Radar scanning control method and device, laser radar system and readable storage medium

Abstract

The application provides a radar scanning control method and device, a laser radar system and a readable storage medium, and relates to the technical field of radar detection. The application sends a whole-second pulse signal to the motor control unit in response to the first scanning whole-second alignment instruction through the main control unit, so that the motor control unit aligns the first effective scanning starting time point of the radar motor under a preset motor scanning strategy with the whole-second pulse signal, and verifies the whole-second alignment state of the radar motor when the alignment operation of the motor control unit is completed. When the alignment verification is successful, the motor control unit controls the radar motor to continue operating according to the preset motor scanning strategy, so that the first effective scanning starting time point of the radar motor is time-aligned with the whole-second time, the most initial effective scanning position is ensured to reach the expected scanning position at the whole-second time, and the time synchronization effect of the laser radar cooperating with other sensing devices is realized.

Description

Technical Field

[0001] This application relates to the field of radar detection technology, and more specifically, to a radar scanning control method and apparatus, a lidar system, and a readable storage medium. Background Technology

[0002] With the continuous development of science and technology, radar detection technology is increasingly widely used in various industries. LiDAR often needs to work in conjunction with other sensing devices (such as millimeter-wave radar and cameras) to achieve the desired detection effect. To ensure that LiDAR can work with other sensing devices to achieve the desired detection effect, it typically needs to emit a laser beam at the exact second to perform an effective scanning operation, so that the LiDAR can be synchronized with other sensing devices at the exact second. During the use of LiDAR, a motor control unit typically controls the radar motor to perform laser scanning in the spatial dimension, and a main control unit manages the distribution of laser scanning time points in the temporal dimension. However, it is worth noting that the operating clocks of the motor control unit and the main control unit are independent and cannot be synchronized. This often causes the LiDAR to fail to start its first effective scanning operation at the exact second, preventing the initial effective scanning position from reaching the desired position at the exact second. Summary of the Invention

[0003] In view of this, the purpose of this application is to provide a radar scanning control method and device, a lidar system and a readable storage medium, which can time-align the first effective scanning start time of the radar motor with the whole second, ensuring that the initial effective scanning position of the entire lidar can reach the desired scanning position at the whole second, so that the lidar can achieve time synchronization with other sensing devices.

[0004] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows:

[0005] In a first aspect, this application provides a radar scanning control method applied to a lidar system, the lidar system including a main control unit, a radar motor, and a motor control unit, the method comprising:

[0006] In response to the first scan whole second alignment command, the main control unit sends a whole second pulse signal to the motor control unit;

[0007] The motor control unit aligns the first effective scan start time of the radar motor under the preset motor scanning strategy with the whole second pulse signal, and sends a signal indicating that the alignment operation is complete to the main control unit.

[0008] The main control unit verifies the alignment status of the radar motor at whole seconds, obtains the corresponding alignment verification result, and sends the alignment verification result to the motor control unit;

[0009] If the alignment verification result is successful, the motor control unit controls the radar motor to continue operating according to the preset motor scanning strategy.

[0010] Secondly, this application provides a radar scanning control method applied to the main control unit of a lidar system, wherein the lidar system further includes a radar motor and a motor control unit, and the method includes:

[0011] In response to the first scan full-second alignment command, a full-second pulse signal is sent to the motor control unit to drive the motor control unit to align the first effective scan start time of the radar motor under the preset motor scanning strategy with the full-second pulse signal, and to feed back an alignment operation completion signal.

[0012] The alignment operation completion signal is received, and the alignment status of the radar motor at whole second intervals is verified to obtain the corresponding alignment verification result.

[0013] The alignment verification result is sent to the motor control unit so that when the alignment verification result is successful, the motor control unit controls the radar motor to continue operating according to the preset motor scanning strategy.

[0014] Thirdly, this application provides a radar scanning control method applied to a motor control unit included in a lidar system, wherein the lidar system further includes a main control unit and a radar motor, and the method includes:

[0015] Receive the whole-second pulse signal sent by the main control unit in response to the first scan whole-second alignment command;

[0016] The radar motor's first effective scan start time under the preset motor scanning strategy is aligned with the whole-second pulse signal, and the alignment operation is completed by sending a signal back to the main control unit.

[0017] In response to the alignment verification operation of the main control unit, the system cooperates with the main control unit to verify the alignment status of the radar motor at the whole second.

[0018] The system receives the alignment verification result sent by the main control unit, and if the alignment verification result is successful, it controls the radar motor to continue operating according to the preset motor scanning strategy.

[0019] Fourthly, this application provides a radar scanning control device applied to the main control unit included in a lidar system, wherein the lidar system further includes a radar motor and a motor control unit, and the device includes:

[0020] The whole-second alignment drive module is used to respond to the first scan whole-second alignment command, send a whole-second pulse signal to the motor control unit, so as to drive the motor control unit to align the first effective scan start time of the radar motor under the preset motor scanning strategy with the whole-second pulse signal, and feed back an alignment operation completion signal.

[0021] The whole-second alignment verification module is used to receive the alignment operation completion signal and verify the whole-second alignment status of the radar motor to obtain the corresponding alignment verification result.

[0022] The verification result sending module is used to send the alignment verification result to the motor control unit, so that when the alignment verification result is successful, the motor control unit controls the radar motor to continue running according to the preset motor scanning strategy.

[0023] Fifthly, this application provides a radar scanning control device applied to a motor control unit included in a lidar system, wherein the lidar system further includes a main control unit and a radar motor, and the device includes:

[0024] The whole-second pulse receiving module is used to receive the whole-second pulse signal sent by the main control unit in response to the first scan whole-second alignment command;

[0025] The whole-second alignment control module is used to align the first effective scan start time of the radar motor under the preset motor scanning strategy with the whole-second pulse signal, and to feed back the alignment operation completion signal to the main control unit.

[0026] The alignment verification response module is used to respond to the alignment verification operation of the main control unit and cooperate with the main control unit to verify the alignment status of the radar motor at the whole second.

[0027] The motor motion control module is used to receive the alignment verification result sent by the main control unit, and control the radar motor to continue running according to the preset motor scanning strategy if the alignment verification result is successful.

[0028] Sixthly, this application provides a lidar system, including a main control unit, a radar motor, and a motor control unit, wherein the main control unit, the radar motor, and the motor control unit cooperate with each other to implement the radar scanning control method described in any of the foregoing embodiments.

[0029] In a seventh aspect, this application provides a readable storage medium having a computer program stored thereon, wherein when the computer program is executed by the lidar system described in the foregoing embodiments, it implements the radar scanning control method described in any one of the foregoing embodiments.

[0030] In this case, the beneficial effects of the embodiments of this application may include the following:

[0031] This application enables the main control unit to send a full-second pulse signal to the motor control unit when responding to the first scan full-second alignment command. This causes the motor control unit to align the radar motor's first effective scan start time with the full-second pulse signal under the preset motor scanning strategy. Upon receiving the alignment operation completion signal from the motor control unit, the main control unit verifies the radar motor's full-second alignment status and then sends the corresponding alignment verification result to the motor control unit. If the alignment verification result is successful, the motor control unit controls the radar motor to continue operating according to the preset motor scanning strategy. This ensures that the radar motor's first effective scan start time is aligned with the full second, guaranteeing that the initial effective scan position of the entire lidar reaches the desired scan position at the full second. This allows the lidar to achieve time synchronization with other sensing devices.

[0032] 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

[0033] 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.

[0034] Figure 1 This is a schematic diagram of the composition of a lidar system provided in an embodiment of this application;

[0035] Figure 2 One of the flowcharts of the first radar scanning control method provided in the embodiments of this application;

[0036] Figure 3 A second schematic flowchart of the first radar scanning control method provided in the embodiments of this application;

[0037] Figure 4 The third schematic flowchart of the first radar scanning control method provided in the embodiments of this application;

[0038] Figure 5 This is one of the flowcharts illustrating the second radar scanning control method provided in the embodiments of this application;

[0039] Figure 6 A second schematic flowchart illustrating the second radar scanning control method provided in this application embodiment;

[0040] Figure 7 The third schematic flowchart of the second radar scanning control method provided in the embodiments of this application;

[0041] Figure 8 One of the flowcharts of the third radar scanning control method provided in the embodiments of this application;

[0042] Figure 9 A second schematic flowchart illustrating the third radar scanning control method provided in this application embodiment;

[0043] Figure 10 The third flowchart illustrating the third radar scanning control method provided in the embodiments of this application;

[0044] Figure 11 This is one of the schematic diagrams of the first radar scanning control device provided in the embodiments of this application;

[0045] Figure 12 This is a second schematic diagram illustrating the composition of the first radar scanning control device provided in the embodiments of this application.

[0046] Figure 13 This is one of the schematic diagrams of the composition of the second radar scanning control device provided in the embodiments of this application;

[0047] Figure 14 This is a second schematic diagram of the composition of the second radar scanning control device provided in the embodiments of this application.

[0048] Icons: 10-LiDAR system; 11-Main control unit; 12-Motor control unit; 13-Radar motor; 100-First radar scanning control device; 110-Integer second alignment drive module; 120-Integer second alignment verification module; 130-Verification result sending module; 140-End timing extraction module; 150-Motor synchronization drive module; 160-Alignment command acquisition module; 200-Second radar scanning control device; 210-Integer second pulse receiving module; 220-Integer second alignment control module; 230-Alignment verification response module; 240-Motor motion control module; 250-Synchronization pulse receiving module; 260-Alignment command feedback module. Detailed Implementation

[0049] 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.

[0050] 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.

[0051] It should be noted that similar labels 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.

[0052] In the description of this application, it should be understood that relational terms such as "first" and "second" are used merely 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. Those skilled in the art will understand the specific meaning of the above terms in this application based on the specific circumstances.

[0053] 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.

[0054] Please refer to Figure 1 , Figure 1This is a schematic diagram of the composition of the lidar system 10 provided in this application embodiment. In this application embodiment, the lidar system 10 can start performing an effective scanning operation at a certain whole second, and ensures that the initial effective scanning position of the lidar system 10 when performing the first effective scanning operation can reach the desired scanning position at a whole second, so that the lidar system 10 can cooperate with other sensing devices to achieve time synchronization. The initial effective scanning position of the lidar system 10 is the starting scanning position when the lidar system 10 performs its first effective scanning operation.

[0055] The lidar system 10 may include a main control unit 11, a motor control unit 12, and a radar motor 13. The main control unit 11 is used to achieve system time control of the lidar system 10. The motor control unit 12 is communicatively connected to the radar motor 13 and is used to control the specific motor status of the radar motor 13 to drive the radar motor 13 to achieve the laser scanning effect of the lidar system 10. The main control unit 11 is communicatively connected to the motor control unit 12 and is used to drive the motor control unit 12 to time-align the first effective scanning start time of the radar motor 13 with the whole second, so as to ensure that the initial effective scanning position corresponding to the first effective scanning start time can reach the desired scanning position at the whole second.

[0056] In this embodiment, the main control unit 11 may include a first memory and a first processor. The first memory may be, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc.; the first processor may be a general-purpose processor, including at least one of a microprocessor, central processing unit (CPU), graphics processing unit (GPU), network processor (NP), digital signal processor (DSP), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The first memory can be used to store computer programs, and the first processor can execute the computer programs accordingly after receiving execution instructions. In one embodiment of this example, the first processor can be implemented using a ZYNQ ULTRASCALE processor, or directly using a ZYNQ processor, or using a conventional ARM RISC (Reduced Instruction Set Computer) microprocessor in conjunction with an FPGA.

[0057] In this embodiment, the motor control unit 12 may include a second memory and a second processor. The second memory may be, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc.; the second processor may be a general-purpose processor, including at least one of a microprocessor, central processing unit (CPU), graphics processing unit (GPU), network processor (NP), digital signal processor (DSP), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The second memory can be used to store computer programs, and the second processor can execute the computer programs accordingly after receiving execution instructions. In one embodiment of this invention, the second processor may be implemented using a DSP.

[0058] In this embodiment, the radar motor 13 may include a galvanometer motor for realizing vertical laser scanning and a prism motor for realizing horizontal laser scanning. The galvanometer motor has a fixed theoretical vertical scanning optical angle range during actual operation. Within this theoretical range, the galvanometer motor has an effective vertical scanning optical angle range for achieving effective vertical scanning. For example, if the theoretical vertical scanning optical angle range is -7.2° to 7.2°, the effective vertical scanning optical angle range can be -6.4° to 6.4°, where -7.2° to -6.4° and 6.4° to 7.2° are both ineffective vertical scanning optical angle ranges. The prism motor also has a fixed theoretical optical angle range for horizontal scanning during actual operation. Within the theoretical optical angle range for horizontal scanning, the prism motor has an effective horizontal scanning optical angle range that achieves an effective horizontal scanning effect. Taking the theoretical optical angle range for horizontal scanning as 0° to 180° as an example, the effective horizontal scanning optical angle range within this theoretical optical angle range can be 30° to 150°, where -0° to 30° and 150° to 180° are both ineffective horizontal scanning optical angle ranges.

[0059] Within one vertical scanning cycle, the galvanometer motor needs to move from the lower limit of the theoretical optical angle range of the vertical scanning theoretical optical angle range (e.g., -7.2°) to the lower limit of the effective optical angle range of the effective vertical scanning optical angle range (e.g., -6.4°) to enter a state where vertical scanning operations can be effectively performed. Then, it effectively performs vertical scanning operations while moving from the lower limit of the effective vertical scanning optical angle range to the upper limit of the effective vertical scanning optical angle range (e.g., 6.4°). Next, it moves from the upper limit of the effective vertical scanning optical angle range to the upper limit of the theoretical optical angle range of the vertical scanning theoretical optical angle range (e.g., 7.2°), and then quickly resets from the upper limit of the theoretical optical angle range of the vertical scanning theoretical optical angle range to the lower limit of the theoretical optical angle range of the vertical scanning theoretical optical angle range. Specifically, the movement phase of the galvanometer motor from the lower limit of the effective optical angle to the upper limit of the effective optical angle within one vertical scanning cycle belongs to the effective vertical scanning working phase of the galvanometer motor, and the movement phase of the galvanometer motor from the upper limit of the effective optical angle to the upper limit of the theoretical optical angle, the lower limit of the theoretical optical angle, and the lower limit of the effective optical angle in the next vertical scanning cycle within one vertical scanning cycle belongs to the motor position calibration phase of the galvanometer motor.

[0060] The number of horizontal scanning theoretical optical angle ranges within one rotation cycle of the prism motor is consistent with the number of specific prism faces of the prisms mounted on the prism motor. Each prism face of the mounted prism corresponds to a number of horizontal scanning theoretical optical angle ranges. The lower limit of the theoretical optical angle of each prism face within the corresponding horizontal scanning theoretical optical angle range (e.g., 0°) corresponds to the upper limit of the theoretical optical angle of the adjacent prism face within the corresponding horizontal scanning theoretical optical angle range (e.g., 180°). The upper limit of the theoretical optical angle of each prism face within the corresponding horizontal scanning theoretical optical angle range (e.g., 180°) corresponds to the lower limit of the theoretical optical angle of the adjacent prism face within the corresponding horizontal scanning theoretical optical angle range (e.g., 0°). Therefore, within one rotation cycle of the prism motor, it is necessary to rotate from the lower limit of the theoretical optical angle range of the horizontal scanning theoretical optical angle range of one prism face (e.g., 0°) to the lower limit of the effective optical angle range of the effective horizontal scanning optical angle range of the prism face (e.g., 30°) to enter a state where the horizontal scanning operation can be effectively performed. Then, the horizontal scanning operation is effectively performed during the rotation from the lower limit of the effective optical angle range of the effective horizontal scanning optical angle range of the prism face to the upper limit of the effective optical angle range of the effective horizontal scanning optical angle range of the prism face (e.g., 150°). Next, the prism face is rotated from the upper limit of the effective optical angle range of the effective horizontal scanning optical angle range of the prism face to the upper limit of the theoretical optical angle range of the horizontal scanning theoretical optical angle range of the prism face (e.g., 180°) to complete a complete prism face rotation operation for that prism face. At this time, the prism face is rotated to the lower limit of the theoretical optical angle range of the horizontal scanning theoretical optical angle range of another prism face adjacent to the prism face. It is necessary to continue to perform a complete prism face rotation operation for the other prism face until a complete prism face rotation operation has been performed for all prism faces of the mounted prism. The movement phase of the prism motor rotating from the lower limit of the effective optical angle to the upper limit of the effective optical angle within one rotation cycle belongs to the effective horizontal scanning working phase of the prism motor. The movement phase of the galvanometer motor rotating sequentially from the upper limit of the effective optical angle corresponding to one prism surface to the upper limit of the theoretical optical angle corresponding to that prism surface (i.e., the lower limit of the theoretical optical angle corresponding to the adjacent prism surface) and the movement phase of the lower limit of the effective optical angle of the adjacent prism surface within the current rotation cycle / the next rotation cycle belongs to the motor position calibration phase of the prism motor.

[0061] In this embodiment, the vertical scanning cycle of the galvanometer motor is an integer multiple of the rotation cycle of the prism motor to ensure that each vertical scanning optical angle of the galvanometer motor effectively corresponds to a horizontal scanning optical angle of the galvanometer motor during the rotation of the prism motor. For example, the vertical scanning cycle of the galvanometer motor is 100ms, and the rotation cycle of the prism motor is 10ms. Therefore, for the radar motor 13, the motor scanning cycle of the radar motor 13 is essentially consistent with the vertical scanning cycle of the galvanometer motor. The effective scanning phase of the radar motor 13 requires that the galvanometer motor be in the effective vertical scanning phase and the prism motor be in the effective horizontal scanning phase. At this time, the effective scanning motor starting position of the radar motor 13 within one motor scanning cycle is the position of the galvanometer motor and the prism motor when the prism motor rotates to the effective optical angle lower limit of the effective horizontal scanning optical angle range after the galvanometer motor moves to the effective vertical scanning optical angle range (for example, the prism motor rotates to the effective horizontal scanning optical angle range after the galvanometer motor moves to the effective vertical scanning optical angle range). The positions of the galvanometer motor and prism motor when the radar motor 13 rotates to 30° after moving to an optical angle close to -6.4° within the range of -6.4° to 6.4° are the positions of the galvanometer motor and prism motor when the radar motor 13 ends its effective scanning cycle within one motor scanning cycle. (For example, the positions of the galvanometer motor and prism motor when the radar motor 13 rotates to 150° after moving to an optical angle close to 6.4° within the range of -6.4° to 6.4°). During this process, it is necessary to ensure that the duration of a whole second (i.e., 1s) is an integer multiple of the duration of the vertical scanning cycle of the galvanometer motor to ensure that the radar motor 13 has the ability to start performing an effective scanning operation at a certain whole second.

[0062] Understandable, Figure 1 The block diagram shown is only a schematic diagram of one configuration of the lidar system 10. The lidar system 10 may also include... 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.

[0063] In this application, to ensure that the lidar system 10 can align the first effective scan start time of the radar motor 13 with the whole second, and to ensure that the initial effective scan position of the entire lidar can reach the desired scan position at the whole second, so that the lidar can achieve time synchronization with other sensing devices, this application provides a radar scanning control method applied to the lidar system 10 to achieve the aforementioned objective. The radar scanning control method provided in this application will be described in detail below.

[0064] Please refer to Figure 2 , Figure 2 This is one of the flowcharts illustrating the first radar scanning control method provided in this application embodiment. In this application embodiment, the first radar scanning control method applied to the above-mentioned lidar system 10 may include steps S310 to S340.

[0065] In step S310, the main control unit responds to the first scan whole second alignment command and sends a whole second pulse signal to the motor control unit.

[0066] In this embodiment, the first scan whole-second alignment command is used to instruct the main control unit 11, through the motor control unit 12, to align the first effective scan start time of the radar motor 13 during the first effective scan operation with a certain whole second. The first effective scan start time is the specific time when the radar motor 13 moves to the effective scan motor start position during the first effective scan operation. The first scan whole-second alignment command can be generated by the upper-level management system of the lidar system 10 when it detects an abnormality in the operation of the lidar system 10 (e.g., unstable motor speed of the radar motor 13, system scheduling abnormality of the lidar system 10, or the lidar system 10's inability to maintain time synchronization with other sensing devices). The upper-level management system then sends the generated first scan whole-second alignment command to the lidar system 10.

[0067] When the main control unit 11 in the lidar system 10 receives the first scan second alignment command, it will respond to the first scan second alignment command and send a pulse signal with a pulse period of 1 second to the motor control unit 12 to drive the motor control unit 12 to align the first effective scan start time of the lidar motor 13 to the second.

[0068] In one embodiment of this example, if the main control unit 11 is implemented using a conventional ARM RISC microprocessor and FPGA, the FPGA can transmit the whole-second pulse signal using the PIN pin at the I / O interface to ensure the real-time performance of the whole-second pulse signal.

[0069] In step S320, the motor control unit aligns the first effective scan start time of the radar motor under the preset motor scanning strategy with the whole-second pulse signal and sends a signal indicating that the alignment operation is complete to the main control unit.

[0070] In this embodiment, the preset motor scanning strategy is used to describe the motor speed, motor movement mode, and motor starting position of the galvanometer motor and prism motor included in the radar motor 13. The preset motor scanning strategy can be sent from the upper management system of the lidar system 10 to the main control unit 11, and then forwarded by the main control unit 11 to the motor control unit 12 for motor control operations.

[0071] After receiving the whole-second pulse signal, the motor control unit 12 can respond to the whole-second pulse signal via an interrupt and control the specific operating status of the radar motor 13. This allows the radar motor 13 to start performing the first laser scan operation at the current moment according to the preset motor scanning strategy. The first effective scan start time of the radar motor 13 during the first laser scan operation is aligned with a certain whole-second moment in the whole-second pulse signal. Then, the motor control unit 12 will send an alignment operation completion signal back to the main control unit 11 to inform the main control unit 11 of the message "The radar motor 13 is aligned with the effective scan motor start position during the first laser scan operation at a whole-second moment, and the current speed of the radar motor 13 is stable".

[0072] In one embodiment of this invention, the motor control unit 12 can transmit a message to the main control unit 11 that the alignment operation has been completed at an integer second by setting the alignment operation completion signal to "LOCK=1".

[0073] In step S330, the main control unit verifies the alignment status of the radar motor at whole seconds, obtains the corresponding alignment verification result, and sends the alignment verification result to the motor control unit.

[0074] In this embodiment, after the main control unit 11 receives the alignment operation completion signal from the motor control unit 12, the main control unit 11 effectively estimates the theoretical motor motion scheme of the radar motor 13 at the main control unit 11 based on the current motion status of the radar motor 13 and the preset motor scanning strategy. Then, it uses the theoretical motor motion scheme to verify the alignment status of the radar motor 13 at a specific second, thereby effectively determining whether the first effective scan start time of the radar motor 13 is truly aligned to a specific second. Next, the main control unit 11 sends the alignment verification result to the motor control unit 12 to inform it whether the motor motion control effect meets the alignment requirements of the first effective scan operation at a specific second. The theoretical motor motion scheme describes the theoretical motion time points corresponding to various subsequent motor motion states of the radar motor 13 at the main control unit 11.

[0075] Optionally, in this embodiment, the step of the main control unit 11 verifying the alignment status of the radar motor 13 at whole seconds and obtaining the corresponding alignment verification result may include:

[0076] The current count phase signal of the radar motor 13 is obtained, and the theoretical motor motion scheme of the radar motor 13 is predicted based on the count phase signal and the preset motor scanning strategy.

[0077] Send a whole-second alignment verification command to the motor control unit 12, wherein the whole-second alignment verification command is used to drive the motor control unit 12 to control the radar motor 13 to move to the position of the motor to be verified in the next motor scanning cycle and to feed back a signal that the movement has been completed.

[0078] Extract the theoretical motion time point that matches the position of the motor to be verified in the next motor scanning cycle from the theoretical motor motion scheme, and calculate the duration difference between the theoretical motion time point and the receiving time point of the motion arrival signal;

[0079] The time difference is compared with a preset time difference threshold.

[0080] If the time difference is less than or equal to the preset time difference threshold, the alignment verification result is output as successful; otherwise, the alignment verification result is output as unsuccessful.

[0081] The count signal describes the number of revolutions each of the galvanometer motor and prism motor included in the radar motor 13 has made at the current moment. The motor position to be verified verifies whether the radar motor 13 has moved to a specific position, which can be the specific position of the galvanometer motor included in the radar motor 13 when it moves to the lower limit of the effective optical angle range of the effective vertical scanning optical angle. The movement arrival signal indicates that the radar motor 13 has moved to the motor position to be verified in the next motor scanning cycle.

[0082] When the time difference between the theoretical motion time point corresponding to the position of the motor to be verified and the receiving time point of the motion arrival signal is less than or equal to a preset time difference threshold, it indicates that the first effective scan start time point of the radar motor 13 is currently truly aligned with a certain whole second, and the alignment verification result is successful. When the time difference between the theoretical motion time point corresponding to the position of the motor to be verified and the receiving time point of the motion arrival signal is greater than the preset time difference threshold, it indicates that the first effective scan start time point of the radar motor 13 is not currently effectively aligned with a certain whole second, and the alignment verification result is unsuccessful.

[0083] Therefore, this application can effectively verify whether the first effective scan start time of the radar motor 13 is truly aligned with a certain whole second by executing the specific steps in step S330 above, which corresponds to the whole second time alignment verification operation.

[0084] In one embodiment of this example, if the main control unit 11 is implemented using an ARM RISC microprocessor and an FPGA, the motor control unit 12 can transmit the alignment operation completion signal to the ARM RISC microprocessor via a CAN bus. The ARM RISC microprocessor then forwards the alignment operation completion signal to the FPGA, causing the FPGA to set its LOCK register to 1. This triggers the FPGA to predict the theoretical motor motion scheme. The FPGA then generates a LOCK ACK signal (i.e., a whole-second alignment verification instruction) and, via an interrupt, informs the ARM RISC microprocessor to transmit the LOCK ACK signal to the motor control unit 12. After the motor control unit 12 controls the radar motor 13 to move to the position to be verified within the next motor scan cycle according to the LOCK ACK signal, it generates a motion positioning signal "Lock B = 1" and directly transmits it to the FPGA. This causes the FPGA to set its Lock B register to 1 and output the corresponding alignment verification result based on the specific reception time of the motion positioning signal "Lock B = 1". At this time, the FPGA will inform the ARM RISC microprocessor via an interrupt. The specific alignment verification result of the RISC microprocessor causes the ARM RISC microprocessor to generate a Lock B ACK signal to characterize the alignment verification result, and the ARM RISC microprocessor sends the generated Lock B ACK signal to the motor control unit 12.

[0085] In step S340, if the alignment verification result is successful, the motor control unit controls the radar motor to continue running according to the preset motor scanning strategy.

[0086] In this embodiment, after the motor control unit 12 receives the alignment verification result from the main control unit 11, the motor control unit 12 can interpret the meaning of the alignment verification result to determine whether the radar motor 13 is currently recognized by the main control unit 11 as the first effective scan start time point substantially aligned with a certain whole second. If the alignment verification result is successful, it indicates that the radar motor 13 is currently recognized by the main control unit 11 as the first effective scan start time point substantially aligned with a certain whole second. The motor motion control effect of the motor control unit 12 substantially meets the whole second alignment requirement of the first effective scan operation. The motor control unit 12 will then control the radar motor 13 to continue operating according to a preset motor scanning strategy to ensure that the first effective scan start time point of the radar motor 13 is time-aligned with the whole second, and to ensure that the initial effective scan position of the radar motor 13 in the first effective scan operation corresponding to the lidar system 10 can reach the desired scan position (i.e., the effective scan motor start position) at a whole second. This facilitates the lidar system 10 in achieving time synchronization with other sensing devices.

[0087] Therefore, by executing the above steps S310 to S340, this application can align the first effective scanning start time of the radar motor 13 with the whole second, ensuring that the initial effective scanning position of the entire lidar can reach the desired scanning position at the whole second, so that the corresponding lidar can achieve time synchronization with other sensing devices.

[0088] Alternatively, please refer to Figure 3 , Figure 3 This is the second schematic flowchart of the first radar scanning control method provided in this application embodiment. In this application embodiment, with Figure 2 Compared to the first radar scanning control method shown, Figure 3 The first radar scanning control method shown may also include steps S350 to S370, so as to effectively ensure that the radar motor 13 can also have some effective scanning start time points aligned with whole seconds in the subsequent movement process when the first effective scanning start time point of the radar motor 13 is substantially aligned with a certain whole second, and effectively ensure that the motor control unit 12 and the main control unit 11 achieve time synchronization.

[0089] In step S350, if the alignment verification result is successful, the main control unit extracts the first effective scan end time point from the current theoretical motor motion scheme of the radar motor.

[0090] In this embodiment, after the main control unit 11 determines that the alignment verification result is successful, to avoid motor speed instability caused by motor position adjustment operations during subsequent effective scanning operations of the radar motor 13, a motor position adjustment operation can be performed during the invalid scanning operation phase of the radar motor 13. This allows the radar motor 13 to align certain effective scanning start time points to whole seconds during subsequent effective scanning operations, effectively maintaining the time synchronization between the motor control unit 12 and the main control unit 11. Therefore, after determining that the alignment verification result is successful, the main control unit 11 uses the theoretical motor motion scheme estimated by the main control unit 11 as a reference benchmark. From the theoretical motor motion scheme, it directly extracts the theoretical motion time point when the radar motor 13 moves to the effective scanning motor end position of the first effective scanning operation, and uses the extracted theoretical motion time point as the end time point of the first effective scan.

[0091] In step S360, the main control unit sends a motor scanning synchronization pulse signal to the motor control unit at time intervals, using the end time of the first effective scan as the time reference and the motor scanning cycle duration of the radar motor as the time interval.

[0092] In this embodiment, the pulse period of the motor scanning synchronization pulse signal is consistent with the motor scanning period of the radar motor 13. The motor scanning synchronization pulse signal is used to drive the motor control unit 12 to timely control the radar motor 13 to move from the effective scanning motor end position to the effective scanning motor start position of the next motor scanning cycle.

[0093] In step S370, each time the motor control unit receives a motor scanning synchronization pulse signal, it controls the radar motor to move to the starting position of the effective scanning motor before the effective scanning time period of the next motor scanning cycle.

[0094] Therefore, by executing the above steps S350 to S370, this application can effectively ensure that the radar motor 13 can also have some effective scanning start time points aligned with whole seconds in the subsequent movement process, provided that the first effective scanning start time point of the radar motor 13 is substantially aligned with a certain whole second, and effectively ensure that the motor control unit 12 and the main control unit 11 achieve time synchronization.

[0095] Alternatively, please refer to Figure 4 , Figure 4 This is the third flowchart illustrating the first radar scanning control method provided in this application embodiment. In this application embodiment, [the method is related to...]. Figure 3 Compared to the first radar scanning control method shown, Figure 4The first radar scanning control method shown may further include step S380, which drives the main control unit 11 to cooperate with the motor control unit 12 to re-execute steps S310 to S330 corresponding to the first scan whole-second alignment operation for the radar motor 13, ensuring that the first effective scan start time of the radar motor 13 is time-aligned with the whole second, and ensuring that the initial effective scan position of the entire lidar can reach the desired scan position at the whole second. Step S380 and step S340 are parallel, and the execution order of steps S380 and S340 is not fixed.

[0096] In step S380, if the alignment verification result is a failure, the motor control unit sends an initial scan full-second alignment command to the main control unit.

[0097] In this embodiment, if the alignment verification result parsed by the motor control unit 12 is a verification failure, it means that the radar motor 13 is currently identified by the main control unit 11 as the first effective scan start time point but is not aligned with a certain whole second. The motor motion control effect of the motor control unit 12 cannot substantially meet the whole second alignment requirement of the first effective scan operation. The motor control unit 12 needs to re-control the radar motor 13 to time-align the corresponding first effective scan start time point with a certain whole second. At this time, the motor control unit 12 will send a first scan whole second alignment command to the main control unit 11 to drive the main control unit 11 to cooperate with the motor control unit 12 to re-execute the steps S310 to S330 corresponding to the first scan whole second alignment operation for the radar motor 13, so as to ensure that the first effective scan start time point of the radar motor 13 is time-aligned with the whole second, and to ensure that the initial effective scan position of the entire lidar can reach the desired scan position at the whole second.

[0098] In one embodiment of this example, the motor control unit 12 can send "LOCK=0" and "Lock B=0" signals to the FPGA to indicate the first scan whole second alignment instruction, thereby instructing the FPGA to set its own LOCK register and Lock B register to 0, thereby driving the FPGA to re-execute the above step S310.

[0099] Therefore, by executing the above step S380, if the alignment verification result output by the main control unit 11 is a verification failure, the application can drive the main control unit 11 to cooperate with the motor control unit 12 to re-execute the first scan full-second alignment operation for the radar motor 13, so as to ensure that the first effective scan start time of the radar motor 13 is time-aligned with the full second, and to ensure that the initial effective scan position of the entire lidar can reach the desired scan position at the full second.

[0100] In this application, to ensure that the main control unit 11 in the lidar system 10 can control the motor control unit 12 to align the first effective scan start time of the lidar motor 13 with the whole second, and to ensure that the initial effective scan position of the entire lidar can reach the desired scan position at the whole second, so that the lidar can achieve time synchronization with other sensing devices, this application provides a radar scanning control method applied to the main control unit 11 in the lidar system 10 to achieve the aforementioned objective. The radar scanning control method provided in this application will be described in detail below.

[0101] Please refer to Figure 5 , Figure 5 This is one of the flowcharts illustrating the second radar scanning control method provided in this application embodiment. In this application embodiment, the second radar scanning control method applied to the above-mentioned main control unit 11 may include steps S410 to S440.

[0102] Step S410: In response to the first scan whole second alignment command, send a whole second pulse signal to the motor control unit to drive the motor control unit to align the first effective scan start time of the radar motor under the preset motor scanning strategy with the whole second pulse signal, and feed back an alignment operation completion signal.

[0103] Step S420: Receive the alignment operation completion signal and verify the alignment status of the radar motor at whole second intervals to obtain the corresponding alignment verification result.

[0104] Step S430: The alignment verification result is sent to the motor control unit so that the motor control unit controls the radar motor to continue running according to the preset motor scanning strategy when the alignment verification result is successful.

[0105] The specific execution process of steps S410 to S430 can be referred to the detailed description of the execution process of steps S310 to S340 above, and will not be repeated here.

[0106] Therefore, by executing the above steps S410 to S430, this application ensures that the main control unit 11 can control the motor control unit 12 to align the first effective scanning start time of the radar motor 13 with the whole second, ensuring that the initial effective scanning position of the entire lidar can reach the desired scanning position at the whole second, so that the corresponding lidar can achieve time synchronization with other sensing devices.

[0107] Alternatively, please refer to Figure 6 , Figure 6 This is a second schematic flowchart of the second radar scanning control method provided in the embodiments of this application. In the embodiments of this application, with Figure 5 Compared to the second radar scanning control method shown, Figure 6 The second radar scanning control method shown may also include steps S440 and S450, so as to effectively ensure that the radar motor 13 can also have some effective scanning start time points aligned with whole seconds in the subsequent movement process when the first effective scanning start time point of the radar motor 13 is substantially aligned with a certain whole second, and effectively ensure that the motor control unit 12 and the main control unit 11 achieve time synchronization.

[0108] Step S440: If the alignment verification result is successful, extract the first effective scan end time point from the current theoretical motor motion scheme of the radar motor.

[0109] Step S450: Using the end time of the first effective scan as the time reference, a motor scan synchronization pulse signal is sent to the motor control unit at time intervals using the motor scan cycle duration of the radar motor. This allows the motor control unit to control the radar motor to move to the starting position of the effective scan motor before the effective scan time period of the next motor scan cycle each time it receives the motor scan synchronization pulse signal.

[0110] The specific execution process of steps S440 and S450 can be referred to the detailed description of the execution process of steps S350 to S370 above, and will not be repeated here.

[0111] Therefore, by executing the above steps S440 and S450, this application can effectively ensure that the radar motor 13 can also have some effective scanning start time points aligned with whole seconds in the subsequent movement process, provided that the first effective scanning start time point of the radar motor 13 is substantially aligned with a certain whole second. It can also effectively ensure that the motor control unit 12 and the main control unit 11 achieve time synchronization.

[0112] Alternatively, please refer to Figure 7 , Figure 7This is the third flowchart illustrating the second radar scanning control method provided in this application embodiment. In this application embodiment, [the method is related to...]. Figure 6 Compared to the second radar scanning control method shown, Figure 7 The second radar scanning control method shown may also include step S460, in order to cooperate with the motor control unit 12 to re-execute the first scan whole second alignment operation for the radar motor 13 if the alignment verification result output by the main control unit 11 is a verification failure, thereby ensuring that the first effective scan start time of the radar motor 13 is time-aligned with the whole second, and ensuring that the initial effective scan position of the entire lidar can reach the desired scan position at the whole second.

[0113] Step S460: Receive the first scan full-second alignment command from the motor control unit if the alignment verification result is a verification failure.

[0114] The specific execution process of step S460 can be referred to the detailed description of the execution process of step S380 above, and will not be repeated here.

[0115] Therefore, by executing the above step S460, if the alignment verification result output by the main control unit 11 is a verification failure, the application can cooperate with the motor control unit 12 to re-execute the first scan whole second alignment operation for the radar motor 13, so as to ensure that the first effective scan start time of the radar motor 13 is time-aligned with the whole second, and ensure that the initial effective scan position of the entire lidar can reach the desired scan position at the whole second.

[0116] In this application, to ensure that the motor control unit 12 in the lidar system 10 can cooperate with the main control unit 11 to align the first effective scanning start time of the radar motor 13 with the whole second, and to ensure that the initial effective scanning position of the entire lidar can reach the desired scanning position at the whole second, so that the lidar can achieve time synchronization with other sensing devices, this application provides a radar scanning control method applied to the motor control unit 12 in the lidar system 10 to achieve the aforementioned objective. The radar scanning control method provided in this application will be described in detail below.

[0117] Please refer to Figure 8 , Figure 8 This is one of the flowcharts illustrating the third radar scanning control method provided in this application embodiment. In this application embodiment, the third radar scanning control method applied to the above-mentioned motor control unit 12 may include steps S510 to S540.

[0118] Step S510: Receive the whole-second pulse signal sent by the main control unit in response to the first scan whole-second alignment command.

[0119] Step S520: Align the first effective scan start time of the radar motor under the preset motor scanning strategy with the whole second pulse signal, and send a signal indicating that the alignment operation is complete to the main control unit.

[0120] Step S530: Respond to the alignment verification operation of the main control unit, and cooperate with the main control unit to verify the alignment status of the radar motor at the whole second.

[0121] Step S540: Receive the alignment verification result sent by the main control unit, and if the alignment verification result is successful, control the radar motor to continue running according to the preset motor scanning strategy.

[0122] The specific execution process of steps S510 to S540 can be referred to the detailed description of the execution process of steps S310 to S340 above, and will not be repeated here.

[0123] Therefore, by executing the above steps S510 to S540, this application ensures that the motor control unit 12 can cooperate with the main control unit 11 to align the first effective scanning start time of the radar motor 13 with the whole second, ensuring that the initial effective scanning position of the entire lidar can reach the desired scanning position at the whole second, so that the corresponding lidar can cooperate with other sensing devices to achieve time synchronization.

[0124] Alternatively, please refer to Figure 9 , Figure 9 This is the second flowchart illustrating the third radar scanning control method provided in this application. In this application embodiment, [the method is described in conjunction with...] Figure 8 Compared to the third radar scanning control method shown, Figure 9 The third radar scanning control method shown may also include steps S550 and S560, so as to effectively ensure that the radar motor 13 can also have some effective scanning start time points aligned with whole seconds in the subsequent movement process when the first effective scanning start time point of the radar motor 13 is substantially aligned with a certain whole second, and effectively ensure that the motor control unit 12 and the main control unit 11 achieve time synchronization.

[0125] Step S550: Receive motor scanning synchronization pulse signals periodically sent by the main control unit when the alignment verification result is successful.

[0126] Step S560: Each time a motor scanning synchronization pulse signal is received, the radar motor is controlled to move to the starting position of the effective scanning motor before the effective scanning time period of the next motor scanning cycle.

[0127] The specific execution process of steps S550 to S560 can be referred to the detailed description of the execution process of steps S350 to S370 above, and will not be repeated here.

[0128] Therefore, by executing the above steps S550 to S560, this application can effectively ensure that the radar motor 13 can also have some effective scanning start time points aligned with whole seconds in the subsequent movement process, provided that the first effective scanning start time point of the radar motor 13 is substantially aligned with a certain whole second, and effectively ensure that the motor control unit 12 and the main control unit 11 achieve time synchronization.

[0129] Alternatively, please refer to Figure 10 , Figure 10 This is the third flowchart illustrating the third radar scanning control method provided in this application embodiment. In this application embodiment, with Figure 9 Compared to the third radar scanning control method shown, Figure 10 The third radar scanning control method shown may also include step S570, in order to cooperate with the main control unit 11 to re-execute the first scan whole second alignment operation for the radar motor 13 if the alignment verification result output by the main control unit 11 is a verification failure, thereby ensuring that the first effective scan start time of the radar motor 13 is time-aligned with the whole second, and ensuring that the initial effective scan position of the entire lidar can reach the desired scan position at the whole second.

[0130] In step S570, if the alignment verification result is a verification failure, a first scan full-second alignment command is sent to the main control unit.

[0131] The specific execution process of step S570 can be referred to the detailed description of the execution process of step S380 above, and will not be repeated here.

[0132] Therefore, by executing the above step S570, if the alignment verification result output by the main control unit 11 is a verification failure, the application can cooperate with the main control unit 11 to re-execute the first scan whole second alignment operation for the radar motor 13, so as to ensure that the first effective scan start time of the radar motor 13 is time-aligned with the whole second, and ensure that the initial effective scan position of the entire lidar can reach the desired scan position at the whole second.

[0133] In this application, to ensure that the main control unit 11 in the lidar system 10 can effectively execute any of the aforementioned radar scanning control methods in conjunction with the motor control unit 12, this application provides a first radar scanning control device embedded in the main control unit 11 to cooperate with the motor control unit 12 in executing the aforementioned radar scanning control methods. The aforementioned functions are achieved by dividing the first radar scanning control device into functional modules. The specific composition of the first radar scanning control device provided in this application is described below.

[0134] Please refer to Figure 11 , Figure 11 This is one of the schematic diagrams of the composition of the first radar scanning control device 100 provided in the embodiments of this application. In the embodiments of this application, the first radar scanning control device 100 may include an integer second alignment driving module 110, an integer second alignment verification module 120, and a verification result sending module 130.

[0135] The whole-second alignment drive module 110 is used to respond to the first scan whole-second alignment command, send a whole-second pulse signal to the motor control unit, so as to drive the motor control unit to align the first effective scan start time of the radar motor under the preset motor scanning strategy with the whole-second pulse signal, and feed back an alignment operation completion signal.

[0136] The whole-second alignment verification module 120 is used to receive the alignment operation completion signal and verify the whole-second alignment status of the radar motor to obtain the corresponding alignment verification result.

[0137] The verification result sending module 130 is used to send the alignment verification result to the motor control unit so that the motor control unit can control the radar motor to continue running according to the preset motor scanning strategy when the alignment verification result is successful.

[0138] Alternatively, please refer to Figure 12 , Figure 12 This is a second schematic diagram of the composition of the first radar scanning control device 100 provided in this application embodiment. In this application embodiment, the first radar scanning control device 100 may further include an end timing extraction module 140, a motor synchronization drive module 150, and an alignment command acquisition module 160.

[0139] The end time extraction module 140 is used to extract the first effective scan end time point from the current theoretical motor motion scheme of the radar motor when the alignment verification result is successful.

[0140] The motor synchronization drive module 150 is used to send motor scanning synchronization pulse signals to the motor control unit at time intervals, with the end time of the first effective scan as the time reference and the motor scanning cycle duration of the radar motor as the time interval. This allows the motor control unit to control the radar motor to move to the starting position of the effective scan motor before the effective scan time period of the next motor scan cycle each time it receives the motor scanning synchronization pulse signal.

[0141] The alignment instruction acquisition module 160 is used to receive the first scan full-second alignment instruction fed back by the motor control unit when the alignment verification result is a verification failure.

[0142] It should be noted that the first radar scanning control device 100 provided in this embodiment has the same basic principle and technical effects as the aforementioned radar scanning control method. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the above description of the radar scanning control method.

[0143] In this application, to ensure that the motor control unit 12 in the lidar system 10 can effectively execute any of the aforementioned radar scanning control methods in cooperation with the main control unit 11, this application provides a second radar scanning control device embedded in the motor control unit 12 to cooperate with the main control unit 11 in executing the aforementioned radar scanning control methods. The aforementioned functions are achieved by dividing the second radar scanning control device into functional modules. The specific composition of the second radar scanning control device provided in this application is described below.

[0144] Please refer to Figure 13 , Figure 13 This is one of the schematic diagrams of the composition of the second radar scanning control device 200 provided in the embodiments of this application. In the embodiments of this application, the second radar scanning control device 200 may include an integer second pulse receiving module 210, an integer second alignment control module 220, an alignment verification response module 230, and a motor motion control module 240.

[0145] The whole-second pulse receiving module 210 is used to receive the whole-second pulse signal sent by the main control unit in response to the first scan whole-second alignment command.

[0146] The whole-second alignment control module 220 is used to align the first effective scan start time of the radar motor under the preset motor scanning strategy with the whole-second pulse signal, and to send a signal indicating that the alignment operation is complete to the main control unit.

[0147] The alignment verification response module 230 is used to respond to the alignment verification operation of the main control unit and cooperate with the main control unit to verify the alignment status of the radar motor at the whole second.

[0148] The motor motion control module 240 is used to receive the alignment verification result sent by the main control unit, and control the radar motor to continue running according to the preset motor scanning strategy if the alignment verification result is successful.

[0149] Alternatively, please refer to Figure 14 , Figure 14 This is a second schematic diagram of the composition of the second radar scanning control device 200 provided in this application embodiment. In this application embodiment, the second radar scanning control device 200 may further include a synchronization pulse receiving module 250 and an alignment command feedback module 260.

[0150] The synchronization pulse receiving module 250 is used to receive the motor scanning synchronization pulse signal periodically sent by the main control unit when the alignment verification result is successful.

[0151] The motor motion control module 240 is also used to control the radar motor to move to the effective scanning motor starting position before the effective scanning time period of the next motor scanning cycle each time a motor scanning synchronization pulse signal is received.

[0152] The alignment instruction feedback module 260 is used to send an initial scan full-second alignment instruction to the main control unit when the alignment verification result is a verification failure.

[0153] It should be noted that the second radar scanning control device 200 provided in this embodiment has the same basic principle and technical effects as the aforementioned radar scanning control method. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the above description of the radar scanning control method.

[0154] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functionality, and operation of possible implementations of the apparatus, methods, and computer program products according to embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0155] Furthermore, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part. If the function is implemented as a software functional module and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a readable storage medium and includes several instructions to cause the lidar system to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned readable storage medium includes: USB flash drives, mobile hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media capable of storing program code.

[0156] In summary, in the radar scanning control method and apparatus, lidar system, and readable storage medium provided in the embodiments of this application, the main control unit sends a whole-second pulse signal to the motor control unit when responding to the first scan whole-second alignment command. This causes the motor control unit to align the first effective scan start time of the radar motor under the preset motor scanning strategy with the whole-second pulse signal. Upon receiving the alignment operation completion signal from the motor control unit, the main control unit verifies the whole-second alignment status of the radar motor and then sends the corresponding alignment verification result to the motor control unit. If the alignment verification result is successful, the motor control unit controls the radar motor to continue running according to the preset motor scanning strategy, thereby aligning the first effective scan start time of the radar motor with the whole second. This ensures that the initial effective scan position of the entire lidar can reach the desired scan position at the whole second, so that the lidar can achieve time synchronization with other sensing devices.

[0157] The above descriptions are merely various embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A radar scanning control method, characterized in that, Applied to a lidar system, the lidar system including a main control unit, a lidar motor, and a motor control unit, the method includes: In response to the first scan whole second alignment command, the main control unit sends a whole second pulse signal to the motor control unit; The motor control unit aligns the first effective scan start time of the radar motor under the preset motor scanning strategy with the whole second pulse signal, and sends a signal indicating that the alignment operation is complete to the main control unit. The main control unit verifies the alignment status of the radar motor at whole seconds, obtains the corresponding alignment verification result, and sends the alignment verification result to the motor control unit; If the alignment verification result is successful, the motor control unit controls the radar motor to continue operating according to the preset motor scanning strategy.

2. The method according to claim 1, characterized in that, The step of the main control unit verifying the alignment status of the radar motor at whole-second intervals and obtaining the corresponding alignment verification result includes: The current count phase signal of the radar motor is obtained, and the theoretical motor motion scheme of the radar motor is predicted based on the count phase signal and the preset motor scanning strategy. Send a whole-second alignment verification command to the motor control unit, wherein the whole-second alignment verification command is used to drive the motor control unit to control the radar motor to move to the position of the motor to be verified in the next motor scanning cycle and to feed back a signal that the movement has been completed. Extract the theoretical motion time point that matches the position of the motor to be verified in the next motor scanning cycle from the theoretical motor motion scheme, and calculate the duration difference between the theoretical motion time point and the receiving time point of the motion arrival signal; The time difference is compared with a preset time difference threshold. If the time difference is less than or equal to the preset time difference threshold, the alignment verification result is output as successful; otherwise, the alignment verification result is output as unsuccessful.

3. The method according to claim 1 or 2, characterized in that, The method further includes: If the alignment verification result is successful, the main control unit extracts the first effective scan end time point from the current theoretical motor motion scheme of the radar motor. The main control unit uses the end time of the first effective scan as the time reference and the motor scan cycle duration of the radar motor as the time interval to send motor scan synchronization pulse signals to the motor control unit. When the motor control unit receives the motor scanning synchronization pulse signal each time, it controls the radar motor to move to the effective scanning motor starting position before the effective scanning time period of the next motor scanning cycle.

4. The method according to claim 3, characterized in that, The method further includes: If the alignment verification result is a failure, the motor control unit sends a first scan full-second alignment command to the main control unit.

5. A radar scanning control method, characterized in that, The method is applied to the main control unit of a lidar system, wherein the lidar system further includes a lidar motor and a motor control unit, and includes: In response to the first scan full-second alignment command, a full-second pulse signal is sent to the motor control unit to drive the motor control unit to align the first effective scan start time of the radar motor under the preset motor scanning strategy with the full-second pulse signal, and to feed back an alignment operation completion signal. The alignment operation completion signal is received, and the alignment status of the radar motor at whole second intervals is verified to obtain the corresponding alignment verification result. The alignment verification result is sent to the motor control unit so that when the alignment verification result is successful, the motor control unit controls the radar motor to continue operating according to the preset motor scanning strategy.

6. The method according to claim 5, characterized in that, The method further includes: If the alignment verification result is successful, the first effective scan end time point is extracted from the current theoretical motor motion scheme of the radar motor. Using the end time of the first effective scan as a time reference, the motor scanning cycle of the radar motor is used as a time interval to send a motor scanning synchronization pulse signal to the motor control unit, so that when the motor control unit receives the motor scanning synchronization pulse signal, it controls the radar motor to move to the effective scanning motor start position before the effective scanning time period of the next motor scanning cycle.

7. The method according to claim 5 or 6, characterized in that, The method further includes: The motor control unit receives the first scan full-second alignment command in the event that the alignment verification result is a verification failure.

8. A radar scanning control method, characterized in that, An application to a motor control unit included in a lidar system, wherein the lidar system further includes a main control unit and a lidar motor, the method comprising: Receive the whole-second pulse signal sent by the main control unit in response to the first scan whole-second alignment command; The radar motor's first effective scan start time under the preset motor scanning strategy is aligned with the whole-second pulse signal, and the alignment operation is completed by sending a signal back to the main control unit. In response to the alignment verification operation of the main control unit, the system cooperates with the main control unit to verify the alignment status of the radar motor at the whole second. The system receives the alignment verification result sent by the main control unit, and if the alignment verification result is successful, it controls the radar motor to continue operating according to the preset motor scanning strategy.

9. The method according to claim 8, characterized in that, The method further includes: The main control unit receives motor scanning synchronization pulse signals periodically sent by the main control unit when the alignment verification result is successful. Each time the motor scanning synchronization pulse signal is received, the radar motor is controlled to move to the effective scanning motor starting position before the effective scanning time period of the next motor scanning cycle.

10. The method according to claim 8 or 9, characterized in that, The method further includes: If the alignment verification result is a failure, a first scan full-second alignment command is sent to the main control unit.

11. A radar scanning control device, characterized in that, An application to the main control unit of a lidar system, wherein the lidar system further includes a lidar motor and a motor control unit, the device comprising: The whole-second alignment drive module is used to respond to the first scan whole-second alignment command, send a whole-second pulse signal to the motor control unit, so as to drive the motor control unit to align the first effective scan start time of the radar motor under the preset motor scanning strategy with the whole-second pulse signal, and feed back an alignment operation completion signal. The whole-second alignment verification module is used to receive the alignment operation completion signal and verify the whole-second alignment status of the radar motor to obtain the corresponding alignment verification result. The verification result sending module is used to send the alignment verification result to the motor control unit, so that when the alignment verification result is successful, the motor control unit controls the radar motor to continue running according to the preset motor scanning strategy.

12. The apparatus according to claim 11, characterized in that, The device further includes: The end time extraction module is used to extract the first effective scan end time point from the current theoretical motor motion scheme of the radar motor when the alignment verification result is successful. The motor synchronization drive module is used to send motor scanning synchronization pulse signals to the motor control unit at time intervals, using the end time of the first effective scan as the time reference and the motor scanning cycle duration of the radar motor as the time interval. This allows the motor control unit to control the radar motor to move to the effective scanning motor start position before the effective scanning time period of the next motor scanning cycle each time it receives the motor scanning synchronization pulse signal.

13. The apparatus according to claim 11 or 12, characterized in that, The device further includes: The alignment instruction acquisition module is used to receive the first scan full-second alignment instruction fed back by the motor control unit when the alignment verification result is a verification failure.

14. A radar scanning control device, characterized in that, An application to a motor control unit included in a lidar system, wherein the lidar system further includes a main control unit and a lidar motor, the device comprising: The whole-second pulse receiving module is used to receive the whole-second pulse signal sent by the main control unit in response to the first scan whole-second alignment command; The whole-second alignment control module is used to align the first effective scan start time of the radar motor under the preset motor scanning strategy with the whole-second pulse signal, and to feed back the alignment operation completion signal to the main control unit. The alignment verification response module is used to respond to the alignment verification operation of the main control unit and cooperate with the main control unit to verify the alignment status of the radar motor at the whole second. The motor motion control module is used to receive the alignment verification result sent by the main control unit, and control the radar motor to continue running according to the preset motor scanning strategy if the alignment verification result is successful.

15. The apparatus according to claim 14, characterized in that, The device further includes: A synchronization pulse receiving module is used to receive motor scanning synchronization pulse signals periodically sent by the main control unit when the alignment verification result is successful. The motor motion control module is also used to control the radar motor to move to the effective scanning motor starting position before the effective scanning time period of the next motor scanning cycle each time the motor scanning synchronization pulse signal is received.

16. The apparatus according to claim 14 or 15, characterized in that, The device further includes: The alignment instruction feedback module is used to send an initial scan full-second alignment instruction to the main control unit when the alignment verification result is a verification failure.

17. A lidar system, characterized in that, The system includes a main control unit, a radar motor, and a motor control unit, wherein the main control unit, the radar motor, and the motor control unit cooperate with each other to implement the radar scanning control method according to any one of claims 1-10.

18. A readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the lidar system of claim 17, it implements the radar scanning control method of any one of claims 1-10.

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