Radar control method, device, terminal equipment and computer readable storage medium

Abstract

The present application is applicable to the field of radar technology, and provides a radar control method, device, terminal equipment and computer-readable storage medium, which are applied to laser radar, wherein the laser radar includes multiple lasers, and the method includes: obtaining a first distance, the first distance represents the actual distance of the target object obtained by the laser radar when performing the t-th detection task at the first horizontal angle; calculating a first field of view angle according to the first distance, the first field of view angle represents the theoretical vertical field of view angle required for the laser radar to perform the t-th detection task at the first horizontal angle; adjusting the number of lasers of the laser radar to perform the t+1-th detection task at the first horizontal angle according to the first field of view. Through the above method, the optical crosstalk problem caused by the simultaneous emission of multiple lasers is at least partially solved, and the number of lasers emitting at the same time can be adaptively adjusted, the power consumption of the laser radar can be effectively reduced, and the life of the laser can be increased.

Description

Technical Field

[0001] The present application belongs to the field of radar technology, and in particular, relates to a radar control method, device, terminal equipment and computer-readable storage medium. Background Art

[0002] LiDAR is a sensor used to sense the parameters of the surrounding environment. It is known as the "eyes" of the machine and has a wide range of applications in surveying, detection, or autonomous driving. According to the number of spatial scanning beams, LiDAR can be divided into single-line LiDAR and multi-line LiDAR. Among them, multi-line LiDAR is widely used in the construction of three-dimensional environmental parameters because of its large number of lines and rich point cloud data.

[0003] The existing multi-line laser radar is realized by increasing the number of lasers. In the prior art, a fixed number of lasers is usually preset. In this way, regardless of the detection environment, the number of lasers emitting at the same time in the laser radar is fixed, and the number of lasers emitting at the same time cannot be adaptively adjusted, resulting in the power consumption of the laser radar always being at a high level. Summary of the invention

[0004] The embodiments of the present application provide a radar control method, apparatus, terminal device, and computer-readable storage medium, which can adaptively adjust the number of lasers that emit light simultaneously, thereby effectively reducing the power consumption of the laser radar.

[0005] In a first aspect, an embodiment of the present application provides a radar control method, which is applied to a laser radar, wherein the laser radar includes a plurality of lasers, and the method includes:

[0006] Obtaining a first distance, where the first distance represents an actual distance of the target object obtained by the laser radar performing the t-th detection task at the first horizontal angle, where t is a positive integer;

[0007] Calculate a first field of view angle according to the first distance, where the first field of view angle represents a theoretical vertical field of view angle required for the laser radar to perform the t-th detection task at the first horizontal angle;

[0008] The number of lasers of the laser radar performing the t+1th detection task at the first horizontal angle is adjusted according to the first field of view angle.

[0009] In the embodiment of the present application, when the distance between the laser radar and the target object changes, the effective vertical field of view of the laser radar will change accordingly, and the effective vertical field of view of the laser radar will affect the number of lasers required; therefore, the above method is equivalent to adjusting the number of lasers required for the detection task in real time according to the change in the distance between the target object and the laser radar. Through the above method, the number of lasers involved in the detection task in the laser radar can change in real time according to the distance of the detection target, avoiding all lasers from being in working state all the time, thereby effectively reducing the power consumption of the laser radar.

[0010] In a possible implementation manner of the first aspect, calculating the first field of view angle according to the first distance includes:

[0011] Acquire a reference height of the target object and an installation height of the laser radar;

[0012] The first field of view angle is calculated according to the reference height of the target object, the first distance and the installation height of the laser radar.

[0013] In a possible implementation manner of the first aspect, adjusting, according to the first field of view, the number of lasers used by the laser radar to perform the t+1th detection task at the first horizontal angle includes:

[0014] Calculating a first quantity according to the first field of view angle, wherein the first quantity represents the number of lasers required for the laser radar to perform the t+1th detection task at the first horizontal angle;

[0015] The number of lasers used by the laser radar to perform the t+1th detection task at the first horizontal angle is adjusted to the first number.

[0016] In a possible implementation manner of the first aspect, calculating the first quantity according to the first field of view angle includes:

[0017] According to the formula Calculate the first quantity, where n 1 represents the first quantity, α represents the first field of view angle, γ 0 Represents the vertical angular resolution of the laser radar performing the tth detection task at the first horizontal angle.

[0018] In a possible implementation manner of the first aspect, the method further includes:

[0019] Calculating a first detection number according to the first distance, wherein the first detection number represents a maximum detection number of the laser radar within a preset period;

[0020] According to the first detection number, the vertical angle resolution of the laser radar performing the t+1th detection task at the first horizontal angle is adjusted.

[0021] In a possible implementation manner of the first aspect, adjusting, according to the first detection number, a vertical angle resolution of the laser radar performing the t+1th detection task at the first horizontal angle, includes:

[0022] Acquire a first height, where the first height represents an actual height of the target object acquired by the laser radar when performing the t-th detection task at the first horizontal angle;

[0023] Calculating a second field of view angle according to the first distance and the first height, wherein the second field of view angle represents an actual vertical field of view angle required for the laser radar to perform the t+1th detection task at the first horizontal angle;

[0024] According to the second field of view angle and the first detection number, the vertical angle resolution of the laser radar performing the t+1th detection task at the first horizontal angle is adjusted.

[0025] In a possible implementation manner of the first aspect, calculating a first detection number according to the first distance includes:

[0026] According to the formula Calculate the first detection times, where N represents the first detection times, c represents the speed of light, and D 0 Represents the first distance, T represents the preset period, and the preset period is determined according to the horizontal angle resolution and rotation speed of the laser radar.

[0027] In a second aspect, an embodiment of the present application provides a radar control device, which is applied to a laser radar, wherein the laser radar includes a plurality of lasers, and the device includes:

[0028] a distance acquisition unit, configured to acquire a first distance, wherein the first distance represents an actual distance of the target object acquired by the laser radar when performing a t-th detection task at a first horizontal angle, where t is a positive integer;

[0029] A first calculation unit is used to calculate a first field of view angle according to the first distance, where the first field of view angle represents a theoretical vertical field of view angle required for the laser radar to perform a t-th detection task at the first horizontal angle;

[0030] A quantity adjustment unit is used to adjust the number of lasers used by the laser radar to perform the t+1th detection task at the first horizontal angle according to the first field of view.

[0031] In a third aspect, an embodiment of the present application provides a terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, it implements a radar control method as described in any one of the first aspects above.

[0032] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium. An embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the radar control method as described in any one of the above-mentioned first aspects is implemented.

[0033] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product is executed on a terminal device, the terminal device executes the radar control method described in any one of the above-mentioned first aspects.

[0034] It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0036] Figure 1 is a schematic diagram of the structure of the laser radar provided in an embodiment of the present application;

[0037] Figure 2 is a flowchart of a radar control method provided in an embodiment of the present application;

[0038] Figure 3 is a schematic diagram of the vertical field of view provided by an embodiment of the present application;

[0039] Figure 4 is a schematic diagram of a vertical field of view provided by another embodiment of the application;

[0040] Figure 5 is a structural block diagram of a radar control device provided in an embodiment of the present application;

[0041] Figure 6 It is a schematic diagram of the structure of the terminal device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0042] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0043] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0044] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0045] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0046] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0047] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the phrases "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. appearing in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways.

[0048] The method provided in the embodiment of the present application is applied to a laser radar, which includes a plurality of laser transmitters. Figure 1 , is a schematic diagram of the structure of the laser radar provided in the embodiment of the present application. Figure 1As shown, the laser radar may include a main control unit 11, a transmitting unit 12 and a receiving unit 13. The transmitting unit is used to transmit laser. The receiving unit is used to receive the echo signal of the laser. The main control unit is used to execute the radar control method provided in the embodiment of the present application, that is, to obtain the actual distance of the target object at a certain horizontal angle, calculate the vertical field of view angle required for the current horizontal angle according to the actual distance, and adjust the number of lasers that perform the detection task at the horizontal angle next time according to the vertical field of view angle. The main control unit can control the opening or closing of each laser in the laser radar to adjust the number of lasers.

[0049] See also Figure 2 , is a flowchart of a radar control method provided in an embodiment of the present application. As an example but not a limitation, the method may include the following steps:

[0050] S201, obtaining a first distance, where the first distance represents an actual distance of a target object obtained by the laser radar performing a t-th detection task at a first horizontal angle, where t is a positive integer.

[0051] In an embodiment of the present application, the first horizontal angle may be determined by the horizontal angle resolution of the laser radar. The angle within the horizontal field of view angle range of the radar may be divided into a plurality of first horizontal angles according to the horizontal angle resolution. For example, if the horizontal field of view angle of the laser radar is 100 degrees and the horizontal angle resolution is 0.2 degrees, then within the range of the horizontal field of view angle of 100 degrees, a first horizontal angle is divided every 0.2 degrees. The angle within the horizontal field of view angle range of the radar may also be divided into a plurality of first horizontal angles according to an integer multiple of the horizontal angle resolution. For example, if the horizontal field of view angle of the laser radar is 100 degrees and the horizontal angle resolution is 0.2 degrees, then within the range of the horizontal field of view angle of 100 degrees, a horizontal angle is divided every 0.4 degrees.

[0052] The horizontal field of view angle is the angle between the two boundary lines of the maximum detection range of the laser radar in the horizontal direction.

[0053] Optionally, one implementation of obtaining the first distance is to obtain point cloud data generated by the laser radar at a first horizontal angle, and calculate the first distance based on the point cloud data. The point cloud data includes three-dimensional coordinate information of each of the multiple points, and the first distance between the target object and the laser radar can be calculated based on the three-dimensional coordinate information.

[0054] S202: Calculate a first field of view angle according to the first distance, where the first field of view angle represents a theoretical vertical field of view angle required for the laser radar to perform a t-th detection task at the first horizontal angle.

[0055] As the distance between the target object and the LiDAR changes, the vertical field of view angle required by the LiDAR to detect the target object also changes accordingly. Figure 3 , is a schematic diagram of the vertical viewing angle provided by the embodiment of the present application. Figure 3 The α shown is the first field of view angle in the embodiment of the present application, which refers to the field of view angle corresponding to the laser radar being able to completely detect the target object in the vertical direction.

[0056] In one embodiment, one way to calculate the first field of view angle is:

[0057] Obtain a reference height of the target object and an installation height of the laser radar; and calculate the first field of view angle according to the reference height of the target object, the first distance, and the installation height of the laser radar.

[0058] Optionally, a reference height can be pre-set, and each target object shares the reference height. For example, in the road radar application scenario, the laser radar point detection target is a vehicle. Vehicle types include sedans, SUVs, buses, trucks, and vans. Among them, usually, the height of the bus is the highest among several types of vehicles. Currently, the height of the bus does not exceed 4m, so the reference height is set to 4m, and sedans, SUVs, trucks, and vans all use 4m as the reference height.

[0059] Optionally, you can also set a dedicated reference height for each type of target object, and the reference heights of different types of target objects are different. Continuing with the above example, you can set reference heights for cars, SUVs, buses, trucks, and vans. Assume that the reference height of cars is 1.8m, the reference height of SUVs is 2m, the reference height of buses is 4m, the reference height of trucks is 3m, and the reference height of vans is 2.5m. When the laser radar detects a target object, it identifies the type of the target object based on the acquired point cloud data or the captured image of the target object obtained by the on-board camera, and then determines its reference height based on the type of the target object. For example, if the target object is identified as a car, its reference height is 1.8m.

[0060] The installation height of the LiDAR is a known data. Taking vehicle-mounted radar as an example, a common installation method is to install the LiDAR on the roof of a road vehicle, and the installation height of the LiDAR is 2m.

[0061] Specifically, the formula Calculate a first field of view angle, where α is the first field of view angle, D is the first distance, and L is the reference height.

[0062] S203: Adjust the number of lasers of the laser radar for performing the t+1th detection task at the first horizontal angle according to the first field of view angle.

[0063] The following example illustrates the relationship between the first distance between the target object and the laser radar and the first field of view angle required for the laser radar to detect the target object in the vertical direction. Assume that the reference height L=4m and the vertical angle resolution is 0.2 degrees.

[0064] When the first distance is 50m, the first field of view is: 24 laser transmissions and receptions are required (4.58 / 0.2=22.9, rounded to 23, i.e. 23 intervals, corresponding to 24 times).

[0065] When the first distance is 100m, the first field of view is: 13 laser transmissions and receptions are required (2.29 / 0.2=11.45, rounded to 12, i.e. 12 intervals, corresponding to 13 times).

[0066] When the first distance is 200m, the first field of view is: Seven laser transmissions and receptions are required (1.15 / 0.2=5.75, rounded to 6, i.e., 6 intervals, corresponding to 7 times).

[0067] It can be seen from the above that the farther the distance between the target object and the laser radar, the smaller the field of view angle required for the laser radar to detect the target object in the vertical direction, and the fewer times the laser is transmitted and received.

[0068] Accordingly, optionally, one implementation of S203 is: when the first field of view angle is less than the third field of view angle, reduce the number of lasers of the laser radar performing the t+1th detection task at the first horizontal angle; when the first field of view angle is greater than the third field of view angle, increase the number of lasers of the laser radar performing the t+1th detection task at the first horizontal angle. The third field of view angle is the vertical field of view angle of the laser radar performing the t-1th detection task at the first horizontal angle.

[0069] However, the above method cannot clearly determine the increase or decrease in the number of lasers. To solve this problem, another implementation of S203 is optionally as follows:

[0070] A first quantity is calculated according to the first field of view angle, wherein the first quantity represents the number of lasers required for the laser radar to perform the t+1th detection task at the first horizontal angle; and the number of lasers used by the laser radar to perform the t+1th detection task at the first horizontal angle is adjusted to the first quantity.

[0071] Optionally, the first quantity is calculated as follows: Calculate the first quantity, where n 1 represents the first quantity, α represents the first field of view angle, γ 0Represents the vertical angular resolution of the laser radar performing the tth detection task at the first horizontal angle.

[0072] Specifically, if at the first horizontal angle, the number of lasers that need to work at the t+1th time is greater than the number of lasers working at the tth time, at the first horizontal angle at the t+1th time, the number of lasers that increase the work is n 1 -n 0 If the number of lasers that need to work at the first horizontal angle is less than the number of lasers working at the tth time, the number of lasers that need to work at the first horizontal angle is reduced to n at the tth time. 0 -n 1 ;n 0 is the number of lasers working for the tth time.

[0073] In the embodiment of the present application, when the distance between the laser radar and the target object changes, the effective vertical field of view of the laser radar will change accordingly, and the effective vertical field of view of the laser radar will affect the number of lasers required; therefore, the above method is equivalent to adjusting the number of lasers required for the detection task in real time according to the change in the distance between the target object and the laser radar. Through the above method, the number of lasers involved in the detection task in the laser radar can change in real time according to the distance of the detection target, avoiding all lasers from being in working state all the time, thereby effectively reducing the power consumption of the laser radar.

[0074] In one embodiment, the method further comprises:

[0075] Calculate a first detection number based on the first distance, wherein the first detection number represents a maximum detection number of the laser radar within a preset period; and adjust a vertical angle resolution of the laser radar performing the t+1th detection task at the first horizontal angle based on the first detection number.

[0076] In the embodiment of the present application, the preset period can be a fixed time set in advance by humans, or can be determined by the horizontal angle resolution of the laser radar. For example, if the horizontal angle resolution of the laser radar is 0.2° and the rotation speed is 20Hz, then the time required for the laser radar to rotate 0.2° is T=13.89us, that is, one preset period is T=13.89us.

[0077] Optionally, the first detection number is calculated as follows:

[0078] According to the formula Calculate the first detection times, where N represents the first detection times, c represents the speed of light, and D 0 Represents the first distance, T represents the preset period, and the preset period is determined according to the horizontal angle resolution and rotation speed of the laser radar.

[0079] Specifically, the first distance, the speed of light, and the flight time satisfy the formula c is the speed of light, t is the flight time. The first detection number (maximum laser transmission and reception times of the laser radar) is N = T / t = T / (2D 0 / c).

[0080] Optionally, the vertical angle resolution of the laser radar performing the t+1th detection task at the first horizontal angle is adjusted as follows:

[0081] Acquire a first height, where the first height represents an actual height of the target object acquired by the laser radar when performing the t-th detection task at the first horizontal angle;

[0082] Calculating a second field of view angle according to the first distance and the first height, wherein the second field of view angle represents an actual vertical field of view angle required for the laser radar to perform the t+1th detection task at the first horizontal angle;

[0083] According to the second field of view angle and the first detection number, the vertical angle resolution of the laser radar performing the t+1th detection task at the first horizontal angle is adjusted.

[0084] Specifically, through the formula Calculation method for the second field of view angle, L 0 is the first height, D 0 is the first distance. Figure 4 , is a schematic diagram of the vertical field of view provided in another embodiment of the application.

[0085] The vertical angle resolution of the laser radar performing the t+1th detection task at the first horizontal angle is γ 1 = / (N-1).

[0086] Since the actual height of the target object is usually less than or equal to the reference height L 0 ≤L, then the vertical field of view angle of the target object that the laser radar needs to cover when performing the t+1th detection task at the first horizontal angle is less than or equal to the vertical field of view angle of the target object when performing the tth detection task, that is, β≤α. In addition, because at the first horizontal angle, the number of lasers required to work when performing the t+1th detection task is less than or equal to the first detection number (the maximum number of laser transmission and reception times of the laser radar), that is, n 1 ≤N, then we can get β / (N-1)≤α / (n 1 -1), i.e. γ 1 Less than or equal to γ 0(Vertical angle resolution of the laser radar performing the t-th detection task at the first horizontal angle) It can be seen that the vertical angle resolution of the laser radar can be improved through the above method.

[0087] In the embodiment of the present application, the vertical field of view angle calculated by the actual height and actual distance of the target object is used to calculate the vertical angle resolution, and the actual distance of the target object is used to calculate the maximum number of transceivers of the laser radar within a preset period, and then the vertical angle resolution of the next time is adjusted according to the maximum number of transceivers and the vertical angle resolution. Through this method, the vertical angle resolution of the radar can be adjusted in real time, thereby improving the detection accuracy of the radar. In addition, as the ranging range changes, the required number of laser transceivers can be dynamically adjusted, so that the light crosstalk problem caused by simultaneous light emission can be avoided. It should be understood that the size of the sequence number of each step in the above embodiment does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.

[0088] Corresponding to the radar control method described in the above embodiment, Figure 5 Detailed description is given of the structure of the radar control device according to the embodiment of the present application. For the sake of convenience, only the parts related to the embodiment of the present application are shown.

[0089] Reference Figure 5 , the device comprises:

[0090] The distance acquisition unit 51 is used to acquire a first distance, where the first distance represents the actual distance of the target object acquired by the laser radar performing the t-th detection task at the first horizontal angle, where t is a positive integer.

[0091] The first calculation unit 52 is used to calculate a first field of view angle according to the first distance, where the first field of view angle represents a theoretical vertical field of view angle required for the laser radar to perform the t-th detection task at the first horizontal angle.

[0092] The quantity adjustment unit 53 is used to adjust the number of lasers used by the laser radar to perform the t+1th detection task at the first horizontal angle according to the first field of view angle.

[0093] Optionally, the first computing unit 52 is further configured to:

[0094] Acquire a reference height of the target object and an installation height of the laser radar;

[0095] The first field of view angle is calculated according to the reference height of the target object, the first distance and the installation height of the laser radar.

[0096] Optionally, the quantity adjustment unit 53 is further used for:

[0097] Calculating a first quantity according to the first field of view angle, wherein the first quantity represents the number of lasers required for the laser radar to perform the t+1th detection task at the first horizontal angle;

[0098] The number of lasers used by the laser radar to perform the t+1th detection task at the first horizontal angle is adjusted to the first number.

[0099] Optionally, the quantity adjustment unit 53 is further used for:

[0100] According to the formula Calculate the first quantity, where n 1 represents the first quantity, α represents the first field of view angle, γ 0 Represents the vertical angular resolution of the laser radar performing the tth detection task at the first horizontal angle.

[0101] Optionally, the device 5 further comprises:

[0102] A vertical resolution adjustment unit 54 is used to calculate a first detection number based on the first distance, wherein the first detection number represents a maximum detection number of the laser radar within a preset period; and according to the first detection number, adjust the vertical angle resolution of the laser radar performing the t+1th detection task at the first horizontal angle.

[0103] Optionally, the vertical resolution adjustment unit 54 is further configured to:

[0104] Acquire a first height, where the first height represents an actual height of the target object acquired by the laser radar when performing the t-th detection task at the first horizontal angle;

[0105] Calculating a second field of view angle according to the first distance and the first height, wherein the second field of view angle represents an actual vertical field of view angle required for the laser radar to perform the t+1th detection task at the first horizontal angle;

[0106] According to the second field of view angle and the first detection number, the vertical angle resolution of the laser radar performing the t+1th detection task at the first horizontal angle is adjusted.

[0107] Optionally, the vertical resolution adjustment unit 54 is further configured to:

[0108] According to the formula Calculate the first detection times, where N represents the first detection times, c represents the speed of light, and D 0 Represents the first distance, T represents the preset period, and the preset period is determined according to the horizontal angle resolution and rotation speed of the laser radar.

[0109] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0110] in addition, Figure 5 The radar control device shown may be a software unit, a hardware unit, or a combination of software and hardware units built into an existing terminal device, or may be integrated into the terminal device as an independent accessory, or may exist as an independent terminal device.

[0111] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0112] Figure 6 Schematic diagram of the structure of the terminal device provided in the embodiment of the present application. Figure 6 As shown, the terminal device 6 of this embodiment includes: at least one processor 60 ( Figure 6 Only one is shown in the figure) a processor, a memory 61, and a computer program 62 stored in the memory 61 and executable on the at least one processor 60, wherein when the processor 60 executes the computer program 62, the steps in any of the above-mentioned radar control method embodiments are implemented.

[0113] The terminal device may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The terminal device may include, but is not limited to, a processor and a memory. Those skilled in the art will understand that Figure 6 It is only an example of the terminal device 6 and does not constitute a limitation on the terminal device 6. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, it may also include input and output devices, network access devices, etc.

[0114] The processor 60 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0115] In some embodiments, the memory 61 may be an internal storage unit of the terminal device 6, such as a hard disk or memory of the terminal device 6. In other embodiments, the memory 61 may also be an external storage device of the terminal device 6, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the terminal device 6. Further, the memory 61 may also include both an internal storage unit and an external storage device of the terminal device 6. The memory 61 is used to store an operating system, an application program, a boot loader, data, and other programs, such as the program code of the computer program. The memory 61 may also be used to temporarily store data that has been output or is to be output.

[0116] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0117] An embodiment of the present application provides a computer program product. When the computer program product runs on a terminal device, the terminal device can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0118] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to the device / terminal device, a recording medium, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), an electric carrier signal, a telecommunication signal, and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0119] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0120] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0121] In the embodiments provided in the present application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as 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 interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0122] 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.

[0123] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A radar control method, It is characterized in that Applied to a laser radar, the laser radar includes a plurality of lasers, and the method includes: Obtaining a first distance, where the first distance represents an actual distance of the target object obtained by the laser radar performing the t-th detection task at the first horizontal angle, where t is a positive integer; Calculate a first field of view angle according to the first distance, where the first field of view angle represents a theoretical vertical field of view angle required for the laser radar to perform the t-th detection task at the first horizontal angle; Adjusting the number of lasers of the laser radar for performing the t+1th detection task at the first horizontal angle according to the first field of view angle; Wherein, calculating the first field of view angle according to the first distance includes: obtaining a reference height of the target object and an installation height of the laser radar; calculating the first field of view angle according to the reference height of the target object, the first distance and the installation height of the laser radar.

2. The radar control method according to claim 1, It is characterized in that The step of adjusting the number of lasers of the laser radar for performing the t+1th detection task at the first horizontal angle according to the first field of view angle includes: Calculating a first quantity according to the first field of view angle, wherein the first quantity represents the number of lasers required for the laser radar to perform the t+1th detection task at the first horizontal angle; The number of lasers used by the laser radar to perform the t+1th detection task at the first horizontal angle is adjusted to the first number.

3. The radar control method according to claim 2, It is characterized in that The calculating the first quantity according to the first field of view angle comprises: According to the formula Calculate the first quantity, where n 1 represents the first quantity, α represents the first field of view angle, γ 0 Represents the vertical angular resolution of the laser radar performing the tth detection task at the first horizontal angle.

4. The radar control method according to claim 1, It is characterized in that The method further comprises: Calculating a first detection number according to the first distance, wherein the first detection number represents a maximum detection number of the laser radar within a preset period; According to the first detection number, the vertical angle resolution of the laser radar performing the t+1th detection task at the first horizontal angle is adjusted.

5. The radar control method according to claim 4, It is characterized in that The adjusting, according to the first detection number, the vertical angle resolution of the laser radar performing the t+1th detection task at the first horizontal angle includes: Acquire a first height, where the first height represents an actual height of the target object acquired by the laser radar when performing the t-th detection task at the first horizontal angle; Calculating a second field of view angle according to the first distance and the first height, wherein the second field of view angle represents an actual vertical field of view angle required for the laser radar to perform the t+1th detection task at the first horizontal angle; According to the second field of view angle and the first detection number, the vertical angle resolution of the laser radar performing the t+1th detection task at the first horizontal angle is adjusted.

6. The radar control method according to claim 4, It is characterized in that The calculating the first detection number according to the first distance includes: According to the formula Calculate the first detection times, where N represents the first detection times, c represents the speed of light, and D 0 Represents the first distance, T represents the preset period, and the preset period is determined according to the horizontal angle resolution and rotation speed of the laser radar.

7. A radar control device, It is characterized in that Applied to a laser radar, the laser radar includes a plurality of lasers, and the device includes: a distance acquisition unit, configured to acquire a first distance, wherein the first distance represents an actual distance of the target object acquired by the laser radar when performing a t-th detection task at a first horizontal angle, where t is a positive integer; A first calculation unit is used to calculate a first field of view angle according to the first distance, where the first field of view angle represents a theoretical vertical field of view angle required for the laser radar to perform a t-th detection task at the first horizontal angle; A quantity adjustment unit, configured to adjust the number of lasers used by the laser radar to perform the t+1th detection task at the first horizontal angle according to the first field of view; Wherein, calculating the first field of view angle according to the first distance includes: obtaining a reference height of the target object and an installation height of the laser radar; calculating the first field of view angle according to the reference height of the target object, the first distance and the installation height of the laser radar.

8. A terminal device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, It is characterized in that When the processor executes the computer program, the method according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium storing a computer program. It is characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

Images