in the disclosed embodiment can be used to synchronously set multiple radars, so as to collect more reliable and accurate radar point cloud data. In this way, accurate detection of traffic conditions can be achieved based on the collected radar point cloud data.

[0140] Those skilled in the art will appreciate that, in the above method of specific implementation, the order in which the steps are written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of the steps should be determined by their functions and possible internal logic.

[0141] Based on the same inventive concept, an apparatus for configuring a radar corresponding to the method for configuring a radar is also provided in an embodiment of the present disclosure. Since the principle of solving the problem by the apparatus in the embodiment of the present disclosure is similar to the method for configuring a radar in the embodiment of the present disclosure, the implementation of the apparatus can refer to the implementation of the method, and the repeated parts will not be repeated.

[0142] Embodiment 2

[0143] Reference Figure 2 As shown, it is a schematic diagram of a radar configuration device provided by an embodiment of the present disclosure, and the device includes: an acquisition module 201, a determination module 202, and a configuration module 203; wherein,

[0144] An acquisition module 201 is used to acquire a target scanning range scanned by multiple radars and divide the target scanning range into multiple grids;

[0145] A determination module 202 is used to determine a target scanning delay time for multiple radars to scan the same grid according to the scanning time of each radar scanning each grid under each candidate configuration parameter set;

[0146] The configuration module 203 is used to select a target configuration parameter set from multiple groups of candidate configuration parameter sets based on multiple target scanning delay time lengths, and perform parameter configuration for multiple radars according to the target configuration parameter set; wherein a group of candidate configuration parameter sets includes candidate configuration parameter sets for each radar when determining a target scanning delay time length.

[0147] In a possible implementation, the determination module 202 is configured to determine the target scanning delay time of multiple radars scanning the same grid according to the scanning time of each radar scanning each grid under each candidate configuration parameter set in accordance with the following steps:

[0148] For each grid in the plurality of grids, determining a scanning time for each radar to scan the grid under each candidate configuration parameter set;

[0149] Combine multiple radars in pairs, determine the difference in scanning time when two radars in each combination scan the same grid, and obtain the candidate scanning delay time corresponding to the combination;

[0150] Based on the candidate scanning delay durations corresponding to each combination, the target scanning delay durations of multiple radars scanning the same grid are determined.

[0151] In a possible implementation, the determination module 202 is configured to determine the target scanning delay time when multiple radars scan the same grid based on the candidate scanning delay time corresponding to each combination according to the following steps:

[0152] The candidate scanning delay duration with the longest duration is selected from the candidate scanning delay durations corresponding to each combination as the target scanning delay duration.

[0153] In a possible implementation manner, the configuration module 203 is configured to select a target configuration parameter set from multiple groups of candidate configuration parameter sets based on multiple target scanning delay durations according to the following steps:

[0154] Based on a target scanning delay time of a same grid scanned by multiple radars, determine the sum of target scanning delay times corresponding to multiple grids under a set of candidate configuration parameter sets corresponding to the target scanning delay time;

[0155] A set of candidate configuration parameter sets with the smallest sum of corresponding target scanning delay durations is selected as the target configuration parameter set.

[0156] In a possible implementation, the configuration parameters in the candidate configuration parameter set include: a horizontal resolution angle and a scanning time interval corresponding to the horizontal resolution angle, and an initial phase angle value relative to the scanning positive direction and an initial scanning time corresponding to the initial phase angle value;

[0157] For any grid, the determination module 202 is used to determine the scanning time of the radar scanning the grid under the candidate configuration parameter set according to the following steps:

[0158] Based on the position information of the radar in the target scanning range and the position range of the grid in the target scanning range, determining the angle range within which the grid falls relative to the positive scanning direction;

[0159] Based on the horizontal resolution angle of the radar and the scanning time interval corresponding to the horizontal resolution angle, as well as the initial phase angle value relative to the positive scanning direction and the initial scanning time corresponding to the initial phase angle value, determining whether the current scanning angle of the radar falls within the angle range within which the grid falls;

[0160] If so, the current scanning moment corresponding to the current scanning angle is determined as the scanning time when the radar scans the grid under the candidate configuration parameter set.

[0161] In a possible implementation, the determination module 202 is configured to determine a set of candidate configuration parameter sets for multiple radars according to the following steps:

[0162] Acquire multiple original configuration parameter sets of each radar; each original configuration parameter set includes multiple original configuration parameters and parameter values ​​corresponding to each original configuration parameter;

[0163] Selecting a standard configuration parameter from a plurality of original configuration parameters based on a preset configuration condition, and sorting the plurality of original configuration parameter sets of each radar in order of parameter values ​​of the standard configuration parameter from small to large;

[0164] According to the adjustment step of the parameter value of the standard configuration parameter, multiple candidate configuration parameter sets of the radar are selected from the sorted multiple original configuration parameter sets of each radar.

[0165] In a possible implementation, the determination module 202 is configured to select multiple candidate configuration parameter sets for the radar from the sorted multiple original configuration parameter sets for each radar according to the adjustment step of the parameter value of the standard configuration parameter in the following steps:

[0166] According to a first adjustment step of the parameter value of the standard configuration parameter, a part of the original configuration parameter sets is selected from the sorted multiple original configuration parameter sets of each radar, and based on the selected part of the original configuration parameter sets of each radar, a set of reference configuration parameter sets with the smallest sum of corresponding target scanning delay durations is determined;

[0167] Based on an original configuration parameter set corresponding to each radar in a determined set of reference configuration parameter sets and a second adjustment step of the parameter value of the standard configuration parameter, multiple candidate configuration parameter sets for the radar are selected from the sorted multiple original configuration parameter sets of each radar; wherein the second adjustment step is smaller than the first adjustment step.

[0168] In a possible implementation, the plurality of radars are arranged on a driving device, and the driving device further comprises:

[0169] The driving control module 204 is used to control the multiple radars with completed parameter configuration to collect radar point cloud data of the first target scene after configuring parameters for the multiple radars according to the target configuration parameter set; perform target detection based on the collected radar point cloud data to determine the target object information in the first target scene; and control the driving device based on the target object information.

[0170] In a possible implementation manner, a plurality of radars are respectively arranged at relative positions of a target traffic intersection in a second target scene according to set angles, and the above-mentioned device further includes:

[0171] The traffic detection module 205 is used to control the multiple radars with completed parameter configuration to collect radar point cloud data of the second target scene after configuring parameters for the multiple radars according to the target configuration parameter set; perform traffic status detection on the target traffic intersection based on the collected radar point cloud data to obtain traffic detection results.

[0172] For descriptions of the processing flow of each module in the device and the interaction flow between each module, reference may be made to the relevant descriptions in the above method embodiment, which will not be described in detail here.

[0173] Embodiment 3

[0174] The present disclosure also provides an electronic device, such as Figure 3 , which is a schematic diagram of the structure of an electronic device provided by an embodiment of the present disclosure, includes: a processor 301, a memory 302, and a bus 303. The memory 302 stores machine-readable instructions executable by the processor 301 (for example, Figure 2 In the radar configuration device, the acquisition module 201, the determination module 202, the configuration module 203 corresponding execution instructions, etc.), when the electronic device is running, the processor 301 and the memory 302 communicate through the bus 303, and the machine-readable instructions are executed by the processor 301 to perform the following processing:

[0175] Obtain target scanning ranges for scanning by multiple radars, and divide the target scanning ranges into multiple grids;

[0176] According to the scanning time of each radar scanning each grid under each candidate configuration parameter set, the target scanning delay time when multiple radars scan the same grid is determined;

[0177] Based on multiple target scanning delay time lengths, a target configuration parameter set is selected from multiple groups of candidate configuration parameter sets, and parameters are configured for multiple radars according to the target configuration parameter set; wherein a group of candidate configuration parameter sets includes candidate configuration parameter sets for each radar when determining a target scanning delay time length.

[0178] The specific execution process of the above instructions can refer to the steps of the method for configuring the radar described in the embodiment of the present disclosure, which will not be repeated here.

[0179] The embodiment of the present disclosure also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method for configuring a radar described in the above method embodiment 1 are executed. The storage medium may be a volatile or non-volatile computer-readable storage medium.

[0180] The computer program product of the method for configuring a radar provided in the first embodiment of the present disclosure includes a computer-readable storage medium storing a program code. The instructions included in the program code can be used to execute the steps of the method for configuring a radar described in the first embodiment of the above method. For details, please refer to the above method embodiment, which will not be repeated here.

[0181] The present disclosure also provides a computer program, which implements any one of the methods of the aforementioned embodiments when executed by a processor. The computer program product can be implemented in hardware, software, or a combination thereof. In an optional embodiment, the computer program product is embodied as a computer storage medium, and in another optional embodiment, the computer program product is embodied as a software product, such as a software development kit (SDK), etc.

[0182] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. In the several embodiments provided in the present disclosure, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of the device or unit can be electrical, mechanical or other forms.

[0183] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0184] In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0185] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present disclosure, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling an electronic device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present disclosure. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0186] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present disclosure, which are used to illustrate the technical solutions of the present disclosure, rather than to limit them. The protection scope of the present disclosure is not limited thereto. Although the present disclosure is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed in the present disclosure, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure, and should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A method for configuring a radar, It is characterized in that The method comprises: Acquire a target scanning range scanned by multiple radars, and divide the target scanning range into multiple grids; According to the scanning time of each radar scanning each grid under each candidate configuration parameter set, the target scanning delay time when multiple radars scan the same grid is determined; Based on a target scanning delay time of a plurality of radars scanning the same grid, determining a sum of target scanning delay times corresponding to the plurality of grids under a corresponding set of candidate configuration parameter sets; Select a set of candidate configuration parameter sets with the smallest sum of target scanning delay durations as the target configuration parameter set; Parameters are configured for the multiple radars according to the target configuration parameter set; wherein a group of candidate configuration parameter sets includes candidate configuration parameter sets for each radar when determining a target scanning delay time.

2. The method according to claim 1, It is characterized in that The configuration parameters in the candidate configuration parameter set include: a horizontal resolution angle and a scanning time interval corresponding to the horizontal resolution angle, and an initial phase angle value relative to the positive scanning direction and an initial scanning time corresponding to the initial phase angle value; For any of the grids, the scanning time for the radar to scan the grid under the candidate configuration parameter set is determined according to the following steps: Based on the position information of the radar in the target scanning range and the position range of the grid in the target scanning range, determining the angle range within which the grid falls relative to the positive scanning direction; Determine whether the current scanning angle of the radar falls within the angle range of the grid based on the horizontal resolution angle of the radar and the scanning time interval corresponding to the horizontal resolution angle, and the initial phase angle value relative to the positive scanning direction and the initial scanning time corresponding to the initial phase angle value; If so, the current scanning moment corresponding to the current scanning angle is determined as the scanning time when the radar scans the grid under the candidate configuration parameter set.

3. The method according to claim 1 or 2, It is characterized in that Determine a set of candidate configuration parameter sets for the plurality of radars according to the following steps: Acquire multiple original configuration parameter sets of each radar; each original configuration parameter set includes multiple original configuration parameters and parameter values ​​corresponding to each original configuration parameter; Selecting a standard configuration parameter from the plurality of original configuration parameters based on a preset configuration condition, and sorting the plurality of original configuration parameter sets of each radar in order of parameter values ​​of the standard configuration parameter from small to large; According to the adjustment step of the parameter value of the standard configuration parameter, multiple candidate configuration parameter sets of the radar are selected from the sorted multiple original configuration parameter sets of each radar.

4. The method according to claim 3, It is characterized in that The step of adjusting the parameter value of the standard configuration parameter, selecting multiple candidate configuration parameter sets of the radar from the sorted multiple original configuration parameter sets of each radar, includes: According to the first adjustment step of the parameter value of the standard configuration parameter, select some original configuration parameter sets from the sorted multiple original configuration parameter sets of each radar, and determine a reference configuration parameter set with the smallest sum of corresponding target scanning delay durations based on the selected some original configuration parameter sets of each radar; Based on an original configuration parameter set corresponding to each radar in the determined reference configuration parameter set and a second adjustment step of the parameter value of the standard configuration parameter, multiple candidate configuration parameter sets for the radar are selected from the sorted multiple original configuration parameter sets of each radar; wherein the second adjustment step is smaller than the first adjustment step.

5. The method according to claim 1, It is characterized in that The multiple radars are all arranged on the driving device. After configuring parameters for the multiple radars according to the target configuration parameter set, the method further includes: Controlling multiple radars with completed parameter configuration to collect radar point cloud data of a first target scene; Performing target detection based on the collected radar point cloud data to determine target object information in the first target scene; Based on the target object information, the travel device is controlled.

6. The method according to claim 1, It is characterized in that The multiple radars are respectively arranged at relative positions of a target traffic intersection in a second target scene according to set angles. After configuring parameters for the multiple radars according to the target configuration parameter set, the method further includes: Controlling the plurality of radars whose parameters have been configured to collect radar point cloud data of the second target scene; Based on the collected radar point cloud data, traffic status detection is performed on the target traffic intersection to obtain a traffic detection result.

7. The method according to any one of claims 2, 5 and 6, It is characterized in that The step of determining the target scanning delay time of multiple radars scanning the same grid according to the scanning time of each radar scanning each grid under each candidate configuration parameter set includes: For each grid in the plurality of grids, determining a scanning time for each radar to scan the grid under each candidate configuration parameter set; The multiple radars are combined in pairs, and the difference in scanning time between two radars in each combination when they respectively scan the same grid is determined to obtain a candidate scanning delay time corresponding to the combination; Based on the candidate scanning delay durations corresponding to each combination, the target scanning delay durations of multiple radars scanning the same grid are determined.

8. The method according to claim 7, It is characterized in that The step of determining the target scanning delay time when multiple radars scan the same grid based on the candidate scanning delay time corresponding to each combination includes: A candidate scanning delay duration with the longest duration is selected from the candidate scanning delay durations corresponding to each combination as the target scanning delay duration.

9. The method according to claim 2, It is characterized in that Determine a set of candidate configuration parameter sets for the plurality of radars according to the following steps: Acquire multiple original configuration parameter sets of each radar; each original configuration parameter set includes multiple original configuration parameters and parameter values ​​corresponding to each original configuration parameter; Selecting a standard configuration parameter from the plurality of original configuration parameters based on a preset configuration condition, and sorting the plurality of original configuration parameter sets of each radar in order of parameter values ​​of the standard configuration parameter from small to large; Selecting multiple candidate configuration parameter sets for each radar from the sorted multiple original configuration parameter sets according to the adjustment step of the parameter value of the standard configuration parameter; The step of adjusting the parameter value of the standard configuration parameter, selecting multiple candidate configuration parameter sets of the radar from the sorted multiple original configuration parameter sets of each radar, includes: According to the first adjustment step of the parameter value of the standard configuration parameter, select some original configuration parameter sets from the sorted multiple original configuration parameter sets of each radar, and determine a reference configuration parameter set with the smallest sum of corresponding target scanning delay durations based on the selected some original configuration parameter sets of each radar; Based on an original configuration parameter set corresponding to each radar in the determined reference configuration parameter set and a second adjustment step of the parameter value of the standard configuration parameter, selecting multiple candidate configuration parameter sets for the radar from the sorted multiple original configuration parameter sets of each radar; wherein the second adjustment step is smaller than the first adjustment step; The step of determining the target scanning delay time of multiple radars scanning the same grid according to the scanning time of each radar scanning each grid under each candidate configuration parameter set includes: For each grid of the plurality of grids, determining a scanning time for each radar to scan the grid under each candidate configuration parameter set; The multiple radars are combined in pairs, and the difference in scanning time between two radars in each combination when they respectively scan the same grid is determined to obtain a candidate scanning delay time corresponding to the combination; Based on the candidate scanning delay durations corresponding to each combination, the target scanning delay durations of multiple radars scanning the same grid are determined.

10. The method according to claim 9, It is characterized in that The step of determining the target scanning delay time when multiple radars scan the same grid based on the candidate scanning delay time corresponding to each combination includes: A candidate scanning delay duration with the longest duration is selected from the candidate scanning delay durations corresponding to each combination as the target scanning delay duration.

11. A device for configuring a radar, It is characterized in that The device comprises: An acquisition module, used for acquiring a target scanning range scanned by multiple radars, and dividing the target scanning range into multiple grids; A determination module, used to determine the target scanning delay time of multiple radars scanning the same grid according to the scanning time of each radar scanning each grid under each candidate configuration parameter set; A configuration module is used to determine, based on a target scanning delay time when multiple radars scan the same grid, the sum of the target scanning delay times corresponding to the multiple grids under a corresponding set of candidate configuration parameter sets; select a set of candidate configuration parameter sets with the smallest sum of the target scanning delay times as a target configuration parameter set; and perform parameter configuration for the multiple radars according to the target configuration parameter set; wherein a set of candidate configuration parameter sets includes candidate configuration parameter sets for each radar when determining a target scanning delay time.

12. An electronic device, It is characterized in that include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and the processor is used to execute the machine-readable instructions stored in the memory. When the electronic device is running, the processor communicates with the memory through the bus, and when the machine-readable instructions are executed by the processor, the steps of the method for configuring a radar as described in any one of claims 1 to 10 are performed.

13. A computer-readable storage medium, It is characterized in that The computer-readable storage medium stores a computer program. When the computer program is executed by an electronic device, the electronic device performs the steps of the method for configuring a radar according to any one of claims 1 to 10.

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