A radar system self-heating method, a radar system and a terminal device

Abstract

The application provides a radar system self-heating method, a radar system and a terminal device. A control unit determines a heating power demand level based on a current environment temperature and an icing state of a window mirror of the radar system. The control unit transmits the heating power demand level and motor control demand parameters to a motor controller, wherein the motor control demand parameters include a prism target rotating speed and / or a mirror target position. The motor controller determines a motion power demand level according to the prism target rotating speed and / or the mirror target position. The motor controller determines a q-axis target current and a d-axis target current of the motor according to the heating power demand level, the motion power demand level and a motor operating rated current. The motor controller controls the motor operation according to the q-axis target current and the d-axis target current. Current flowing through the stator winding of the motor generates heat, which is then dissipated through the stator shell, thereby improving the internal temperature of the radar system and achieving a heating effect.

Description

Technical Field

[0001] This application relates to the field of radar, and more specifically, to a self-heating method for a radar system, a radar system, and terminal equipment. Background Technology

[0002] Intelligent driving technology is being used more and more widely in the automotive industry, and LiDAR, as a core sensor for intelligent driving technology, is also being used more and more extensively. When vehicles operate in low-temperature climates, frost or ice will form on the surface, which will seriously affect the detection capability of LiDAR; at the same time, LiDAR cannot function properly when the ambient temperature is below the lower limit of its normal operating temperature.

[0003] Overcoming these problems has become a difficult issue of concern to those skilled in the art. Summary of the Invention

[0004] The purpose of this application is to provide a self-heating method for a radar system, a radar system, and a terminal device to at least partially improve the above-mentioned problems.

[0005] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows:

[0006] In a first aspect, embodiments of this application provide a self-heating method for a radar system, applied to a radar system including a control unit and a motor controller, the method comprising:

[0007] The control unit determines the heating power requirement level based on the current ambient temperature and the icing status of the radar system's window mirrors.

[0008] The control unit transmits the heating power demand level and motor control demand parameters to the motor controller, wherein the motor control demand parameters include the prism target rotation speed and / or the galvanometer target position;

[0009] The motor controller determines the motion power demand level based on the target rotational speed of the prism and / or the target position of the galvanometer.

[0010] The motor controller determines the target current of the motor's q-axis and d-axis based on the heating power demand level, the motion power demand level, and the motor's rated operating current.

[0011] The motor controller controls the motor operation according to the target current of the q-axis and the target current of the d-axis.

[0012] Optionally, the step of the motor controller determining the target q-axis current and target d-axis current of the motor based on the heating power demand level, the motion power demand level, and the rated operating current of the motor includes:

[0013] The motor controller compares the heating power demand level with the motion power demand level in a first-type relationship.

[0014] The motor controller determines the target current of the motor's q-axis and d-axis based on the first type of size relationship, the preset heating power requirement level and current value correspondence, and the rated operating current of the motor.

[0015] Optionally, the step of the motor controller determining the target q-axis current and target d-axis current of the motor based on the first type of size relationship, the preset heating power demand level and current value correspondence, and the rated operating current of the motor includes:

[0016] When the heating power demand level is greater than the motion power demand level, the motor controller determines the d-axis target current as the first current value and the q-axis target current as the second current value based on the preset correspondence between the heating power demand level and the current value.

[0017] Wherein, the second current value is less than the first current value, and the first current value is less than or equal to the rated current;

[0018] When the heating power demand level is less than or equal to the motion power demand level, the motor controller determines the d-axis target current as the third current value and the q-axis target current as the fourth current value based on the preset correspondence between the heating power demand level and the current value and the rated operating current of the motor.

[0019] The third current value is positively correlated with the heating power requirement level and is less than the rated current, and the fourth current value is less than or equal to the difference between the rated current and the third current value.

[0020] Optionally, the step of the control unit determining the heating power demand level based on the current ambient temperature and the icing state of the radar system's window mirror includes:

[0021] The control unit compares the current ambient temperature with a preset temperature threshold in a second type of magnitude relationship.

[0022] The control unit determines the heating power requirement level based on the second type of size relationship and the icing state of the radar system's window mirror.

[0023] Optionally, the preset temperature threshold includes a first temperature threshold, a second temperature threshold, and a third temperature threshold; the icing state of the window mirror includes an uniced state and an iced state; and the step of the control unit determining the heating power demand level based on the second type of size relationship and the icing state of the radar system's window mirror includes:

[0024] When the current ambient temperature is less than a first temperature threshold or the window mirror is frozen, the control unit determines that the heating power demand level is the first level.

[0025] When the window mirror is not icy and the current ambient temperature is greater than the first temperature threshold and less than the second temperature threshold, the control unit determines the heating power demand level to be the second level.

[0026] When the window mirror is not icy and the current ambient temperature is greater than the second temperature threshold but less than the third temperature threshold, the control unit determines the heating power demand level to be the third level.

[0027] The control unit determines the heating power demand level as the fourth level when the window mirror is not frozen and the current ambient temperature is greater than the third temperature threshold. The heating demand value corresponding to the fourth level is 0.

[0028] The heating requirements for the first level, the second level, and the third level decrease sequentially.

[0029] Optionally, the radar system further includes a temperature sensor and an image sensor, and the method further includes: Before the control unit determines the heating power demand level based on the current ambient temperature and the icing status of the radar system's window mirrors, the method also includes:

[0030] The control unit receives the current ambient temperature collected by the temperature sensor;

[0031] The control unit obtains the icing state of the window mirror based on the window mirror image collected by the image sensor.

[0032] Optionally, the motion power demand level includes the prism motion power demand level and / or the galvanometer motion power demand level, and the step of the motor controller determining the motion power demand level based on the prism target rotational speed and / or the galvanometer target position includes:

[0033] The motor controller determines the first control demand voltage output by the prism speed control loop based on the current speed of the prism and the target speed of the prism.

[0034] The motor controller determines the prism motion power requirement level based on the first control requirement voltage and the rated drive voltage of the prism system.

[0035] Optionally, the motor controller determines the second control demand voltage output by the galvanometer position and speed control loop based on the current rotational speed of the galvanometer, the current position of the galvanometer, and the target position of the galvanometer.

[0036] The motor controller determines the galvanometer motion power requirement level based on the second control requirement voltage and the rated drive voltage of the galvanometer system.

[0037] Optionally, the radar system further includes a heat-conducting component disposed between the stator housing of the radar system and the window mirror.

[0038] Secondly, embodiments of this application provide a radar system, which includes a control unit and a motor controller;

[0039] The control unit is used to determine the heating power requirement level based on the current ambient temperature and the icing status of the window mirror of the radar system.

[0040] The control unit is used to transmit the heating power demand level and motor control demand parameters to the motor controller, wherein the motor control demand parameters include the prism target rotation speed and / or the galvanometer target position;

[0041] The motor controller is used to determine the motion power demand level based on the target rotational speed of the prism and / or the target position of the galvanometer;

[0042] The motor controller is used to determine the target current of the motor's q-axis and d-axis based on the heating power demand level, the motion power demand level, and the motor's rated operating current.

[0043] The motor controller is used to control the motor operation according to the target current of the q-axis and the target current of the d-axis.

[0044] Optionally, the motor controller is further configured to compare the heating power demand level with the motion power demand level in a first-type relationship;

[0045] The motor controller is also used to determine the target current of the motor's q-axis and d-axis based on the first type of size relationship, the preset heating power demand level and current value correspondence, and the rated operating current of the motor.

[0046] Optionally, the control unit is further configured to compare the current ambient temperature with a preset temperature threshold in a second type of magnitude relationship;

[0047] The control unit is also used to determine the heating power requirement level based on the second type of size relationship and the icing state of the window mirror of the radar system.

[0048] Thirdly, embodiments of this application provide a terminal device, which includes the radar system described above.

[0049] Compared to existing technologies, the radar system, radar system, and terminal equipment provided in this application embodiment involve a control unit determining the heating power requirement level based on the current ambient temperature and the icing state of the radar system's window mirror; the control unit transmitting the heating power requirement level and motor control requirement parameters to the motor controller, wherein the motor control requirement parameters include the prism target rotation speed and / or the galvanometer target position; the motor controller determining the motion power requirement level based on the prism target rotation speed and / or the galvanometer target position; the motor controller determining the q-axis target current and d-axis target current of the motor based on the heating power requirement level, the motion power requirement level, and the motor's rated operating current; and the motor controller controlling the motor operation according to the q-axis target current and d-axis target current. The current flowing through the motor's stator windings generates heat, which is then dissipated through the stator housing, raising the overall internal temperature of the radar system and achieving a heating effect.

[0050] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0051] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0052] Figure 1 This is a schematic diagram of the radar system provided in an embodiment of this application;

[0053] Figure 2 A flowchart illustrating the self-heating method for a radar system provided in this application embodiment;

[0054] Figure 3 This is a schematic diagram of the current distribution unit's workflow provided in an embodiment of this application;

[0055] Figure 4 A schematic diagram of the sub-steps of S202 provided in the embodiments of this application;

[0056] Figure 5 A schematic diagram of the sub-steps of S202-2 provided in the embodiments of this application;

[0057] Figure 6 A schematic diagram of the sub-steps of S103 provided in the embodiments of this application;

[0058] Figure 7 A schematic diagram of the sub-steps of S103-2 provided in the embodiments of this application;

[0059] Figure 8 One of the flowcharts of the self-heating method for a radar system provided in this application embodiment;

[0060] Figure 9 One of the schematic diagrams of sub-steps of S201 provided in the embodiments of this application;

[0061] Figure 10 This is the second schematic diagram of a sub-step of S201 provided in the embodiments of this application.

[0062] In the diagram: 10-Control unit; 20-Motor controller; 30-Temperature sensor; 40-Image sensor; 50-Prism motor; 60-Galvanometer motor. Detailed Implementation

[0063] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0064] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0065] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0066] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0067] In the description of this application, it should be noted that the terms "upper", "lower", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the product of this application is usually placed in. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0068] In the description of this application, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0069] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0070] As mentioned earlier, when vehicles operate in low-temperature climates, frost or ice can form on the surface of the radar system's window mirror, severely impacting the detection capabilities of the lidar. Specifically, radar signals are transmitted and received through the lidar's window mirror; when the window mirror is frozen or frostbitten, the quality of laser transmission and reception is affected. Furthermore, when the ambient temperature is below the lidar's normal operating temperature limit, the lidar cannot function properly, potentially affecting the operation of the radar control chip or rotating motor. To overcome the impact of cold climates on lidar, it is necessary to heat the lidar when the temperature is too low.

[0071] Existing vehicle-mounted lidar systems use heat generated by the operation of their internal electronic components for heating. These internal electronic components, such as power chips or processing chips, are often located inside the lidar and are far from the lidar's window mirror. Therefore, heating by the heat generated by the operation of these internal electronic components has the problem of low heating efficiency.

[0072] Alternatively, a resistance wire can be added inside the window mirror of the lidar, and the power supply can be controlled by a circuit. When heating is needed, the power supply is provided, and the heat generated by the resistance wire is used for heating. The heating efficiency is relatively high, but it obstructs the field of view and is more expensive.

[0073] To overcome the above problems, this application provides a self-heating method for a radar system, which can be applied to, but is not limited to, [various applications]. Figure 1 The radar system shown is an example. The self-heating method for radar systems can effectively solve the problem of low efficiency in heating using the heat generated by the radar itself. Furthermore, it eliminates the need for additional heating devices and electronic components, and the window mirror does not require a resistance wire. It does not obstruct the field of view, does not increase costs, and can be considered an effective way to solve the radar heating problem.

[0074] Please refer to Figure 1 , Figure 1 This is a schematic diagram of the radar system provided in an embodiment of this application. Figure 1 As shown, the radar system includes a control unit 10, a motor controller 20, a temperature sensor 30, an image sensor 40, a prism motor 50, and a galvanometer motor 60. Figure 1 The diagram shows that the radar system includes both prism motor 50 and galvanometer motor 60, but this is not a limitation. In one possible implementation, the radar system may include only one or more of prism motor 50 and galvanometer motor 60.

[0075] like Figure 1 As shown, the control unit 10 is communicatively connected to the temperature sensor 30, the image sensor 40, and the motor controller 20. The motor controller 20 is electrically connected to the prism motor 50 and the galvanometer motor 60.

[0076] Temperature sensor 30 can collect the current ambient temperature of the radar system and transmit the current ambient temperature to control unit 10.

[0077] Image sensor 40 can acquire the current image of the radar system's window mirror and transmit the current image to control unit 10, so that control unit 10 can determine the current icing state of the window mirror based on the window mirror image, such as an iced state or an uniced state. Image sensor 40 can be, but is not limited to, a camera.

[0078] The control unit 10 can send signal commands to the motor controller 20, causing the motor controller 20 to control the prism motor 50 and the galvanometer motor 60 based on the received signal commands. This allows the radar system's self-heating requirements to be met while also satisfying the radar system's operational needs.

[0079] It should be understood that the prism motor 50 is used to drive the prism of the radar system to rotate horizontally, and the galvanometer motor 60 is used to drive the galvanometer of the radar system to swing vertically. By controlling the prism motor 50 and the galvanometer motor 60, the scanning requirements of the radar can be met.

[0080] Considering long-term reliability, the prism motor 50 and galvanometer motor 60 in this embodiment can be selected as three-phase AC permanent magnet motors. The motor controller 20 adopts a vector control scheme to achieve horizontal stable speed control and vertical position tracking control. Through vector control, the current passing through the stator of the three-phase AC permanent magnet motor can be controlled, allocating the ratio for heating and motoring, thereby controlling the heat generation. When the entire machine requires heating, the control method can be adjusted to meet different heating power requirements.

[0081] Optionally, the control unit 10 is used to determine the heating power demand level based on the current ambient temperature and the icing status of the radar system's window mirror.

[0082] The control unit 10 is used to transmit the heating power demand level and motor control demand parameters to the motor controller 20, wherein the motor control demand parameters include the prism target speed and / or the galvanometer target position.

[0083] The motor controller 20 is used to determine the motion power demand level based on the prism target rotation speed and / or the galvanometer target position.

[0084] The motor controller 20 is used to determine the target q-axis current and d-axis current of the motor based on the heating power demand level, the motion power demand level, and the rated operating current of the motor.

[0085] The motor controller 20 is used to control the motor operation according to the target current of the q-axis and the target current of the d-axis.

[0086] Optionally, the motor controller 20 is used to compare the first type of magnitude relationship between the heating power demand level and the motion power demand level.

[0087] The motor controller 20 is also used to determine the target current of the motor's q-axis and d-axis based on the first type of size relationship, the preset heating power demand level and current value correspondence, and the rated operating current of the motor.

[0088] Optionally, the motor controller 20 is used to determine the d-axis target current as a first current value and the q-axis target current as a second current value when the heating power demand level is greater than the motion power demand level.

[0089] The second current value is less than the first current value, and the first current value is less than or equal to the rated current.

[0090] The motor controller 20 is used to determine the target current of the d-axis as the third current value and the target current of the q-axis as the fourth current value when the heating power demand level is less than or equal to the motion power demand level.

[0091] Among them, the third current value is positively correlated with the heating power demand level and is less than the rated current, and the fourth current value is less than or equal to the difference between the rated current and the third current value.

[0092] The control unit 10 is used to compare the current ambient temperature with a preset temperature threshold for a second type of magnitude relationship.

[0093] The control unit 10 is used to determine the heating power demand level based on the second type of size relationship and the icing state of the radar system's window mirror.

[0094] Optionally, the icing state of the window mirror includes an uniced state and an iced state.

[0095] The control unit 10 is used to determine the heating power demand level as the first level when the current ambient temperature is less than the first temperature threshold or the window mirror is frozen.

[0096] The control unit 10 is used to determine the heating power demand level as the second level when the window mirror is not frozen and the current ambient temperature is greater than the first temperature threshold and less than the second temperature threshold.

[0097] The control unit 10 is used to determine the heating power demand level as level three when the window mirror is not icy and the current ambient temperature is greater than the second temperature threshold and less than the third temperature threshold.

[0098] The control unit 10 is used to determine the heating power demand level as 0 when the window mirror is not frozen and the current ambient temperature is greater than the third temperature threshold.

[0099] It should be understood that, Figure 1 The structure shown is only a partial schematic diagram of a radar system; the radar system may also include components such as... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown. Figure 1 The components shown can be implemented using hardware, software, or a combination thereof.

[0100] It should be noted that the radar system provided in this embodiment can execute the method flow shown in the following method flow embodiment to achieve the corresponding technical effects. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the corresponding content in the above embodiments.

[0101] The self-heating method for a radar system provided in this application embodiment can be applied to, but is not limited to, [various applications]. Figure 1 For the specific procedures of the radar system shown, please refer to [link / reference]. Figure 2 The self-heating methods of the radar system include: S103, S104, S201, S202 and S203, which are described in detail below.

[0102] S103, the control unit determines the heating power requirement level based on the current ambient temperature and the icing status of the radar system's window mirror.

[0103] It should be understood that the current ambient temperature and the icing status of the radar system's window mirror are used to assess whether the working environment affects the radar system's operation. For example, frost or ice formation on the radar system's window mirror surface can severely affect the lidar's detection capability. Conversely, when the ambient temperature is suitable, the radar system operates normally, and its laser detection capability is unaffected, thus eliminating the need for heating.

[0104] Therefore, step S103 needs to be executed to determine the heating power demand level. In one possible implementation, the heating power demand level can be presented as a heating demand value, such as a percentage, or as a corresponding fixed level. For example, the heating demand percentage corresponding to the first level is 100%, the heating demand percentage corresponding to the second level is 50%-100%, the heating demand percentage corresponding to the third level is 1%-50%, and the heating demand percentage corresponding to the fourth level is 0%.

[0105] S104, the control unit transmits the heating power requirement level and motor control requirement parameters to the motor controller.

[0106] Among them, the motor control requirements parameters include the prism target speed and / or the galvanometer target position.

[0107] It should be understood that, under normal circumstances, the radar system needs to perform scanning tasks in real time to acquire information about the surrounding environment. Specifically, scanning is accomplished by adjusting the galvanometer and prism of the radar system. The control unit 10 transmits motor control requirement parameters to the motor controller 20, so that the motor controller 20 controls the prism motor 50 and the galvanometer motor 60 to work, thereby driving the galvanometer and prism of the radar system to complete the scanning.

[0108] In cold environments, for example, when the heating demand value corresponding to the heating power demand level is not zero, it indicates that the motor needs to handle the heating task as well. In order for the motor controller 20 to reasonably distinguish between the d-axis current and q-axis current of the motor, the heating power demand level and motor control demand parameters need to be transmitted to the motor controller 20.

[0109] It should be noted that the motor control requirements parameters may include only the control requirements parameters of either the prism target speed or the galvanometer target position, or they may include the control requirements parameters of both.

[0110] S201, the motor controller determines the motion power demand level based on the prism target speed and / or the galvanometer target position.

[0111] Optionally, the prism motion power requirement level and the galvanometer motion power requirement level can be determined separately.

[0112] It should be noted that in order to achieve reasonable current distribution, the motor controller 20 needs to determine the motion power demand level based on the prism target speed and / or the galvanometer target position.

[0113] S202, the motor controller determines the target current of the motor's q-axis and d-axis based on the heating power demand level, the motion power demand level, and the motor's rated operating current.

[0114] It should be understood that both the d-axis target current and the q-axis target current need to flow through the stator windings of the motor (including the prism motor 50 and / or the galvanometer motor 60). The d-axis target current is mainly used for heating and does not generate power, while the q-axis target current is mainly used to generate power and will also generate some additional heat. That is, the d-axis target current is used to meet the heating requirements, while the q-axis target current is the operating current used to meet the speed or position control requirements.

[0115] S203, the motor controller controls the motor operation according to the target current of the q-axis and the target current of the d-axis.

[0116] It should be understood that the motor controller 20 controls the motors (prism motor 50 and / or galvanometer motor 60) according to a vector control method, controlling the motor operation according to the corresponding q-axis target current and d-axis target current. When the motor controller 20 controls the prism motor 50 and galvanometer motor 60 in a vector control mode, it can determine the q-axis current component and d-axis current component based on the heating power demand level and the motion power demand level; then, based on the rated current and the q-axis current component and d-axis current component of the prism motor 50, it determines the q-axis target current and d-axis target current of the prism motor 50; and based on the rated current and the q-axis current component and d-axis current component of the galvanometer motor 60, it determines the q-axis target current and d-axis target current of the galvanometer motor 60.

[0117] When the d-axis current of the motor is not zero, the current flows through the stator windings of the motor, generating heat. This heat is then dissipated through the stator housing, raising the overall internal temperature of the radar system and achieving a heating effect. Compared to heating through internal electronic components, generating heat through the stator windings is more efficient, does not require additional resistance wires, does not increase costs, and does not affect the quality of laser emission and reception.

[0118] It should be understood that when the target current along the q-axis is 0 and the target current along the d-axis is not 0, the radar system is in a pure heating state. When both the target current along the q-axis and the target current along the d-axis are not 0, the radar system is in a superimposed state of heating and scanning operations. When both the target current along the q-axis and the target current along the d-axis are 0, the radar system is in a pure operating state. The motor controller 20 can switch between multiple modes through current regulation, meeting the needs of more applicable scenarios.

[0119] In summary, the self-heating method for a radar system provided in this application involves a control unit determining the heating power requirement level based on the current ambient temperature and the icing state of the radar system's window mirror. The control unit transmits the heating power requirement level and motor control requirement parameters to the motor controller, whereby the motor control requirement parameters include the prism target rotation speed and / or the galvanometer target position. The motor controller determines the motion power requirement level based on the prism target rotation speed and / or the galvanometer target position. The motor controller determines the q-axis target current and d-axis target current of the motor based on the heating power requirement level, the motion power requirement level, and the motor's rated operating current. The motor controller controls the motor operation according to the q-axis target current and d-axis target current. The current flowing through the motor's stator windings generates heat, which is then dissipated through the stator housing, raising the overall internal temperature of the radar system and achieving a heating effect.

[0120] about Figure 2 Regarding the content in S203, how the motor controller 20 performs motor control, this application embodiment also provides a possible implementation method, please refer to the following text.

[0121] First, based on the motor's maximum operating power, the current corresponding to the heating power demand level and the motion power demand level is allocated to ensure that the overall power demand current does not exceed the motor's maximum operating current I_max. Then, the current distribution unit in the motor controller 20 performs the current distribution.

[0122] Specifically, refer to Figure 3 , Figure 3This is a schematic diagram illustrating the workflow of the current distribution unit provided in this application embodiment. Optionally, after determining the q-axis target current (also known as the q-axis working command current, Iq_ref) and the d-axis target current (also known as the d-axis working command current, Id_ref), the control voltage commands Ud_ref and Uq_ref applied to the d-axis and q-axis are calculated respectively based on the q-axis target current, the d-axis target current, and the actual d / q-axis current values ​​of the motor. The voltage control module in the motor controller 20 outputs the three-phase motor drive voltage according to the control voltage commands. The coordinate transformation module in the motor controller 20 is used to convert the three-phase current of the motor into dq-axis currents for easier control.

[0123] exist Figure 2 Based on this, for the content in S202, this application embodiment also provides a possible implementation method, please refer to... Figure 4 S202 includes S202-1 and S202-2, which are described in detail below.

[0124] S202-1, The first type of relationship between the heating power demand level and the motion power demand level of the motor controller.

[0125] It should be understood that the relationship between the heating power demand level and the motion power demand level is closely related to how the current is allocated. For example, when the heating power demand level is high, the corresponding target current along the d-axis will be larger.

[0126] S202-2, the motor controller determines the target current of the motor's q-axis and d-axis based on the first type of size relationship, the preset heating power demand level and the corresponding relationship of current value, and the rated operating current of the motor.

[0127] Optionally, the first type of size relationship includes heating power demand level being greater than motion power demand level and heating power demand level being less than or equal to motion power demand level.

[0128] Regarding the content in S202-2, this application embodiment also provides an optional implementation method, please refer to... Figure 5 S202-2 includes S202-2A and S202-2B, which are described in detail below.

[0129] S202-2A, when the heating power demand level is greater than the motion power demand level, the motor controller determines the d-axis target current as the first current value and the q-axis target current as the second current value based on the preset correspondence between the heating power demand level and the current value.

[0130] Wherein, the second current value is less than the first current value, and the first current value is less than or equal to the rated current. For example, if the second current value is 0, the first current value is the rated current (I_max, maximum operating current), Id_ref = -I_max, Iq_ref = 0.

[0131] Optionally, when the radar is started in a low-temperature environment, the ambient temperature may not reach the operating temperature range of the core components. Therefore, it needs to be heated first to bring the ambient temperature up to the operating temperature of the core components before starting operation. In this condition, the heating power requirement is higher than the motion power requirement, and the motor system operates in heating mode, using the maximum operating current for heating and not starting operation.

[0132] S202-2B, when the heating power demand level is less than or equal to the motion power demand level, the motor controller determines the d-axis target current as the third current value and the q-axis target current as the fourth current value based on the preset correspondence between the heating power demand level and the current value and the rated operating current of the motor.

[0133] The third current value is positively correlated with the heating power demand level and is less than the rated current. The fourth current value is less than or equal to the difference between the rated current and the third current value. For example, Id_ref = -I_max * P_heat, Iq_ref = U_pid [U_pid ≤ (I_max - Id_ref)], where P_heat represents the heating power demand level (in percentage form).

[0134] Optionally, if the ambient temperature has reached the operating range of the core components but not the optimal operating temperature, low-power heating is required. In this case, the motor system operates in a combined working and heating mode. The d-axis current primarily meets the heating requirements, while the q-axis operating current primarily meets the speed or position control requirements.

[0135] It should be understood that when the ambient temperature reaches the optimal operating temperature, heating is not required, and the d-axis current is 0.

[0136] It should be noted that the order of S202-2A and S202-2B is not limited in the embodiments of this application.

[0137] exist Figure 2 Based on the above, regarding the content in S103, how to heat the power requirement level, this application embodiment also provides a possible implementation method, please refer to... Figure 6 S103 includes S103-1 and S103-2, which are described in detail below.

[0138] S103-1, The control unit compares the current ambient temperature with the preset temperature threshold for the second type of magnitude relationship.

[0139] Optionally, there can be multiple preset temperature thresholds. For example, the preset temperature thresholds may include a first temperature threshold, a second temperature threshold, and a third temperature threshold. The second type of magnitude relationship may include the magnitude relationship between the current ambient temperature and each preset temperature threshold, as detailed below.

[0140] S103-2, the control unit determines the heating power requirement level based on the second type of size relationship and the icing state of the radar system's window mirror.

[0141] It should be understood that when the range of the current ambient temperature can be determined based on the second type of size relationship, the heating power requirement level can be determined by combining the icing state of the radar system's window mirror.

[0142] Optionally, the preset temperature thresholds include a first temperature threshold, a second temperature threshold, and a third temperature threshold, and the icing state of the window mirror includes an uniced state and an iced state. Figure 6 Based on the above, this application also provides an optional implementation method for the content in S103-2. Please refer to [link / reference]. Figure 7 S103-2 includes: S103-2A, S103-2B, S103-2C and S103-2D, which are described in detail below.

[0143] S103-2A, when the current ambient temperature is less than the first temperature threshold or the window mirror is frozen, the control unit determines the heating power demand level to be the first level.

[0144] Optionally, the first temperature threshold is, for example, -40°C, and the first level is, for example, 100%.

[0145] S103-2B, when the window mirror is not icy and the current ambient temperature is greater than the first temperature threshold but less than the second temperature threshold, the control unit determines the heating power demand level to be the second level.

[0146] Optionally, the second temperature threshold is, for example, -20°C, and the second level is, for example, 50-100%.

[0147] S103-2C, when the window mirror is not icy and the current ambient temperature is greater than the second temperature threshold but less than the third temperature threshold, the control unit determines the heating power demand level to be the third level.

[0148] Optionally, the third temperature threshold is, for example, 10°C, and the third level is, for example, 0-50%.

[0149] S103-2D, the control unit determines the heating power demand level as level four when the window mirror is not icy and the current ambient temperature is greater than the third temperature threshold. The heating demand value corresponding to level four is 0.

[0150] Once the radar is started, the heating power requirement level should be set to 0% if it is not needed.

[0151] Among them, the heating demand values ​​corresponding to the first level, the second level and the third level decrease sequentially and are all greater than 0.

[0152] Optionally, if the ambient temperature is below the minimum operating temperature of the radar system (-40℃) or if the window mirror is icy, the heating power requirement level is high (100%); if the window mirror is not icy and the ambient temperature is between -40℃ and -20℃, the heating power requirement level is medium (50% to 100%); if the window mirror is not icy and the ambient temperature is between -20℃ and 10℃, the heating power requirement level is low (0% to 50%).

[0153] It should be noted that the order of S103-2A, S103-2B, S103-2C and S103-2D is not limited in the embodiments of this application.

[0154] exist Figure 2 Based on this, regarding how the control unit obtains the current ambient temperature and the icing state of the window mirror, this application embodiment also provides a possible implementation method, please refer to... Figure 8 Prior to S103, the self-heating methods for radar systems also included S101 and S102, which are described in detail below.

[0155] S101, the control unit receives the current ambient temperature collected by the temperature sensor.

[0156] S102, the control unit obtains the icing status of the window mirror based on the window mirror image collected by the image sensor.

[0157] Optionally, the control unit 10 can perform image analysis based on the window mirror image to determine whether the window mirror is icy, thereby determining the icing state of the window mirror.

[0158] Optionally, the motion power demand levels include prism motion power demand levels and / or galvanometer motion power demand levels. Figure 2 Based on this, for the content in S201, this application embodiment also provides a possible implementation method, please refer to... Figure 9 S201 includes S201-1 and S201-2, which are described in detail below.

[0159] S201-1, the motor controller determines the first control demand voltage output by the prism speed control loop based on the current speed of the prism and the target speed of the prism.

[0160] S201-2, the motor controller determines the prism motion power requirement level based on the first control requirement voltage and the rated drive voltage of the prism system.

[0161] Optionally, the prism motion power requirement level = control requirement voltage output by the prism speed control loop / maximum drive voltage of the prism system.

[0162] Optionally, the motion power demand levels include prism motion power demand levels and / or galvanometer motion power demand levels. Figure 2 Based on this, for the content in S201, this application embodiment also provides a possible implementation method, please refer to... Figure 10 S201 includes S201-3 and S201-4, which are described in detail below.

[0163] S201-3, the motor controller determines the second control demand voltage output by the galvanometer position and speed control loop based on the current speed of the galvanometer, the current position of the galvanometer, and the target position of the galvanometer.

[0164] S201-4, the motor controller determines the galvanometer motion power requirement level based on the second control requirement voltage and the rated drive voltage of the galvanometer system.

[0165] Optionally, the galvanometer motion power requirement level = control requirement voltage output by the galvanometer position and speed control loop / maximum drive voltage of the galvanometer system.

[0166] It should be noted that S201-1, S201-2 and S201-3, S201-4 are independent and can be executed simultaneously, or only one group of them can be executed; no restrictions are imposed here.

[0167] Optionally, the radar system also includes a heat-conducting component disposed between the stator housing and the window mirror of the radar system.

[0168] Optionally, the heat-conducting element can be a copper strip, used to quickly conduct heat from the stator housing to the window mirror fixing structure that needs to be heated, so as to complete the heating.

[0169] The self-heating method for radar systems provided in this application can achieve efficient heating of lidar, enabling rapid start-up under low-temperature conditions and window mirror heating in rain, fog, and frost environments. Heat is generated through the control of the radar motor system, eliminating the need for additional window mirror heating wires and avoiding field-of-view obstruction issues; no additional circuitry is required, resulting in no increase in cost or size.

[0170] This application also provides a terminal device, which includes the radar system described above. The terminal device can be a vehicle, a drone, or a ship, etc.

[0171] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

[0172] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this application. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A self-heating method for a radar system, characterized in that, Applied to a radar system, the radar system including a control unit and a motor controller, the method includes: The control unit determines the heating power requirement level based on the current ambient temperature and the icing status of the radar system's window mirrors. The control unit transmits the heating power demand level and motor control demand parameters to the motor controller, wherein the motor control demand parameters include the prism target rotation speed and / or the galvanometer target position; The motor controller determines the motion power demand level based on the target rotational speed of the prism and / or the target position of the galvanometer. The motor controller determines the target current of the motor's q-axis and d-axis based on the heating power demand level, the motion power demand level, and the motor's rated operating current. The motor controller controls the motor to operate according to the target current of the q-axis and the target current of the d-axis.

2. The self-heating method for a radar system as described in claim 1, characterized in that, The steps by which the motor controller determines the target q-axis current and target d-axis current of the motor based on the heating power demand level, the motion power demand level, and the rated operating current of the motor include: The motor controller compares the heating power demand level with the motion power demand level in a first-type relationship. The motor controller determines the target current of the motor's q-axis and d-axis based on the first type of size relationship, the preset heating power requirement level and current value correspondence, and the rated operating current of the motor.

3. The self-heating method for a radar system as described in claim 2, characterized in that, The steps by which the motor controller determines the target q-axis current and target d-axis current of the motor based on the first type of size relationship, the preset heating power demand level and current value correspondence, and the rated operating current of the motor include: When the heating power demand level is greater than the motion power demand level, the motor controller determines the d-axis target current as the first current value and the q-axis target current as the second current value based on the preset correspondence between the heating power demand level and the current value. Wherein, the second current value is less than the first current value, and the first current value is less than or equal to the rated current; When the heating power demand level is less than or equal to the motion power demand level, the motor controller determines the d-axis target current as the third current value and the q-axis target current as the fourth current value based on the preset correspondence between the heating power demand level and the current value and the rated operating current of the motor. The third current value is positively correlated with the heating power requirement level and is less than the rated current, and the fourth current value is less than or equal to the difference between the rated current and the third current value.

4. The self-heating method for a radar system as described in claim 1, characterized in that, The step of the control unit determining the heating power demand level based on the current ambient temperature and the icing status of the radar system's window mirror includes: The control unit compares the current ambient temperature with a preset temperature threshold in a second type of magnitude relationship. The control unit determines the heating power requirement level based on the second type of size relationship and the icing state of the radar system's window mirror.

5. The self-heating method for a radar system as described in claim 4, characterized in that, The preset temperature threshold includes a first temperature threshold, a second temperature threshold, and a third temperature threshold. The icing state of the window mirror includes an uniced state and an iced state. The step of the control unit determining the heating power requirement level based on the second type of size relationship and the icing state of the window mirror of the radar system includes: When the current ambient temperature is less than a first temperature threshold or the window mirror is frozen, the control unit determines that the heating power demand level is the first level. When the window mirror is not icy and the current ambient temperature is greater than the first temperature threshold and less than the second temperature threshold, the control unit determines the heating power demand level to be the second level. When the window mirror is not icy and the current ambient temperature is greater than the second temperature threshold but less than the third temperature threshold, the control unit determines the heating power demand level to be the third level. The control unit determines the heating power demand level as the fourth level when the window mirror is not frozen and the current ambient temperature is greater than the third temperature threshold. The heating demand value corresponding to the fourth level is 0. The heating requirements for the first level, the second level, and the third level decrease sequentially.

6. The self-heating method for a radar system as described in claim 1, characterized in that, The radar system also includes a temperature sensor and an image sensor. Before the control unit determines the heating power demand level based on the current ambient temperature and the icing status of the radar system's window mirror, the method further includes: The control unit receives the current ambient temperature collected by the temperature sensor; The control unit obtains the icing state of the window mirror based on the window mirror image collected by the image sensor.

7. The self-heating method for a radar system as described in claim 1, characterized in that, The motion power demand level includes the prism motion power demand level and / or the galvanometer motion power demand level. The step of the motor controller determining the motion power demand level based on the prism target rotational speed and / or the galvanometer target position includes: The motor controller determines the first control demand voltage output by the prism speed control loop based on the current rotation speed of the prism and the target rotation speed of the prism. The motor controller determines the prism motion power requirement level based on the first control requirement voltage and the rated drive voltage of the prism system.

8. The self-heating method for a radar system as described in claim 1, characterized in that, The motion power demand level includes the prism motion power demand level and / or the galvanometer motion power demand level. The step of the motor controller determining the motion power demand level based on the prism target rotational speed and / or the galvanometer target position includes: The motor controller determines the second control demand voltage output by the galvanometer position and speed control loop based on the current rotational speed of the galvanometer, the current position of the galvanometer, and the target position of the galvanometer. The motor controller determines the galvanometer motion power requirement level based on the second control requirement voltage and the rated drive voltage of the galvanometer system.

9. The self-heating method for a radar system as described in claim 1, characterized in that, The radar system also includes a heat-conducting component, which is disposed between the stator housing of the radar system and the window mirror.

10. A radar system, characterized in that, The radar system includes a control unit and a motor controller; The control unit is used to determine the heating power requirement level based on the current ambient temperature and the icing status of the window mirror of the radar system. The control unit is used to transmit the heating power demand level and motor control demand parameters to the motor controller, wherein the motor control demand parameters include the prism target rotation speed and / or the galvanometer target position; The motor controller is used to determine the motion power demand level based on the target rotational speed of the prism and / or the target position of the galvanometer; The motor controller is used to determine the target current of the motor's q-axis and d-axis based on the heating power demand level, the motion power demand level, and the motor's rated operating current. The motor controller is used to control the motor operation according to the target current of the q-axis and the target current of the d-axis.

11. The radar system as claimed in claim 10, characterized in that, The motor controller is also used to compare the first type of magnitude relationship between the heating power demand level and the motion power demand level; The motor controller is also used to determine the target current of the motor's q-axis and d-axis based on the first type of size relationship, the preset heating power demand level and current value correspondence, and the rated operating current of the motor.

12. The radar system as claimed in claim 10, characterized in that, The control unit is also used to compare the current ambient temperature with a preset temperature threshold in a second type of magnitude relationship. The control unit is also used to determine the heating power requirement level based on the second type of size relationship and the icing state of the window mirror of the radar system.

13. A terminal device, characterized in that, The terminal device includes the radar system according to any one of claims 10-12.

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