Method, apparatus, device and storage medium for controlling radar synchronization

Abstract

The embodiment of the present disclosure relates to the technical field of controlling radar synchronization, and provides a method, device, equipment and storage medium for controlling radar synchronization. The method is executed by a radar, and the method comprises the following steps: obtaining message information of a reference clock signal from a network node; based on the reference clock signal indicated by the message information, a target clock signal is generated by frequency division in a feedback adjustment manner through a feedback parameter; wherein the feedback parameter comprises a static parameter and / or a dynamic parameter; the static parameter is a parameter determined according to the frequency of the target clock signal generated by frequency division; the dynamic parameter is a parameter determined according to the frequency of a control signal used for controlling radar synchronization; and a plurality of radars are controlled to be synchronized based on a control signal determined based on the target clock signal. In the embodiment of the present disclosure, the occupation of network resources can be reduced, hardware resources can be saved, and signal crosstalk between different radars can be reduced through accurate synchronization.

Description

Technical Field

[0001] This invention relates to the technical field of radar synchronization control, and more particularly to a method, apparatus, device, and storage medium for controlling radar synchronization. Background Technology

[0002] Autonomous vehicles or electric vehicles often require the deployment of multiple radars, each positioned at different angles to detect different areas. In these applications, asynchrony between the radars can lead to signal crosstalk, introducing noise into the resulting 3D point cloud and reducing the reliability of data fusion between multiple radars.

[0003] In related technologies, radar synchronization requires new hardware communication media or consumes a large amount of network bandwidth, resulting in high costs and low synchronization accuracy. Summary of the Invention

[0004] This invention provides a method, apparatus, device, and storage medium for controlling radar synchronization.

[0005] A first aspect of this disclosure provides a method for controlling radar synchronization, the method being executed by a radar, the method comprising:

[0006] Message information for obtaining the reference clock signal from network nodes;

[0007] Based on the reference clock signal indicated by the message information, a target clock signal is generated by frequency division using a feedback adjustment method through feedback parameters; wherein, the feedback parameters include: static parameters and / or dynamic parameters; the static parameters are parameters determined according to the frequency of the target clock signal generated by frequency division; the dynamic parameters are parameters determined according to the frequency of the control signal used to control radar synchronization;

[0008] Based on the control signal determined by the target clock signal, multiple radars are synchronized.

[0009] In one embodiment, the message information for obtaining the reference clock signal from the network node includes:

[0010] The reference clock signal is obtained from the network node based on the high-precision time synchronization protocol PTP.

[0011] In one embodiment, the method further includes:

[0012] The reference clock signal is calibrated based on the duration of transmitting the message information to obtain the calibrated reference clock signal.

[0013] In one embodiment, the method further includes:

[0014] Based on the time delay requirements of the radar operation, the reference clock signal is adjusted in the time domain to obtain the adjusted reference clock signal.

[0015] In one embodiment, the method of generating the target clock signal by frequency division through feedback adjustment via feedback parameters includes:

[0016] The target clock signal is generated by frequency division using a periodic frequency control word determined according to the feedback parameters.

[0017] In one embodiment, the method further includes:

[0018] The periodic frequency control word is determined based on the first quantity and / or the second quantity;

[0019] Wherein, the first quantity is the number of pulses of the generated target clock signal acquired per unit time; the second quantity is the number of pulses of the control signal used for the synchronization of the control radar acquired per unit time; wherein, the unit time is the clock period determined according to the reference clock signal.

[0020] In one embodiment, determining the periodic frequency control word based on a first quantity and / or a second quantity includes:

[0021] If the first quantity is less than the first reference quantity, the value of the periodic frequency control word is increased by a first predetermined value;

[0022] And / or,

[0023] If the first quantity is greater than the first reference quantity, the value of the periodic frequency control word is reduced by a first predetermined value; wherein the first predetermined value is determined based on the difference between the first quantity and the first reference quantity and the frequency control factor.

[0024] And / or,

[0025] If the second quantity is less than the second reference quantity, the value of the periodic frequency control word is increased by a second predetermined value;

[0026] And / or,

[0027] If the second quantity is greater than the second reference quantity, the value of the periodic frequency control word is reduced by a second predetermined value;

[0028] The second predetermined value is determined based on the difference between the second quantity and the second reference quantity and a frequency control factor.

[0029] A second aspect of this disclosure provides an apparatus for controlling radar synchronization, the apparatus comprising:

[0030] The acquisition module is used to obtain message information of the reference clock signal from the network node;

[0031] The generation module is configured to: generate a target clock signal by frequency division based on the reference clock signal indicated by the message information, using a feedback adjustment method through feedback parameters; wherein the feedback parameters include: static parameters and / or dynamic parameters; the static parameters are parameters determined according to the frequency of the target clock signal generated by frequency division; the dynamic parameters are parameters determined according to the frequency of the control signal used to control radar synchronization;

[0032] The control module is used to control the synchronization of multiple radars based on a control signal determined by the target clock signal.

[0033] A third aspect of this disclosure provides an apparatus for controlling radar synchronization, comprising:

[0034] Memory, which stores computer-executable instructions;

[0035] A processor, connected to the memory, is configured to implement the method for controlling radar synchronization provided by any of the first aspects by executing the computer-executable instructions.

[0036] A fourth aspect of this disclosure provides a computer storage medium storing computer-executable instructions; when executed by a processor, the computer-executable instructions can implement a method for controlling radar synchronization as provided in any of the solutions of the first aspect.

[0037] The beneficial effects of the technical solution provided in this disclosure compared with the prior art are as follows:

[0038] The reference clock signal is obtained directly from the network node. Compared to the method of controlling a slave radar from a master radar, which requires frequent transmission of synchronization radar information or hardware configuration between the master and slave radars, this reduces the consumption of network and hardware resources. Based on the reference clock signal, a target clock signal is generated by frequency division using feedback parameters. These feedback parameters include static and / or dynamic parameters. The static parameters are determined based on the frequency of the target clock signal generated by frequency division. The dynamic parameters are determined based on the frequency of the control signal used to control radar synchronization. Thus, automatic feedback control of the target clock signal can be performed based on the dynamic and static parameters, allowing the generated target clock signal to adapt to different radar operating conditions and improving radar synchronization accuracy. The control signal determined based on the target clock signal controls radar synchronization. Therefore, in this embodiment, the consumption of network resources is reduced, hardware resources are saved, and signal crosstalk between different radars is reduced through precise radar synchronization control. Attached Figure Description

[0039] Figure 1 This is a flowchart illustrating a method for controlling radar synchronization provided in an embodiment of the present invention;

[0040] Figure 2 This is a schematic diagram of the structure of a radar system provided in an embodiment of the present invention.

[0041] Figure 3 This is a schematic diagram of the structure of a radar provided in an embodiment of the present invention.

[0042] Figure 4 This is a flowchart illustrating a method for controlling radar synchronization provided in an embodiment of the present invention.

[0043] Figure 5 This is a flowchart illustrating a method for controlling radar synchronization provided in an embodiment of the present invention.

[0044] Figure 6 This is a flowchart illustrating a method for controlling radar synchronization provided in an embodiment of the present invention.

[0045] Figure 7 This is a flowchart illustrating a method for controlling radar synchronization provided in an embodiment of the present invention.

[0046] Figure 8 This is a flowchart illustrating a method for controlling radar synchronization provided in an embodiment of the present invention.

[0047] Figure 9 This is a flowchart illustrating a method for controlling radar synchronization provided in an embodiment of the present invention.

[0048] Figure 10 This is a flowchart illustrating a method for controlling radar synchronization provided in an embodiment of the present invention.

[0049] Figure 11 This is a schematic diagram of a signal pulse counting method for controlling radar synchronization provided in an embodiment of the present invention.

[0050] Figure 12 This is a schematic diagram of a signal pulse counting method for controlling radar synchronization provided in an embodiment of the present invention.

[0051] Figure 13 This is a schematic diagram of a device for controlling radar synchronization provided in an embodiment of the present invention. Detailed Implementation

[0052] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of the invention. However, those skilled in the art will understand that the invention can be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods are omitted so as not to obscure the description of the invention with unnecessary detail.

[0053] To illustrate the technical solution described in this invention, specific embodiments are described below.

[0054] like Figure 1 As shown, this disclosure provides a method for controlling radar synchronization, the method being executed by the radar, including:

[0055] Step S110: Obtain message information indicating the reference clock signal from the network node;

[0056] Step S120: Based on the reference clock signal indicated by the message information, a target clock signal is generated by frequency division using a feedback adjustment method through feedback parameters; wherein, the feedback parameters include: static parameters and / or dynamic parameters; the static parameters are parameters determined according to the frequency of the target clock signal generated by frequency division; the dynamic parameters are parameters determined according to the frequency of the control signal used to control radar synchronization;

[0057] Step S130: Based on the control signal determined by the target clock signal, control the synchronization of multiple radars.

[0058] The method for controlling radar synchronization disclosed herein can be applied to radar and / or radar systems comprising multiple radars.

[0059] In one embodiment, the radar involved in this disclosure can be a LiDAR (Light Detection and Ranging) system. In one embodiment, the LiDAR can use an infrared laser as the emission source, emitting a laser beam in a certain direction around the LiDAR. When the laser beam encounters an object, it undergoes diffuse reflection, and part of the scattered laser light returns to the laser receiving system. The scanning period of the laser beam can be controlled by a clock signal. The radar can calculate the distance to the object being measured based on the time interval between transmitting and receiving the laser. The ranging period can also be controlled by a clock signal. It should be noted that the radar can also be other types of radar implemented using optical principles, and this disclosure does not limit its application.

[0060] In one embodiment, see Figure 2 This diagram illustrates how a radar obtains message information indicating a reference clock signal from a network node. The network can be an Ethernet network; the network node can be a functional node within the network. For example, the network node can be a Precision Time Protocol (PTP) switch; the radar includes radar 1, radar 2, and radar 3; and the radar and the PTP switch can interact based on PTP. In one embodiment, the PTP switch is the master controlling radar synchronization, and radar 1, radar 2, and radar 3 are slaves controlling radar synchronization. The slaves can obtain message information indicating the reference clock signal from the master.

[0061] It should be noted that the embodiments disclosed herein can be applied to any radar. For one embodiment, please refer to... Figure 3 The radar may include at least one of the following modules: a PTP module, a bias control module, a direct digital synthesizer (DDS) control module, a natural frequency statistics module, an enable generation module, a laser scanning control module, and a ranging module. Specifically, the PTP module is used for receiving PTP messages and / or clock calibration; the bias control module is used for adjusting the delay of the clock signal; the DDS control module is used to generate a clock signal with a higher frequency than the reference clock signal through frequency division, but is not limited to generating only a clock signal with a higher frequency than the reference clock signal; the natural frequency statistics module is used for parameter acquisition and processing for feedback adjustment; the enable generation module is used to generate an enable signal for controlling radar synchronization (it should be noted that the enable generation module is not limited to generating only an enable signal for controlling radar synchronization); the laser scanning module is used to control laser scanning; and the ranging module is used to control laser ranging.

[0062] In one embodiment, when multiple radars are activated, their detection angles can be initialized to prevent overlap of their fields of view, thereby reducing crosstalk between the radars during initialization. For example, in a 360-degree direction of an autonomous vehicle, six radars are set. When the radars are activated, their detection angles are set to initial angles of 0 degrees, 60 degrees, 120 degrees, 180 degrees, 240 degrees, and 300 degrees, respectively. In one embodiment, the initial detection angle can be a corresponding initial angle. For example, the range of change for the detection angle of each radar can be 60 degrees, such as 0 to 60 degrees, 60 to 120 degrees, and 120 to 180 degrees. The radar detection angle can vary within the corresponding range. It should be noted that the radar detection angle can be the angle of radar rotation or the angle corresponding to the scanning coverage area of ​​the radar scan, and is not limited in this disclosure.

[0063] In one embodiment, a message indicating a reference clock signal is received from a network node; the reference clock signal is determined based on the message; a target clock signal is generated by frequency division based on the reference clock signal using feedback adjustment through feedback parameters; and the radar synchronization is controlled based on a control signal determined by the target clock signal. For example, the reference clock signal may be a 0.5Hz pulse signal, and the target clock signal may be a 20MHz pulse signal. However, this disclosure does not specifically limit the parameters (including frequency and phase, etc.) of the reference clock signal and the target clock signal. Within the scope of this disclosure, the parameters of the reference clock signal and the target clock signal can be set according to the specific application scenario of the radar.

[0064] In one embodiment, a message information indicating a reference clock signal sent by a network node is received; wherein the message information includes frequency, phase, and duty cycle parameters of the reference clock signal; the frequency, phase, and duty cycle parameters of the reference clock signal are determined according to the message information; the reference clock signal is generated based on the frequency, phase, and duty cycle parameters of the reference clock signal; a target clock signal is generated by frequency division based on the reference clock signal using feedback adjustment through feedback parameters; and the radar synchronization is controlled based on a control signal determined by the target clock signal. For example, the reference clock signal may be a pulse signal with a frequency of 0.5 Hz and a duty cycle of 50% generated by a predetermined bit of a counter generated in the radar.

[0065] It should be noted that the message information in the above embodiments may also include source difference information, wherein the source difference information is at least used to indicate the data transmission delay (duration of transmitting message information) between the network node (e.g., PTP switch) and the radar. After receiving the message information, the radar can calibrate the parameters such as the frequency, phase, and / or duty cycle of the reference clock signal indicated by the source difference information (e.g., frequency, phase, and / or duty cycle parameters of the reference clock signal) to obtain calibrated parameters. For example, the reference clock signal may be a pulse signal with a frequency and duty cycle corresponding to the calibrated parameters, generated by a predetermined bit of a counter generated in the radar based on the calibrated parameters.

[0066] In one embodiment, a message information indicating a reference clock signal sent by a network node is received; the reference clock signal is determined based on the message information; the reference clock signal is delayed based on a predetermined delay time, wherein the predetermined delay time can indicate the time delay requirements for radar operation; a target clock signal is generated by frequency division based on the delayed reference clock signal using a feedback adjustment method through feedback parameters; and the radar is synchronized based on a control signal determined by the target clock signal.

[0067] In one embodiment, the predetermined delay time can be determined based on the time difference between the radar's start-up time and a reference time. For example, an autonomous vehicle includes a first radar located in front of the vehicle and a second radar located behind the vehicle. The first radar needs to start t seconds later than the second radar, meaning the first radar needs to start t seconds after the second radar starts (assuming the second radar's start-up time is the reference time, and the first and second radars are controlled by the same clock signal). Therefore, the predetermined delay time can be set to t seconds. In one embodiment, the predetermined delay time is determined to be greater than a delay time threshold in response to the time difference between the radar's start-up time and the reference time being greater than a duration threshold; or, the predetermined delay time is determined to be less than a delay time threshold in response to the time difference between the radar's start-up time and the reference time being less than a duration threshold. This allows the predetermined delay time to adapt to the time difference between the radar and the reference time. It should be noted that the reference time can be determined based on various processing times in a specific application scenario and is not limited to the radar's start-up time.

[0068] It should be noted that in related technologies, due to the influence of accidental factors such as device noise and external environment, the actual target clock signal generated based on the reference clock signal may not be the desired target clock signal. There will be an error between the actual target clock signal and the desired target clock signal. This embodiment employs automatic control for feedback adjustment to reduce this error by adjusting the generated actual target clock signal.

[0069] In one embodiment, the static parameter can be a parameter determined based on the actual frequency of the target clock signal generated by the DDS control module through frequency division. For example, the frequency of the actual generated target clock signal can be determined by counting the number of pulses of the generated target clock signal per unit time using an inherent frequency statistics module. It should be noted that the frequency of the obtained actual generated target clock signal may be greater than or less than the expected target clock signal frequency. For instance, if the unit time is 1 second, the expected target clock signal frequency is 20MHz, and the counted number of pulses of the target clock signal actually generated by the DDS control module is 19,999,990 pulses within 1 second (each pulse can correspond to one clock cycle), then the expected target clock signal frequency is less than the actual generated target clock signal frequency.

[0070] In one embodiment, the static parameters can be determined based on the difference between the frequency of the statistically generated target clock signal and the reference frequency. For example, when the desired target clock signal is 20MHz, the reference frequency can be set to 20MHz. Alternatively, the reference frequency can be set to x, where x = 20MHz ± y, and y can be an allowable fluctuation error. It should be noted that since the number of pulses in the statistically generated target clock signal corresponds to the frequency of the statistically generated target clock signal, the static parameters can also be determined directly based on the difference between the number of pulses in the statistically generated target clock signal and the reference number. For example, when the desired target clock signal is 20MHz, the reference number can be set to 20,000,000. Alternatively, the reference number can be set to x, where x = 20,000,000 ± y, and y can be an allowable fluctuation error. This disclosure does not impose specific limitations on the above implementation methods.

[0071] In one embodiment, the fluctuation error of the reference frequency or the reference quantity can be determined based on the required accuracy of the radar. For example, when the required accuracy is greater than an accuracy threshold, the fluctuation error is determined to be less than an error threshold; or, when the required accuracy is less than an accuracy threshold, the fluctuation error is determined to be greater than an error threshold. In this way, the fluctuation error can be adapted to the required accuracy.

[0072] In one embodiment, the desired target clock signal is 20MHz, and the desired number of reference clocks generated within one second is 20,000,000. The actual number of clock cycles of the target clock signal generated within a whole second is counted, and a parameter `clk_num_adjust_inherent` is generated based on this actual number of clock cycles. When the actual number of clock cycles is greater than 20MHz, the generated parameter `clk_num_adjust_inherent` is a negative value, which controls the frequency control word to be smaller; when the number of clock cycles is less than 20MHz, the generated parameter `clk_num_adjust_inherent` is a positive value, which controls the frequency control word to be larger. Here, the frequency control word can adjust the frequency of the target clock signal generated by frequency division. Of course, the above example of 20MHz is merely for illustrative purposes and does not limit the scope of the embodiments disclosed herein.

[0073] In one embodiment, the dynamic parameters may be parameters determined based on the frequency of the control signal used to control radar synchronization. Here, the control signal for controlling radar synchronization may be a target clock signal received by the enable generation module, a scan enable signal determined based on the received target clock signal, and a ranging enable signal determined based on the received target clock signal, etc. These signals are used to directly drive radar operation and are not limited in this disclosure.

[0074] For example, the frequency of the control signal can be determined by counting the number of pulses of the generated control signal per unit time using the enabled generation module. For example, the control signal is generated based on a received target clock signal. It should be noted that the actual frequency of the generated control signal may be greater than the expected frequency, or vice versa.

[0075] For example, if the unit time is 1 second and the desired frequency of the control signal is 10MHz, the actual number of pulses of the generated control signal is 9,999,990 pulses within 1 second (each pulse can correspond to one clock cycle), which means the corresponding frequency is less than 10MHz.

[0076] In one embodiment, the dynamic parameter can be determined based on the difference between the frequency of the statistically generated control signal and a reference frequency. For example, when the desired control signal is 10MHz, the reference frequency can be set to 10MHz. Alternatively, the reference frequency can be set to x, where x = 10MHz ± y, and y can be an allowable fluctuation error. It should be noted that since the number of pulses in the statistically generated control signal corresponds to the frequency of the actual generated control signal, the dynamic parameter can also be determined directly based on the difference between the number of pulses in the statistically generated control signal and the reference number. For example, when the desired control signal is 10MHz, the reference number can be set to 10,000,000. Alternatively, the reference number can be set to x, where x = 10,000,000 ± y, and y can be an allowable fluctuation error. This disclosure does not impose specific limitations on the above implementation methods.

[0077] In one embodiment, the fluctuation error of the reference frequency or the reference quantity may be determined based on the required accuracy of the radar. For example, when the required accuracy is greater than an accuracy threshold, the fluctuation error is determined to be less than an error threshold; or, when the required accuracy is less than an accuracy threshold, the fluctuation error is determined to be greater than an error threshold. In this way, the fluctuation error can be adapted to the required accuracy.

[0078] In one embodiment, the desired control signal is 10MHz, and the desired number of reference clocks generated within one second is 10,000,000. The actual number of clock cycles of the 10MHz control signal generated within a whole second is counted, and the parameter `clk_num_adjust_dynamic` is generated based on this actual number of clock cycles. When the actual number of clock cycles is greater than 10MHz, the generated parameter `clk_num_adjust_dynamic` is a negative value, which controls the frequency control word to be smaller; when the number of clock cycles is less than 10MHz, the generated parameter `clk_num_adjust_dynamic` is a positive value, which controls the frequency control word to be larger. Here, the frequency control word can adjust the frequency of the target clock signal generated by frequency division. After the target clock signal generated by frequency division changes, the actually generated control signal will also change accordingly.

[0079] It should be noted that in some embodiments, after adjusting the frequency of the target clock signal, the phase of the target clock signal will also change adaptively with the frequency, and the radar can also adjust the phase of the target clock signal synchronously with the frequency adjustment.

[0080] In one embodiment, message information indicating a reference clock signal is obtained from a network node; based on the reference clock signal indicated by the message information, a target clock signal is generated by frequency division using feedback adjustment through feedback parameters; wherein, the feedback parameters include static parameters and dynamic parameters; and based on a control signal determined by the target clock signal, multiple radars are controlled to synchronize. Since the target clock signal can be simultaneously adjusted using both static and dynamic parameters, the obtained target clock signal is more accurate, and the adjustment efficiency is higher.

[0081] In this embodiment, a reference clock signal is obtained from a network node. Since the reference clock signal is directly obtained from the network node, compared to the method of controlling a slave radar based on a master radar, which requires frequent transmission of synchronization radar information or hardware configuration between the master and slave radars, this reduces the consumption of network and hardware resources. Based on the reference clock signal, a target clock signal is generated by frequency division using feedback adjustment through feedback parameters. The feedback parameters include static parameters and / or dynamic parameters. The static parameters are determined based on the frequency of the target clock signal generated by frequency division; the dynamic parameters are determined based on the frequency of the control signal used to control radar synchronization. Thus, automatic feedback control of the target clock signal can be performed based on the dynamic and static parameters, allowing the generated target clock signal to adapt to different radar operating conditions and improving radar synchronization accuracy. The control signal determined based on the target clock signal controls radar synchronization. Therefore, in this embodiment, the consumption of network resources is reduced, hardware resources are saved, and signal crosstalk between different radars is reduced through precise control of radar synchronization.

[0082] In one embodiment, see Figure 4 Step S110 includes:

[0083] Step S410: Based on the High Precision Time Synchronization Protocol (PTP), obtain the message information of the reference clock signal from the network node.

[0084] In one embodiment, the reference clock signal can be periodically retrieved from a network node based on a High Precision Time Synchronization Protocol (PTP). It should be noted that the network node can be a functional node in a wireless communication network and / or a wired communication network, such as a switching device.

[0085] In one embodiment, in response to radar activation, message information of the reference clock signal is obtained from a network node based on PTP; based on the reference clock signal indicated by the message information, a target clock signal is generated by frequency division using feedback adjustment through feedback parameters; and a control signal determined based on the target clock signal is used to control the synchronization of multiple radars. Thus, synchronization between radars can be performed promptly using the scheme disclosed herein.

[0086] In one embodiment, in response to determining that the radar noise is greater than a noise threshold, message information of the reference clock signal is obtained from the network node based on PTP; based on the reference clock signal indicated by the message information, a target clock signal is generated by frequency division using a feedback adjustment method through feedback parameters; and based on a control signal determined by the target clock signal, multiple radars are controlled to synchronize. In this way, synchronization between radars can be performed promptly using the scheme of this disclosure, reducing crosstalk and thus reducing noise interference.

[0087] In one embodiment, in response to determining that the area occupied by noise points in the three-dimensional point cloud map of the radar is greater than an area threshold, message information of the reference clock signal is obtained from the network node based on PTP; based on the reference clock signal indicated by the message information, a target clock signal is generated by frequency division using a feedback adjustment method through feedback parameters; and based on a control signal determined by the target clock signal, multiple radars are controlled to synchronize. In this way, synchronization between radars can be performed in a timely manner using the scheme of this disclosure, reducing crosstalk and thus reducing noise interference.

[0088] In one embodiment, the noise threshold and / or the area threshold can be determined based on the required accuracy of radar synchronization. For example, if the required accuracy is greater than the accuracy threshold, the noise threshold is determined to be less than a predetermined value; or, if the required accuracy is less than the accuracy threshold, the noise threshold is determined to be greater than the predetermined value. Similarly, if the required accuracy is greater than the accuracy threshold, the area threshold is determined to be less than the predetermined value; or, if the required accuracy is less than the accuracy threshold, the area threshold is determined to be greater than the predetermined value.

[0089] In one embodiment, in response to receiving a user's instruction, message information of the reference clock signal is obtained from a network node based on PTP; based on the reference clock signal indicated by the message information, a target clock signal is generated by frequency division using feedback adjustment through feedback parameters; and a control signal determined based on the target clock signal is used to control the synchronization of multiple radars. Thus, synchronization between radars can be performed promptly based on user needs using the scheme disclosed herein.

[0090] In one embodiment, the reference clock signal can be periodically acquired from network nodes based on PTP (Presentation Point Response); based on the reference clock signal indicated by the periodically acquired message information, a target clock signal is generated by frequency division using feedback adjustment through feedback parameters; and a control signal determined based on the target clock signal is used to control the synchronization of multiple radars. In this way, the synchronization between radars can be performed periodically using the scheme of this disclosure, resulting in better synchronization performance. It should be noted that the radar synchronization control method of this disclosure can be applied to the entire radar operation cycle after startup.

[0091] In one embodiment, see Figure 5 The method further includes:

[0092] Step S510: Calibrate the reference clock signal based on the duration of transmitting the message information to obtain the calibrated reference clock signal.

[0093] In one embodiment, a message information indicating a reference clock signal is obtained from a network node; wherein the message information carries the duration of transmitting the message information; the reference clock signal is calibrated based on the duration of transmitting the message information to obtain a calibrated reference clock signal; based on the calibrated reference clock signal, a target clock signal is generated by frequency division using a feedback adjustment method through feedback parameters; and a control signal determined based on the target clock signal is used to control the synchronization of multiple radars.

[0094] For example, calibrating the reference clock signal based on the duration of transmitting the message information can be achieved by shifting the reference clock signal in the time domain by a time domain length determined by the duration, thereby obtaining the calibrated reference clock signal.

[0095] It should be noted that the transmission duration of the message information can be determined based on network transmission quality. When the network quality is greater than a quality threshold, the transmission duration is less than a predetermined duration. When the network quality is less than a quality threshold, the transmission duration is greater than the predetermined duration. Network nodes can update the duration contained in the message information in real time based on network quality measurements. This allows for more accurate reference clock signals, thereby enabling better control of radar synchronization.

[0096] In one embodiment, see Figure 6 The method further includes:

[0097] Step S610: Based on the time delay requirement parameters for radar operation, adjust the reference clock signal in the time domain to obtain the adjusted reference clock signal.

[0098] In one embodiment, the delay requirement parameter is determined based on the radar's operational requirements and can be preset. For example, if the first radar and the second radar are simultaneously controlled by a target clock signal generated from the reference clock signal, and the requirement is that the first radar starts first and the second radar starts later, with a required difference 'a' between the start times of the first and second radars, then the delay requirement parameter can be preset to 'a'. The first radar can then offset the reference clock signal in the time domain by a time domain length determined by 'a' based on 'a', obtaining an adjusted reference clock signal. Thus, when the target clock signal generated from the adjusted reference clock signal controls the start of the first radar, the first radar can start only after the second radar starts within the time period corresponding to 'a'.

[0099] In one embodiment, the delay requirement parameter can be determined based on the measurement results of delay caused by random factors, which may include at least one of component noise, ambient temperature, power supply stability, etc. For example, it can be the delay measurement results from multiple radar operation tests, with the average delay of the multiple measurements determined as the set delay requirement parameter. Based on the set delay requirement parameter, the reference clock signal is adjusted in the time domain to obtain the adjusted reference clock signal. Here, since the experimental requirement parameter is determined based on actual measurement results, it is more adaptable to the radar's operating environment and can more accurately control radar synchronization.

[0100] In one embodiment, see Figure 7 The method further includes:

[0101] Step S710: Use the periodic frequency control word determined according to the feedback parameters for feedback adjustment, and divide the frequency to generate the target clock signal.

[0102] In one embodiment, the feedback parameter can be a static parameter, which can be a first difference between the frequency of the actual generated target clock signal and the reference frequency. If the first difference is greater than 0, it is determined that the value of the control cycle frequency control word indication decreases; or, if the first difference is less than 0, it is determined that the value of the control cycle frequency control word indication increases. Feedback adjustment is performed using the first difference to generate the target clock signal by frequency division. Of course, the above example of a reference frequency of 0 is merely for illustrating the embodiments of this disclosure and does not limit the scheme of the embodiments of this disclosure, and the same applies below.

[0103] In one embodiment, the feedback parameter is a static parameter, which may be a first difference between the number of pulses in the actual generated target clock signal per unit time and a reference number. For example, if the first difference is greater than 0, it is determined that the value of the period control word indicator is decreased; or, if the first difference is less than 0, it is determined that the value of the period frequency control word indicator is increased. Feedback adjustment is performed using the first difference to generate the target clock signal by frequency division.

[0104] In one embodiment, the feedback parameter is a dynamic parameter, which may be a second difference between the frequency of the actually acquired control signal and the reference frequency. For example, if the second difference is greater than 0, it is determined that the value of the periodic frequency control word indication is decreased; or, if the second difference is less than 0, it is determined that the value of the periodic frequency control word indication is increased. The second difference is used for feedback adjustment to generate the target clock signal through frequency division.

[0105] In one embodiment, the feedback parameter is a dynamic parameter, which may be a second difference between the number of pulses of the acquired control signal per unit time and a reference number. For example, if the second difference is greater than 0, it is determined that the value of the period control word indication is decreased; or, if the second difference is less than 0, it is determined that the value of the period frequency control word indication is increased. The second difference is used for feedback adjustment to generate the target clock signal through frequency division.

[0106] In one embodiment, the feedback parameter is the sum of the first difference and the second difference. If the sum of the first difference and the second difference is greater than 0, it is determined that the value of the period control word indication is decreased; or, if the sum of the first difference and the second difference is less than 0, it is determined that the value of the period control word indication is increased. The target clock signal is generated by frequency division using the sum of the first difference and the second difference for feedback adjustment.

[0107] In one embodiment, see Figure 8 The method further includes:

[0108] Step S810: Determine the periodic frequency control word based on the first quantity and / or the second quantity;

[0109] Wherein, the first quantity is the number of pulses of the generated target clock signal acquired per unit time; the second quantity is the number of pulses of the control signal used to control radar synchronization acquired per unit time; wherein, the unit time is the clock period determined according to the reference clock signal.

[0110] In one embodiment, the periodic frequency control word is determined based on a first number of target clock signal pulses actually generated per unit time; and / or, the periodic frequency control word is determined based on a second number of control signal pulses for controlling radar synchronization per unit time.

[0111] In one embodiment, the periodic frequency control word may be determined based on a first quantity and a first reference quantity. For example, a first difference between the first quantity and the reference quantity may be determined. If the first difference is greater than 0, it is determined that the value indicated by the periodic control word is decreased; or, if the first difference is less than 0, it is determined that the value indicated by the periodic frequency control word is increased. Feedback adjustment is performed using the first difference to generate the target clock signal through frequency division.

[0112] In one embodiment, the periodic frequency control word may be determined based on a second quantity and a second reference quantity. For example, a second difference between the second quantity and the reference quantity may be determined. If the second difference is greater than 0, it is determined that the value indicated by the periodic control word is decreased; or, if the second difference is less than 0, it is determined that the value indicated by the periodic frequency control word is increased. Feedback adjustment is performed using the second difference to generate the target clock signal through frequency division.

[0113] In one embodiment, the periodic frequency control word may be determined based on the first quantity, the first reference value, the second quantity, and the second reference value. For example, if the sum of the first difference and the second difference is greater than 0, it is determined that the value indicated by the periodic control word decreases; or, if the sum of the first difference and the second difference is less than 0, it is determined that the value indicated by the periodic control word increases. Feedback adjustment is performed using the sum of the first difference and the second difference to generate the target clock signal through frequency division.

[0114] In one embodiment, see Figure 9 The method further includes:

[0115] Step S910: If the first quantity is less than the first reference quantity, increase the value of the periodic frequency control word by a first predetermined value;

[0116] or,

[0117] If the first quantity is greater than the first reference quantity, the value of the periodic frequency control word is reduced by a first predetermined value; wherein the first predetermined value is determined based on the difference between the first quantity and the first reference quantity and the frequency control factor.

[0118] It should be noted that the frequency control factor is the value of the periodic frequency control word that needs to be adjusted for every 1Hz frequency adjustment. When changing the same frequency, the larger this value is, the larger the periodic frequency control word needs to be changed.

[0119] In one embodiment, if the first quantity is less than the first reference quantity, the first predetermined value is determined based on the difference between the first quantity and the first reference quantity and the frequency control factor, and the value of the periodic frequency control word before adjustment is increased by the first predetermined value to obtain the adjusted periodic frequency control word.

[0120] In one embodiment, if the first quantity is greater than the first reference quantity, the first predetermined value is determined based on the difference between the first quantity and the first reference quantity and the frequency control factor, and the value of the pre-adjustment periodic frequency control word is reduced by the first predetermined value to obtain the adjusted periodic frequency control word.

[0121] In one embodiment, the first reference number may be the expected number of pulses of the target clock signal, calculated based on the clock period of the reference clock signal. For example, if the clock period of the reference clock signal is 2 seconds (e.g., a signal with a frequency of 0.5 Hz), and the expected number of pulses of the target clock signal (e.g., a signal with a frequency of 20 MHz) is 20,000,000, then the first reference number may be 20,000,000.

[0122] It should be noted that this disclosure is not limited to determining the first reference number solely based on the expected number of pulses of the target clock signal counted from the clock cycle of the reference clock signal. It is understood that the first reference number can be set according to the specific needs of the scenario.

[0123] In one embodiment, see Figure 10 The method further includes:

[0124] Step S100: If the second quantity is less than the second reference quantity, increase the value of the periodic frequency control word by a second predetermined value;

[0125] or,

[0126] If the second quantity is greater than the second reference quantity, the value of the periodic frequency control word is reduced by a second predetermined value; wherein the second predetermined value is determined based on the difference between the second quantity and the second reference quantity and the frequency control factor.

[0127] It should be noted that the frequency control factor is the value of the periodic frequency control word that needs to be adjusted for every 1Hz frequency adjustment. When changing the same frequency, the larger this value is, the larger the periodic frequency control word needs to be changed.

[0128] In one embodiment, if the second quantity is less than the second reference quantity, the second predetermined value is determined based on the difference between the second quantity and the second reference quantity and the frequency control factor, and the value of the periodic frequency control word before adjustment is increased by the second predetermined value to obtain the adjusted periodic frequency control word.

[0129] In one embodiment, if the second quantity is greater than the second reference quantity, the second predetermined value is determined based on the difference between the second quantity and the second reference quantity and the frequency control factor, and the value of the periodic frequency control word before adjustment is reduced by the second predetermined value to obtain the adjusted periodic frequency control word.

[0130] In one embodiment, the second reference quantity may be the desired number of pulses of the target clock signal, calculated based on the clock cycle of the reference clock signal.

[0131] It should be noted that this disclosure is not limited to determining the second reference number solely based on the expected number of pulses of the target clock signal counted from the clock period of the reference clock signal. It is understood that the second reference number can be set according to the specific needs of the scenario.

[0132] To better understand the embodiments of this disclosure, the following exemplary embodiment will be used to further illustrate the technical solution of this disclosure:

[0133] First, let's explain the relevant parameters:

[0134] CLK_0p5hz_offset: This is the adjusted reference clock signal. The frequency of the reference clock signal can be 0.5Hz.

[0135] CNT adjust_inherent : This refers to the number of pulses obtained by statistically analyzing the actual generated target clock signal. The desired frequency of the generated target clock signal can be 20MHz.

[0136] CNT adjust_dynamic The CNT is the number of pulses obtained by statistically analyzing the control signal. In one embodiment, if the frequency of the target clock signal is 20MHz, the median value of 20M, 10M (when using a counter, since the counter starts counting from 0, 10M can correspond to a count value of 9999999), can be set as the CNT. adjust_dynamic The reference number, that is, the number of CNTs. adjust_dynamic The frequency control word is determined by comparing it with 9999999 (see the example below for details), which can improve adjustment efficiency. It should be noted that the reference number can be set to 10M, but is not limited to 10M, for example, 9.9M, etc.

[0137] clk_num_adjust_inherent: Adjusts the corresponding static feedback parameters for static frequency feedback. (See also:) Figure 11 , is the total number of pulses of the target clock signal (clk_20m) between adjacent CLK_0p5hz_offset edges.

[0138] clk_num_adjust_dynamic: Adjusts the corresponding dynamic feedback parameters for dynamic frequency feedback. (See also...) Figure 12 , is the register value of CNT_20M_LOOP when the CLK_0p5hz_offset edge arrives. CNT_20M_LOOP is a cyclic counter from 0 to 19999999.

[0139] In this embodiment of the disclosure, the process of automatically controlling the generated target clock signal may include:

[0140] In one embodiment, when the CLK_0p5hz_offset edge is valid,

[0141] 0≤CNT adjust_inherent ≤19999999, and 0≤CNT adjust_dynamic When ≤9999999,

[0142] FR_C next =FR_C cur +clk_num_adjust_inherent*τ-clk_num_adjust_dynamic*τ;

[0143] clk_num_adjust_inherent=|20000000-CNT adjust_inherent |;

[0144] clk_num_adjust_dynamic=CNT adjust_dynamic .

[0145] In one embodiment, when the CLK_0p5hz_offset edge is valid,

[0146] CNT adjust_inherent >19999999, and 0≤CNT adjust_dynamic When ≤9999999,

[0147] FR_C next =FR_C cur -clk_num_adjust_inherent*τ -clk_num_adjust_dynamic*τ.

[0148] In one embodiment, when the CLK_0p5hz_offset edge is valid,

[0149] 0≤CNT adjust_inherent ≤19999999, and CNT adjust_dynamic When the value reaches 9,999,999,

[0150] FR_C next =FR_C cur +clk_num_adjust_inherent*τ+clk_num_adjust_dynamic*τ.

[0151] In one embodiment, when the CLK_0p5hz_offset edge is valid,

[0152] CNT adjust_inherent >19999999, and CNT adjust_dynamic When the value reaches 9,999,999,

[0153] FR_C next =FR_C cur -clk_num_adjust_inherent*τ+clk_num_adjust_dynamic*τ.

[0154] Among them, FR_C next This is the frequency control word for the next cycle; FR_C cur This is the current cycle frequency control word; τ is the frequency control factor, representing the value of the frequency control word that needs to be adjusted when the frequency is adjusted by 1Hz. When changing the same frequency, the larger this value is, the larger the frequency control word needs to be changed, as shown in the following formula:

[0155]

[0156] Where ΔFR_C is the change value of the periodic frequency control word, and ΔFR is the change value of the output clock frequency before and after changing the periodic frequency control word.

[0157] It should be noted that in related technologies, if adjustment is based solely on clk_num_adjust_dynamic without any adjustment based on clk_num_adjust_dynamic, the adjustment will reverse when the scan 0 point approaches the CLK_0p5hz_offset edge (which could be a rising edge), resulting in oscillation and reduced adjustment efficiency. In this embodiment, feedback adjustment is performed simultaneously based on both clk_num_adjust_dynamic and clk_num_adjust_dynamic, resulting in higher accuracy and improved adjustment efficiency.

[0158] This disclosure implements multi-radar synchronization based on PTP, which not only saves hardware costs but also achieves high synchronization accuracy and reduces crosstalk between different radars. The use of a high-precision clock further reduces the jitter of the radar ranging cycle, ensuring ranging stability.

[0159] In one embodiment, the enable generation module simultaneously divides the 20M clk_20m intervals into M fixed scanning cycles and N ranging cycles, measured in seconds. That is, every 20M clk_20m intervals, M scanning enable pulses are generated for the laser scanning control module, and N ranging enable pulses are generated for the ranging module. For different radar devices, the first clock of a complete clk_20m scan cycle is as close as possible to the edge of the CLK_0p5hz_offset transition, ensuring consistent cycle clock frequencies and high synchronization accuracy. This results in similar ranging cycles for different devices, achieving synchronized ranging across different devices.

[0160] In one embodiment, the laser scanning control module switches the scanning angle once for each scan enable pulse received. Each laser scanning cycle scans a different angle to achieve coverage of the radar product's field of view. Similarly, the ranging module completes a full ranging process once for each ranging enable pulse received. The ranging algorithm includes a digital signal processing algorithm for calculating the time of flight and a distance compensation algorithm.

[0161] like Figure 13 As shown, this disclosure provides an apparatus for controlling radar synchronization, the apparatus comprising:

[0162] The acquisition module 131 is used to acquire message information of the reference clock signal from the network node;

[0163] The generation module 132 is configured to: generate a target clock signal by frequency division based on the reference clock signal indicated by the message information, using a feedback adjustment method through feedback parameters; wherein, the feedback parameters include: static parameters and / or dynamic parameters; the static parameters are parameters determined according to the frequency of the target clock signal generated by frequency division; the dynamic parameters are parameters determined according to the frequency of the control signal used to control radar synchronization;

[0164] Control module 133 is used to control the synchronization of multiple radars based on a control signal determined by the target clock signal.

[0165] This disclosure provides an apparatus for controlling radar synchronization, comprising:

[0166] Memory, which stores computer-executable instructions;

[0167] A processor, connected to the memory, is configured to implement the method for controlling radar synchronization provided by any of the foregoing technical solutions by executing the computer-executable instructions. For example, the processor can implement any of the methods described in the embodiments of this disclosure by executing the executable instructions.

[0168] The memory can be various types of storage devices, such as read-only memory, random access memory, flash memory, and / or hard disks. Exemplarily, the memory includes at least non-transient memory.

[0169] The processor may include various chips or integrated circuits with information processing capabilities. The processor includes, but is not limited to, central processing units, microprocessors, or microcontrollers.

[0170] The processor and the memory can be connected via a communication interface such as a bus.

[0171] This disclosure also provides a computer storage medium storing computer-executable instructions; when executed by a processor, the computer-executable instructions can implement the radar synchronization control method provided by any of the foregoing technical solutions. For example, the processor can implement any of the methods described in this disclosure by executing the executable instructions.

[0172] The computer storage medium is a computer-readable storage medium, and at least a non-transitory storage medium. Specifically, the computer storage medium may include: optical discs, flash memory, optical disks, and / or various types of hard disks, etc.

[0173] Those skilled in the art will understand that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0174] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A method for controlling radar synchronization, characterized in that, The method is performed by radar, and the method includes: The message information obtains the reference clock signal from the network node; the message information includes source difference information, which is used at least to indicate the data transmission delay between the network node and the radar; Based on the reference clock signal indicated by the message information, a target clock signal is generated by frequency division using feedback adjustment through feedback parameters. The feedback parameters include dynamic parameters or a combination of static and dynamic parameters. The static parameters are determined based on the frequency of the target clock signal generated by frequency division. The dynamic parameters are determined based on the frequency of the control signal used for radar synchronization. The reference clock signal is a pulse signal with a frequency and duty cycle corresponding to the calibrated parameters, generated from predetermined bits of a counter based on the calibrated parameters. The calibrated parameters are obtained by calibrating the reference clock signal indicated by the message information based on the transmission delay. Based on the control signal determined by the target clock signal, multiple radars are synchronized.

2. The method according to claim 1, characterized in that, The message information for obtaining the reference clock signal from the network node includes: The reference clock signal message information is obtained from the network node based on the high-precision time synchronization protocol PTP.

3. The method according to claim 1, characterized in that, The method further includes: The reference clock signal is calibrated based on the duration of transmitting the message information to obtain the calibrated reference clock signal.

4. The method according to claim 1, characterized in that, The method further includes: Based on the time delay requirements of the radar operation, the reference clock signal is adjusted in the time domain to obtain the adjusted reference clock signal.

5. The method according to any one of claims 1 to 4, characterized in that, The method of generating the target clock signal by frequency division through feedback adjustment via feedback parameters includes: The target clock signal is generated by frequency division using a periodic frequency control word determined according to the feedback parameters.

6. The method according to claim 5, characterized in that, The method further includes: The periodic frequency control word is determined based on the first quantity and / or the second quantity; Wherein, the first quantity is the number of pulses of the generated target clock signal acquired per unit time; the second quantity is the number of pulses of the control signal used to control radar synchronization acquired per unit time; wherein, the unit time is the clock period determined according to the reference clock signal.

7. The method according to claim 6, characterized in that, Determining the periodic frequency control word based on a first quantity and / or a second quantity includes: If the first quantity is less than the first reference quantity, the value of the periodic frequency control word is increased by a first predetermined value; And / or, If the first quantity is greater than the first reference quantity, the value of the periodic frequency control word is reduced by a first predetermined value; wherein the first predetermined value is determined based on the difference between the first quantity and the first reference quantity and a frequency control factor; And / or, If the second quantity is less than the second reference quantity, the value of the period frequency control word is increased by a second predetermined value; And / or, If the second quantity is greater than the second reference quantity, the value of the periodic frequency control word is reduced by a second predetermined value; wherein the second predetermined value is determined based on the difference between the second quantity and the second reference quantity and the frequency control factor.

8. A device for controlling radar synchronization, characterized in that, The device includes: The acquisition module is used to acquire message information of a reference clock signal from a network node; the message information includes source difference information, which is used at least to indicate the data transmission delay between the network node and the radar; The generation module is configured to: generate a target clock signal by frequency division based on the reference clock signal indicated by the message information, using a feedback adjustment method through feedback parameters; wherein the feedback parameters include: dynamic parameters or the feedback parameters include both static and dynamic parameters; the static parameters are parameters determined according to the frequency of the target clock signal generated by frequency division; the dynamic parameters are parameters determined according to the frequency of the control signal used to control radar synchronization; wherein the reference clock signal is a pulse signal with a frequency and duty cycle corresponding to the calibrated parameters, generated from predetermined bits of a counter based on the calibrated parameters; the calibrated parameters are obtained by calibrating the reference clock signal indicated by the message information based on the transmission delay; The control module is used to control the synchronization of multiple radars based on a control signal determined by the target clock signal.

9. A device for controlling radar synchronization, characterized in that, include: Memory, which stores computer-executable instructions; A processor, connected to the memory, is configured to implement the method provided by any one of claims 1 to 7 by executing the computer-executable instructions.

10. A computer storage medium storing computer-executable instructions; wherein the computer-executable instructions, when executed by a processor, are capable of implementing the method provided in any one of claims 1 to 7.

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