Radar detection system, method, apparatus, and vehicle and storage medium

Abstract

The present invention relates to a radar detection system, method and device. According to the invention, an outgoing light signal is first processed and modulated with a set carrier frequency signal in order to obtain a modulated light signal, wherein at least one non-randomly generated characteristic information is provided in the set carrier frequency signal. Then a return signal of the modulated light signal reflected by a target object is received and demodulated with the carrier frequency signal in order to obtain a demodulated light signal. Finally, the outgoing light signal is compared with the demodulated light signal in order to obtain target object information. The present invention enables to reduce or prevent signal crosstalk by extending the characteristic information or characteristic value of the carrier frequency signal. The present invention also relates to a vehicle comprising the radar detection system and a computer readable storage medium for implementing the radar detection method.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of radar detection, in particular to a radar detection system, a vehicle having the radar detection system, a radar detection method, a radar detection device and a computer readable storage medium for implementing the radar detection method. BACKGROUND

[0002] In the future intelligent traffic scenario where various types of lidars are applied on a large scale, mutual irradiation between different lidars is inevitable. Due to the irradiation of multiple lidars, great disturbance will be brought to the quality of lidar point clouds, for example, causing misjudgment of the post-processing algorithm, and thus leading to accidents.

[0003] In view of this situation, the SLAM technology (simultaneous localization and mapping technology) and the driving signal modulation technology are usually used to solve the problem.

[0004] The SLAM technology realizes real-time positioning based on the extraction and matching of feature points of current environmental information and radar point cloud images. Due to the large amount of data to be calculated in a complex traffic environment, the rapidity and effectiveness of this technology cannot well meet the actual use requirements.

[0005] The driving signal modulation technology uses a controller to set a specific time sequence modulation signal, so that irregular intervals are generated in the bandwidth, so that the receiving end can filter the pulse signals of other lidars, and thus realize anti-multiple-lidar irradiation interference. Although the driving signal modulation technology uses the method of generating irregular intervals in the bandwidth of the time sequence control carrier signal to reduce part of the possible radar crosstalk, but due to the small number of characteristic values, false alarms may also occur in actual traffic use. SUMMARY

[0006] Therefore, the purpose of the present application is to provide an improved technical solution for preventing multiple radar crosstalk, especially preventing FMCW (frequency-modulated continuous wave) lidar signal crosstalk, which can increase the inconsistency between multiple radars by increasing the characteristic values of the carrier signal, so as to more effectively reduce or prevent multiple radar signal crosstalk. Especially in FMCW lidar, it can also reduce the possibility of misjudgment due to triangular wave ranging, and reduce the false alarm rate.

[0007] In order to achieve the above purpose, the first aspect of the present application provides a radar detection system, comprising:

[0008] a light emitting module for generating an outgoing light signal;

[0009] a light receiving module for receiving a return signal reflected by a target object;

[0010] a controller configured to:

[0011] modulating the outgoing light signal emitted by the light emitting module with a set carrier frequency signal, wherein at least one non-randomly generated characteristic information is provided in the set carrier frequency signal;

[0012] receiving a return signal reflected by a target object from the light receiving module, demodulating the return signal of the modulated light signal with the carrier frequency signal to obtain a demodulated light signal;

[0013] comparing the outgoing light signal with the demodulated light signal to obtain target object information.

[0014] In the radar detection system provided in the first aspect of the present application, by increasing the characteristic information or characteristic value of the carrier frequency signal, in particular, by providing at least one non-randomly generated characteristic information in the set carrier frequency signal, the distinct individualized features are endowed, the inconsistency between multiple radars is increased, and the signal crosstalk of other laser radars is reduced or prevented.

[0015] In some embodiments, the non-randomly generated characteristic information can be selected from the group consisting of: varying rising edge slope, varying falling edge slope, increased marker bit encoding, varying waveform amplitude.

[0016] It can be understood that if multiple different characteristic information is endowed to the carrier frequency signal, forming multiple different combinations of multiple characteristic information, the amount of characteristic information carried by the carrier frequency signal and / or the characteristic recognition degree can be further increased, and the probability of radar signal crosstalk is greatly reduced. Therefore, according to some preferred embodiments, at least two different non-randomly generated characteristic information can be provided in the set carrier frequency signal, for example, selected from multiple characteristic information in the above-mentioned characteristic group (varying rising edge slope, varying falling edge slope, increased marker bit encoding, varying waveform amplitude). Thereby, the pulse signals of other laser radars can be further filtered, the possibility of signal crosstalk can be significantly reduced, and even the occurrence of crosstalk phenomenon can be completely eliminated.

[0017] In some embodiments, the characteristic information is customizable. By personalizing the specific information according to the predetermined rules or manners by the user, the pulse signals of other laser radars can be more accurately filtered, demodulation errors can be avoided, and the false alarm probability can be reduced.

[0018] In some embodiments, an increased random sequence is also provided in the set carrier frequency signal as additional characteristic information.

[0019] In some embodiments, the carrier signal may include at least two frequency-modulated continuous waves, each of which is provided with the non-randomly generated characteristic information. Furthermore, it is also conceivable that at least one of the frequency-modulated continuous waves includes an additional random sequence as supplementary characteristic information.

[0020] In some embodiments, the carrier frequency signal may be a sinusoidal frequency modulated wave, a triangular wave, a sawtooth wave, or a square-law frequency modulated wave.

[0021] In some embodiments, the optical emitting module can be further configured to emit a continuous wave with varying frequency as the emitted optical signal, and the carrier frequency signal is used to modulate the emission frequency of the continuous wave. This enables an FMCW lidar that prevents signal crosstalk.

[0022] In some embodiments, the light emitting module may be a semiconductor laser, including but not limited to infrared lasers, visible lasers, etc.

[0023] In some embodiments, the radar detection system may further include a collimating lens group for collimating the modulated optical signal emitted from the optical emitting module. For example, the collimating lens group may be configured as an aspherical lens or a cemented lens.

[0024] In some embodiments, the radar detection system may further include a scanning module for scanning the modulated light signal collimated by the collimating lens group. The modulated light signal scanned by the scanning module is projected onto the target and reflected by the target. For example, the scanning module may be constructed as a one-dimensional or two-dimensional MEMS galvanometer or as a tetrahedron.

[0025] In some embodiments, the optical receiving module may include: a receiving mirror group, wherein the echo signal reflected by the target object is converged onto the focal plane of the receiving mirror group after passing through the receiving mirror group; and a detection module, such as a PIN photodiode or an APD avalanche diode, for detecting the echo signal converged by the receiving mirror group.

[0026] A second aspect of the present invention provides a vehicle comprising: a vehicle body and a radar detection system according to a first aspect of the present invention, the radar detection system being disposed in the vehicle body and configured to scan targets to obtain detection signals.

[0027] To achieve the above objectives, a third aspect of the present invention provides a radar detection method, comprising:

[0028] The emitted light signal is processed by modulating the emitted light signal using a set carrier frequency signal to obtain a modulated light signal, wherein the set carrier frequency signal contains at least one non-randomly generated feature information.

[0029] receiving a return signal of the modulated light signal reflected by a target object, and demodulating the return signal by using the carrier frequency signal to obtain a demodulated light signal;

[0030] comparing the emitted light signal with the demodulated light signal to obtain target object information.

[0031] In some embodiments, the non-randomly generated characteristic information can be selected from a group comprising a varying rising edge slope, a varying falling edge slope, an increased mark bit encoding, and a varying waveform amplitude.

[0032] In some embodiments, at least two different non-randomly generated characteristic information can be provided in the set carrier frequency signal.

[0033] In some embodiments, the carrier frequency signal can comprise at least two frequency-modulated continuous waves, each of which is provided with the non-randomly generated characteristic information.

[0034] In some embodiments, the carrier frequency signal can be a sinusoidal frequency-modulated wave, a triangular wave, a sawtooth wave, or a square law frequency-modulated wave.

[0035] In some embodiments, the emitted light signal can be a continuous wave with a varying emission frequency; and modulating the emitted light signal by using the carrier frequency signal can comprise modulating the emission frequency of the continuous wave by using the carrier frequency signal.

[0036] To achieve the above object, the fourth aspect of the present application provides a radar detection device, comprising:

[0037] a modulation module configured to process an emitted light signal, and modulate the emitted light signal by using a set carrier frequency signal to obtain a modulated light signal, wherein at least one non-randomly generated characteristic information is provided in the set carrier frequency signal;

[0038] a demodulation module configured to receive a return signal of the modulated light signal reflected by a target object, and demodulate the return signal by using the carrier frequency signal to obtain a demodulated light signal;

[0039] a comparison module configured to compare the emitted light signal with the demodulated light signal to obtain target object information.

[0040] Advantageously, at least two different non-randomly generated characteristic information can be provided in the set carrier frequency signal. Also, the non-randomly generated characteristic information can be selected from one or more of the following characteristic information: a varying rising edge slope, a varying falling edge slope, an increased mark bit encoding, and a varying waveform amplitude.

[0041] The fifth aspect of the present application also provides a computer readable storage medium having stored thereon executable instructions that, when executed by a processor, cause the processor to implement the radar detection method according to the third aspect of the present application.

[0042] The features and advantages of the radar detection system according to the first aspect of the present application are equally applicable to the vehicle according to the second aspect of the present application, the radar detection method according to the third aspect of the present application, the radar detection apparatus according to the fourth aspect of the present application and the computer readable storage medium according to the fifth aspect of the present application, and vice versa. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1 a schematic flow chart for describing the principle of the drive signal modulation technique in the prior art;

[0044] Figure 2 a schematic diagram for employing time series modulation of the bandwidth interval of the carrier frequency signal;

[0045] Figure 3 a comparison process of the transmitted signal and the echo signal is shown;

[0046] Figure 4 a schematic block diagram of one embodiment of the radar detection system according to the present application;

[0047] Figure 5 a schematic diagram for changing the rising edge slope in the carrier frequency signal according to an embodiment of the present application;

[0048] Figure 6 a schematic diagram for inserting marker bit encoding in the carrier frequency signal according to an embodiment of the present application;

[0049] Figure 7 a schematic diagram for adjusting the signal amplitude in the carrier frequency signal according to an embodiment of the present application;

[0050] Figure 8 a schematic diagram for employing two frequency modulated continuous waves as carrier frequency signals for simultaneous modulation according to an embodiment of the present application;

[0051] Figure 9 a schematic block diagram of another embodiment of the radar detection system according to the present application;

[0052] Figure 10 a schematic diagram of one embodiment of the vehicle according to the present application;

[0053] Figure 11 a schematic flow chart of one embodiment of the radar detection method according to the present application;

[0054] Figure 12 a schematic configuration block diagram of one embodiment of the radar detection apparatus according to the present application. DETAILED DESCRIPTION

[0055] The embodiments of the present application will be described below in connection with the drawings. Obviously, the described embodiments are only part of the embodiments of the present application, but not all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0056] Throughout the specification, unless otherwise specifically indicated, the terms used herein are understood as having the meanings commonly used in the art. Therefore, unless otherwise defined, all technical and scientific terms used herein have the same meanings as generally understood by those skilled in the art to which the present application belongs. If there is a contradiction, the present specification takes priority.

[0057] It should be noted that the terms "first", "second", "third" involved in the embodiments of the present application are only to distinguish similar objects, and do not represent a specific order of the objects. Understandably, "first", "second", "third" can be interchanged in a specific order or sequence as allowed. It should be understood that the objects distinguished by "first", "second", "third" can be interchanged under appropriate circumstances.

[0058] As shown in Figures 1 to 3 , the hardware used by the driving signal modulation technology can be a main control board, which includes a modulation module, a demodulation module and a comparison module. The modulation module modulates the original driving signal by a carrier frequency signal set by a random sequence (as shown in Figure 2 ), the demodulation module demodulates the echo signal by using the set carrier frequency signal, and then the comparison module compares the demodulated echo signal with the original driving signal, thereby obtaining the position, distance and other information of the target object.

[0059] As shown in Figure 3 , the solid line is the transmitted signal (the transmitted signal obtained after the original driving signal is modulated), and the dashed line is the echo signal. After the echo signal is demodulated, the comparison module of the main control board compares the original driving signal with the echo signal, and uses the frequency modulation bandwidth ΔF, the period T, and the frequency difference f0 of the transmitted signal and the echo signal to calculate the signal time difference value Δτ (photon round-trip time), and the corresponding formula is as follows:

[0060]

[0061] Therefore, the distance R of the target object can be calculated by R = cΔτ / 2, that is,

[0062]

[0063] That is, in the drive signal modulation technology, the modulation module modulates the original drive signal with the carrier frequency signal with added random sequence, the demodulation module demodulates the echo signal received by the laser radar with the carrier frequency signal consistent with the modulation module, and the random sequence (or characteristic value) in the carrier frequency signal of different laser radars is different. The demodulation module demodulates the signal with the carrier frequency signal with a specific random sequence, and can identify the pulsed laser signal emitted by itself from the received signal.

[0064] However, in the prior art, since the carrier frequency signal has few characteristics, when a large number of different laser radars are mutually irradiated, the demodulation module may misjudge and mistakenly regard the laser signal of other laser radars as the echo signal reflected by the laser emitted by the laser radar of itself after irradiating the obstacle, thereby causing false alarm.

[0065] Therefore, the embodiment of the present application provides a technical solution capable of greatly reducing radar crosstalk, wherein at least one non-randomly generated characteristic information, such as a variable rising edge slope, a variable falling edge slope, an increased marker bit encoding, a variable waveform amplitude, etc., is added to the carrier signal. Of course, the present application does not exclude the possibility that a random sequence is still arranged in the carrier frequency signal (as in the prior art), for example, a self-defined characteristic information can be additionally added to the carrier signal with added random sequence.

[0066] As shown in FIG. 1, the radar detection system 100 provided by the first aspect of the present application comprises a light emitting module 110 at the transmitting end, a light receiving module 120 at the receiving end, and a controller or main control board 130. Figure 4

[0067] The light emitting module 110 (i.e. the light source module) is used to emit light to generate an outgoing light signal. The light emitting module 110 may, for example, be a semiconductor laser, including but not limited to an infrared laser, a visible laser, etc.

[0068] The light receiving module 120 is used to receive the echo signal (i.e. the reflected light) reflected by the target object. The echo signal carries the information of the target object.

[0069] The controller 130 is configured to: modulate the outgoing light signal emitted by the light emitting module 110 with a set carrier frequency signal (such as a sinusoidal frequency modulation wave, a triangular wave, a sawtooth wave, or a square law frequency modulation wave, etc.) to obtain a modulated light signal, wherein at least one non-randomly generated characteristic information (or characteristic value) is arranged in the set carrier frequency signal; receive the echo signal reflected by the target object from the light receiving module 120, demodulate the echo signal of the modulated light signal with the carrier frequency signal to obtain a demodulated light signal; and compare the outgoing light signal with the demodulated light signal to obtain the information of the target object. ​

[0070] Thus, by increasing the characteristics of the carrier frequency signal, the laser radar pulse signal belonging to the laser radar emitted and reflected back can be more accurately extracted from the received pulse signal when multiple laser radars work simultaneously in the same area and irradiate each other, the misjudgment during demodulation is reduced, and the false alarm probability is reduced.

[0071] The technical solution of the present application improves the overall anti-crosstalk interference capability of the radar module, has a wide range of applications, and includes but is not limited to applications in vehicle-mounted radars, remote sensing detection, and a series of optical systems involving anti-crosstalk modules.

[0072] Preferably, the present application is applied to FMCW laser radars, that is, the light emitting module 110 is configured to emit a continuous wave with a varying frequency as an outgoing light signal, and the carrier frequency signal is used to modulate the emission frequency of the continuous wave. Thus, the FMCW laser radar capable of preventing signal crosstalk can reduce the possibility of misjudgment due to triangular wave ranging and reduce the false alarm rate.

[0073] In some embodiments, at least two non-randomly generated characteristic information different from each other can be provided in the set carrier frequency signal. Among them, the first characteristic information or characteristic value can be selected from the following group, which includes: varying rising edge slope, varying falling edge slope, increasing marker bit encoding, varying waveform amplitude. Alternatively or additionally, the second characteristic information or characteristic value can also be selected from the following group, which includes: varying rising edge slope, varying falling edge slope, increasing marker bit encoding, varying waveform amplitude.

[0074] Thus, compared with the method of modulating the pulse interval in the time sequence, the characteristic value in the carrier frequency signal is expanded by modulating the signal slope (rising edge slope and / or falling edge slope), marker bit, amplitude, etc. in the time sequence, so as to give the outgoing light signal more characteristics, reduce the crosstalk rate, and have the advantages of strong implementation and good effect.

[0075] In a specific example, the rising edge slope and / or the falling edge slope can be adjusted in the carrier frequency signal to increase the characteristic value of the carrier frequency signal, thereby increasing the inconsistency between multiple radars. As shown in Figure 5 The rising edge slope is changed in the carrier frequency signal.

[0076] In another specific example, as shown in Figure 6 The marker bit encoding can be inserted in the carrier frequency signal on the basis of the original modulation signal (for example, the carrier frequency signal with a random sequence added), so as to expand the characteristic value of the carrier frequency signal and increase the inconsistency between multiple radars. That is, the random sequence is added in the carrier frequency signal, and the marker bit of the random sequence is increased.

[0077] In yet another specific example, such as Figure 7 As shown, the amplitude of the original modulated signal (while the slope remains unchanged) is adjusted based on the original modulated signal (e.g., a carrier signal with an added random sequence) to expand the eigenvalues ​​of the carrier signal and achieve the effect of reducing crosstalk.

[0078] It is feasible to further incorporate an additional random sequence into the set carrier frequency signal as supplementary feature information.

[0079] Furthermore, a third feature (or feature value) different from the first and second feature information mentioned above can be added to the set carrier frequency signal to further improve the accuracy of identifying its own radar signal. The third feature or feature value can be selected from at least one of the following: an added random sequence, a varying rising edge slope, a varying falling edge slope, an added flag bit encoding, and a varying waveform amplitude. Of course, depending on actual needs and system configuration, more than three types of feature information can be added within the framework of this invention. The more feature values ​​the carrier frequency signal has, the higher the accuracy of identifying its own radar signal.

[0080] In some embodiments, at least one of the added feature information is customizable, particularly user-customizable. By allowing users to personalize specific information according to predetermined rules or methods, the present invention can adapt to various radar application scenarios.

[0081] In some embodiments, the carrier frequency signal may include at least two frequency-modulated continuous waves, each frequency-modulated continuous wave having the non-randomly generated characteristic information. For the case where two frequency-modulated continuous waves are provided, in... Figure 8 The diagram schematically illustrates a first modulated optical signal corresponding to a first frequency-modulated continuous wave and a second modulated optical signal corresponding to a second frequency-modulated continuous wave. Accordingly, the transmitting module emits two (or more) frequency-modulated continuous waves. After scanning a target object, the receiving end receives one of the frequency-modulated continuous waves and can obtain target object information based on that continuous wave. The modulation codes of the first and second frequency-modulated continuous waves can be the same or different.

[0082] According to this implementation form, the light emitting module 110 (i.e. the light source module) emits a plurality of laser beams, which are modulated by the modulator respectively, so that each frequency-modulated continuous wave carries at least one non-randomly generated characteristic information (i.e. one or more of the changed rising edge slope, the changed falling edge slope, the increased mark bit encoding, and the changed waveform amplitude). After the modulated laser beams irradiate on the target object, return and are received by the detector, the original signals are respectively coherently processed with the received modulated laser beams (i.e. the echo signals) at the receiving end, and a demodulation process is performed, at which time it can be determined which echo signal corresponds to the laser beam emitted by the light source module itself, rather than the laser emitted by other lidars. Finally, the demodulated echo signals and the original signals are compared, so as to calculate the distance information and the speed information of the target object. In this way, the use of multiple modulated lights at the same time helps to improve the accuracy of echo signal recognition, thereby reducing the possibility of misjudgment.

[0083] In some embodiments, as shown in Figure 8 and Figure 9 , the radar detection system 100 can further include a collimating mirror set 140 for collimating the modulated light signals emitted from the light emitting module 110. In a specific example, the collimating mirror set can be configured as an aspherical lens or a cemented lens.

[0084] Further, in the embodiments shown in Figure 8 and Figure 9 , the radar detection system 100 can further include a scanning module 150 for scanning the modulated light signals collimated by the collimating mirror set 140. The modulated light signals scanned by the scanning module 150 are projected onto the target object and reflected by the target object. The scanning module 150 is driven by a motor to swing at a certain angle, and the collimated light beams are used for scanning, so as to detect the external environment.

[0085] In a specific example, the scanning module 150 can be configured as a MEMS one-dimensional or two-dimensional galvanometer or as a four-sided prism.

[0086] Further, in the embodiments shown in Figure 8 and Figure 9 , the light receiving module 120 can include a receiving mirror set 121 and a detection module 122. The echo signals reflected by the target object converge on the focal plane of the receiving mirror set 121 after passing through the receiving mirror set 121. The receiving mirror set 121, for example, includes a plurality of lenses, which are used to converge the external diffuse reflection light on the chip of the receiving mirror set, have a large field of view angle, and have good imaging quality. The detection module 122 is used to collect the photons after convergence by the receiving mirror set 121, i.e. to detect the echo signals after convergence by the receiving mirror set. For example, a PIN photodiode or an APD avalanche diode can be used as the detection module 122.

[0087] As Figure 10 shown, the second aspect of the present application further provides a vehicle, which comprises a vehicle body 300 and the above-mentioned lidar system 100 mounted on the vehicle body 300. The lidar system 100 is configured to detect targets around the vehicle body 300, such as obstacles (including fixed or moving targets, such as pedestrians, vehicles and other traffic participants) in front of, on the side of or behind the vehicle body 300. The detection information detected by the lidar system 100 is transmitted to a vehicle control unit, which calculates the spatial position or relative position of the target based on the detection information for further use by the vehicle, such as when reversing or for prompting the presence of obstacles.

[0088] As Figure 11 shown, the third aspect of the present application provides a radar detection method 400, which comprises:

[0089] S410, processing the outgoing light signal, modulating the outgoing light signal with a set carrier frequency signal, such as a sinusoidal frequency modulation wave, a triangular wave, a sawtooth wave or a square law frequency modulation wave, so as to obtain a modulated light signal, wherein at least one non-randomly generated characteristic information is provided in the set carrier frequency signal, such as first characteristic information and second characteristic information which can be different from each other;

[0090] S420, receiving a return signal of the modulated light signal reflected by a target, and demodulating the return signal with the carrier frequency signal to obtain a demodulated light signal;

[0091] S430, comparing the outgoing light signal with the demodulated light signal to obtain target information.

[0092] Further, the first characteristic information and / or the second characteristic information can be selected from the following group, which comprises: a varying rising edge slope, a varying falling edge slope, an increasing marker bit encoding, a varying waveform amplitude.

[0093] In some embodiments, the carrier frequency signal can comprise at least two frequency-modulated continuous waves. As described above, each of the frequency-modulated continuous waves is preferably provided with at least one non-randomly generated characteristic information.

[0094] The radar detection method 400 provided by the embodiments of the present application is preferably applied to FMCW lidar, i.e., the outgoing light signal is a continuous wave with a varying transmission frequency, and step S410 comprises modulating the transmission frequency of the continuous wave with the carrier frequency signal.

[0095] The radar detection method 400 provided by the third aspect of the present application has other embodiments and advantages, which can be referred to the description of the radar detection system 100 of the present application above, and will not be described here.

[0096] As shown in Figure 12 The radar detection device 500 (for example, corresponding to the controller 130 described above) provided by the fourth aspect of the present application includes a modulation module 510, a demodulation module 520 and a comparison module 530.

[0097] The modulation module 510 is configured to process the outgoing light signal, and modulate the outgoing light signal by using a set carrier frequency signal, so as to obtain a modulated light signal, wherein at least one non-random generated characteristic information is set in the set carrier frequency signal, for example, the first characteristic information and the second characteristic information which can be different from each other, which are particularly selected from: a variable rising edge slope, a variable falling edge slope, an increased mark bit encoding, and a variable waveform amplitude.

[0098] The demodulation module 520 is configured to receive a return signal of the modulated light signal reflected by a target object, and demodulate the return signal by using the carrier frequency signal, so as to obtain a demodulated light signal.

[0099] The comparison module 530 is configured to compare the outgoing light signal with the demodulated light signal, so as to obtain target object information.

[0100] Here, the modulation module 510, the demodulation module 520 and the comparison module 530 can all be implemented as software modules or hardware modules.

[0101] In addition, the embodiment of the present application further provides a computer readable storage medium, which stores executable instructions, and the executable instructions cause the processor to implement the radar detection method 400 described above when executed by the processor.

[0102] The features or combinations of features mentioned in the description, the drawings and the claims above can be used alone or in any combination, as long as they are meaningful and do not contradict each other within the scope of the present application.

[0103] The above description is only the preferred embodiments of the present application, and does not limit the patent scope of the present application, and any equivalent transformation or direct / indirect application in other related technical fields made under the inventive concept of the present application and using the contents of the specification and drawings of the present application are included in the patent protection scope of the present application.

Claims

1. A radar detection system, characterized by The radar detection system comprises: a light emitting module configured to generate an outgoing light signal; a light receiving module configured to receive a reflected echo signal from a target object; a controller configured to: modulate the outgoing light signal emitted by the light emitting module with a set carrier frequency signal to obtain a modulated light signal, wherein at least one non-randomly generated characteristic information is provided in the set carrier frequency signal; receive the reflected echo signal from the target object by the light receiving module, demodulate the echo signal of the modulated light signal with the carrier frequency signal to obtain a demodulated light signal; compare the outgoing light signal with the demodulated light signal to obtain target object information, wherein the non-randomly generated characteristic information comprises at least one of a variable rising edge slope, a variable falling edge slope, an increased marker bit encoding, a variable waveform amplitude, the carrier frequency signal comprising the characteristic information of the variable rising edge slope or the variable falling edge slope is obtained by adjusting the slope of the carrier frequency signal, the carrier frequency signal comprising the characteristic information of the increased marker bit encoding is obtained by inserting a marker bit encoding in the carrier frequency signal, the carrier frequency signal comprising the characteristic information of the variable waveform amplitude is obtained by adjusting the amplitude of the carrier frequency signal and keeping the slope unchanged.

2. The radar probing system of claim 1, wherein, At least two different non-randomly generated characteristic information are provided in the set carrier frequency signal.

3. The radar probing system according to claim 1 or 2, characterized in that, The characteristic information is customizable.

4. The radar probing system according to claim 1 or 2, characterized in that, An increased random sequence is further provided in the set carrier frequency signal as additional characteristic information.

5. The radar probing system according to claim 1 or 2, characterized in that, The carrier frequency signal comprises at least two frequency-modulated continuous waves, each of which is provided with the non-randomly generated characteristic information.

6. The radar probing system of claim 5, wherein, At least one of the frequency-modulated continuous waves is provided with an increased random sequence as additional characteristic information.

7. The radar probing system according to claim 1 or 2, characterized in that, The carrier frequency signal is a sinusoidal frequency-modulated wave, a triangular wave, a sawtooth wave or a square law frequency-modulated wave.

8. The radar probing system according to claim 1 or 2, characterized in that, The light emitting module is further configured to emit a continuous wave with a variable frequency as the outgoing light signal; The carrier frequency signal is used to modulate the emission frequency of the continuous wave.

9. The radar probing system according to claim 1 or 2, characterized in that, The light emitting module is a semiconductor laser.

10. The radar probing system according to claim 1 or 2, characterized in that, The radar detection system further comprises: a collimating mirror group configured to collimate the modulated light signal emitted from the light emitting module; and a scanning module configured to scan the modulated light signal collimated by the collimating mirror group, the modulated light signal scanned by the scanning module being projected onto a target object and reflected by the target object.

11. The radar probing system of claim 10, wherein, The collimating mirror group is configured as an aspherical lens or a cemented lens; and / or the scanning module is configured as a MEMS one-dimensional or two-dimensional galvanometer or as a four-sided prism.

12. The radar probing system of claim 1 or 2, wherein, The light receiving module comprises: a receiving mirror group, the reflected echo signal from a target object converging on a focal plane of the receiving mirror group after passing through the receiving mirror group; a detection module configured to detect the reflected echo signal converged by the receiving mirror group.

13. The radar probing system of claim 12, wherein, The detection module is configured as a PIN photodiode or an APD avalanche diode.

14. A vehicle characterized by comprising: The vehicle comprises: a vehicle body and a radar detection system according to any one of claims 1 to 13, the radar detection system being arranged in the vehicle body and being arranged to scan a target object to obtain a detection signal.

15. A radar detection method, characterized by, The radar detection method comprises: processing an outgoing light signal, modulating the outgoing light signal by using a set carrier frequency signal to obtain a modulated light signal, wherein at least one non-randomly generated characteristic information is set in the set carrier frequency signal; receiving a return signal of the modulated light signal reflected by a target object, and demodulating the return signal by using a carrier frequency signal to obtain a demodulated light signal; comparing the outgoing light signal with the demodulated light signal to obtain target object information, wherein the non-randomly generated characteristic information comprises at least one of a variable rising edge slope, a variable falling edge slope, an increased mark bit encoding, and a variable waveform amplitude, the carrier frequency signal comprising the characteristic information of the variable rising edge slope or the variable falling edge slope is obtained by adjusting the slope of the carrier frequency signal, the carrier frequency signal comprising the characteristic information of the increased mark bit encoding is obtained by inserting the mark bit encoding in the carrier frequency signal, the carrier frequency signal comprising the characteristic information of the variable waveform amplitude is obtained by adjusting the amplitude of the carrier frequency signal and keeping the slope unchanged.

16. The radar detection method of claim 15, wherein, At least two different non-randomly generated characteristic information are set in the set carrier frequency signal.

17. The radar detection method of claim 15 or 16, characterized in that, The carrier frequency signal comprises at least two frequency-modulated continuous waves, and the frequency-modulated continuous waves are respectively provided with the non-randomly generated characteristic information.

18. The radar detection method of claim 15 or 16, wherein, The carrier frequency signal is a sinusoidal frequency-modulated wave, a triangular wave, a sawtooth wave, or a square law frequency-modulated wave.

19. The radar detection method of claim 15 or 16, wherein, The outgoing light signal is a continuous wave with a variable emission frequency. The modulation of the outgoing light signal by using the carrier frequency signal comprises modulating the emission frequency of the continuous wave by using the carrier frequency signal.

20. A radar detection apparatus, characterized by The radar detection device comprises: a modulation module, configured to process an outgoing light signal, modulate the outgoing light signal by using a set carrier frequency signal to obtain a modulated light signal, wherein at least one non-randomly generated characteristic information is set in the set carrier frequency signal; a demodulation module, configured to receive a return signal of the modulated light signal reflected by a target object, and demodulate the return signal by using the carrier frequency signal to obtain a demodulated light signal; a comparison module, configured to compare the outgoing light signal with the demodulated light signal to obtain target object information, wherein the non-randomly generated characteristic information comprises at least one of a variable rising edge slope, a variable falling edge slope, an increased mark bit encoding, and a variable waveform amplitude, the carrier frequency signal comprising the characteristic information of the variable rising edge slope or the variable falling edge slope is obtained by adjusting the slope of the carrier frequency signal, the carrier frequency signal comprising the characteristic information of the increased mark bit encoding is obtained by inserting the mark bit encoding in the carrier frequency signal, the carrier frequency signal comprising the characteristic information of the variable waveform amplitude is obtained by adjusting the amplitude of the carrier frequency signal and keeping the slope unchanged.

21. The radar detection apparatus of claim 20, wherein, At least two different non-randomly generated characteristic information are set in the set carrier frequency signal.

22. A computer-readable storage medium having stored thereon executable instructions that, when executed by a processor, cause the processor to carry out the radar detection method of any one of claims 15 to 19.

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