Radar data processing method, device, equipment and storage medium

Abstract

Embodiments of the present application provide a radar data processing method, device and equipment and a storage medium, belonging to the technical field of data processing. The radar data processing method comprises: receiving at least one radar point cloud package data; framing the radar point cloud package data and determining a data transmission signal; determining a radar mirror angle according to the radar point cloud package data; judging whether the radar point cloud package data is framed according to the data transmission signal and the radar mirror angle, and generating a framing signal. Embodiments of the present application frame the radar point cloud package data, avoid processing a large amount of radar data, reduce the amount of calculation, improve the efficiency of radar data processing, and further judge whether the radar point cloud package data is framed based on the data transmission signal and the radar mirror angle, improve the accuracy of judging the completion of framing, and improve the framing efficiency.

Description

Technical Field

[0001] This invention relates to the field of data processing technology, and more specifically to a radar data processing method, a radar data processing device, an electronic device, and a computer storage medium. Background Technology

[0002] LiDAR technology is rapidly developing in fields such as intelligent driving in the automotive industry, providing complete and reliable target data for upper-level applications by utilizing the data generated by LiDAR. However, current LiDAR technology does not involve framing the raw radar data, requiring LiDAR target perception algorithms to process large amounts of raw radar data, increasing the workload of the LiDAR target perception algorithms and reducing data processing efficiency and target localization efficiency. Summary of the Invention

[0003] One objective of this invention is to provide a radar data processing method to solve the technical problem of low radar data processing efficiency in the prior art; another objective is to provide a radar data processing device; a third objective is to provide an electronic device; and a fourth objective is to provide a computer storage medium.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0005] A radar data processing method, the method comprising:

[0006] Receive at least one radar point cloud packet data;

[0007] The radar point cloud packet data is framed and a data transmission signal is generated; wherein, the data transmission signal includes a timeout signal and a non-timeout signal;

[0008] The radar mirror angle is determined based on the radar point cloud packet data;

[0009] Based on the data transmission signal and the radar mirror angle, it is determined whether the radar point cloud packet data has been framed, and a framing signal is generated; wherein, the framing signal includes a framing completion signal and a framing incomplete signal.

[0010] Based on the above technical features, by framing the received radar point cloud packet data and determining whether framing is complete, a framing signal is generated when framing is complete. This avoids processing a large amount of radar data, reduces the amount of computation, and improves the efficiency of radar data processing.

[0011] Furthermore, the generation of the data transmission signal includes:

[0012] Determine if the preset data receiving queue is empty;

[0013] If the preset data receiving queue is empty, then after waiting for a preset time period, it is determined whether the preset data receiving queue has received the radar point cloud packet data.

[0014] If the preset data receiving queue does not receive the radar point cloud packet data, then the timeout signal is generated.

[0015] Based on the aforementioned technical features, a preset data receiving queue is set up to determine whether radar point cloud packet data has been received in the queue. If the queue is not empty, the radar point cloud packet data has been input into the preset data receiving queue, generating a no-timeout signal. If the queue is empty, after waiting for a preset time period, it is further determined whether radar point cloud packet data has been received within that preset time period. If data has been received, it indicates that the radar point cloud packet data has not yet been framed, generating a no-timeout signal; if no data has been received, a timeout signal is generated. In other words, this technical feature improves the accuracy of the determination by judging whether the reception of radar point cloud packet data has timed out to initially determine whether framing is complete.

[0016] Furthermore, determining whether the radar point cloud packet data has been framed based on the data transmission signal and the radar mirror angle includes:

[0017] Determine whether the data transmission signal is a timeout signal;

[0018] If the data transmission signal is determined to be a timeout signal, then it is determined whether the radar point cloud packet data has been lost.

[0019] If it is determined that no packets were lost in the radar point cloud packet data, then the radar point cloud packet data is considered to have completed framing, and a framing completion signal is generated.

[0020] Based on the above technical characteristics, it is determined whether the radar point cloud data has experienced packet loss. If no packet loss occurs, it means that the radar point cloud data has been successfully framed. If packet loss occurs, the framing fails, thus ensuring the accuracy of radar point cloud data framing.

[0021] Furthermore, the method also includes:

[0022] If the data transmission signal is determined to be a non-timeout signal, then it is determined that the radar point cloud packet data has not been framed, and the process returns to determine whether the data transmission signal is a timeout signal.

[0023] Furthermore, determining whether packet loss has occurred in the radar point cloud data includes:

[0024] The current mirror angle is determined based on the radar mirror angle; wherein the current mirror angle is the radar mirror angle corresponding to the current frame;

[0025] Determine whether the current mirror angle meets the preset angle range; wherein, the preset angle range is the angle range corresponding to the preset end frame;

[0026] If the current mirror angle does not meet the preset angle range, it is determined that the radar point cloud packet data has been lost.

[0027] Based on the above technical features, the mirror angle corresponding to the end frame of the last radar point cloud packet data is determined from the radar point cloud packet data as a preset angle. A preset angle range is set, and it is determined whether the radar mirror angle corresponding to the current frame meets the preset angle range. If it does, it means that no radar point cloud packet data has been lost. If it does not, it means that the radar point cloud packet data has been lost.

[0028] Furthermore, including:

[0029] If the current mirror angle is determined to meet the preset angle range, it is determined that no packet loss has occurred in the radar point cloud data, and the current mirror angle is reset to the preset initial angle.

[0030] Based on the above technical features, the current mirror angle of the completed frame will be reset to ensure that it does not affect the next judgment of the current mirror angle.

[0031] A radar data processing device, the device comprising:

[0032] The data receiving module is used to receive data from at least one radar point cloud packet;

[0033] A framing module is used to frame the radar point cloud packet data and generate a data transmission signal; wherein the data transmission signal includes a timeout signal and a non-timeout signal;

[0034] An angle determination module is used to determine the radar mirror angle based on the radar point cloud packet data.

[0035] A framing determination module is used to determine whether the radar point cloud packet data has been successfully framed based on the data transmission signal and the radar mirror angle, and to generate a framing signal; wherein the framing signal includes a framing completion signal and a framing incomplete signal. Further, the device also includes a timeout determination module, used for:

[0036] Determine if the preset data receiving queue is empty;

[0037] If the preset data receiving queue is empty, then after waiting for a preset time period, it is determined whether the preset data receiving queue has received the radar point cloud packet data.

[0038] If the preset data receiving queue does not receive the radar point cloud packet data, then the timeout signal is generated.

[0039] An electronic device is configured to perform the radar data processing method described above.

[0040] A computer-readable storage medium storing instructions for causing a machine to perform the steps described in any possible implementation of the radar data processing method described above.

[0041] The beneficial effects of this invention are:

[0042] (1) By framing radar point cloud packet data, this invention avoids data processing of a large amount of radar data, reduces the amount of computation, and improves the efficiency of radar data processing.

[0043] (2) Based on the data transmission signal and the radar mirror angle, the present invention judges whether the radar point cloud packet data has been framed, which improves the accuracy of judging the completion of frame formation and improves the frame formation efficiency. Attached Figure Description

[0044] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0045] Figure 1 This is a schematic diagram illustrating the flow of a radar data processing method according to an embodiment of the present invention;

[0046] Figure 2 This is a schematic diagram illustrating the timeout determination process according to an embodiment of the present invention;

[0047] Figure 3 This is a schematic diagram illustrating the mirror angle corresponding to a data frame according to an embodiment of the present invention;

[0048] Figure 4 This is a schematic diagram illustrating the overall flow of a radar data processing method according to an embodiment of the present invention;

[0049] Figure 5 This is a schematic diagram illustrating the functional modules of a radar data processing apparatus according to an embodiment of the present invention.

[0050] Explanation of reference numerals in the attached figures

[0051] 200 Radar data processing unit; 210 Data receiving module; 220 Frame assembly module;

[0052] 230 Angle Determination Module; 240 Frame Group Judgment Module; 250 Timeout Judgment Module. Detailed Implementation

[0053] The embodiments of the present invention will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention and not for limiting the scope of protection of the present invention.

[0054] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0055] This embodiment proposes a radar data processing method, as shown in the example below. Figure 1 , Figure 1 This is a flowchart illustrating a radar data processing method provided in this embodiment.

[0056] Step S100: Receive at least one radar point cloud packet data.

[0057] Radar point cloud packet data is composed of the point cloud data corresponding to each mirror of the radar. For example, when receiving radar point cloud packet data from the Hesai hybrid solid-state lidar, which contains three mirrors, the point cloud data corresponding to each mirror is output as one frame of point cloud data. Each time the motor rotates once, it outputs three frames of point cloud data.

[0058] Step S200: Frame the radar point cloud packet data and generate a data transmission signal; wherein, the data transmission signal includes a timeout signal and a non-timeout signal.

[0059] It is understandable that there is a window period for transmitting each radar point cloud packet data. In this embodiment, a timeout judgment is performed on the radar point cloud packet data during the window period to determine the data transmission signal. For example, when scanning the Hesai hybrid solid-state lidar at a scanning frequency of 10Hz, the complete data frame transmission period of the mirror is 100ms. During the process of the mirror transmitting a complete frame of data, within the first 50ms, the mirror rotates approximately 60° to complete the frame data transmission. The latter half of the process, during which the mirror rotates approximately 60°, constitutes the data transmission window period. During this window period, a timeout judgment is performed on the radar point cloud packet data to determine the data transmission signal.

[0060] It is important to understand that this embodiment frames multiple incoming radar point cloud packets. During the framing process, it is necessary to determine whether all radar point cloud packet data has been transmitted completely to ensure that all transmitted radar point cloud packet data is framed. Therefore, this embodiment proposes to perform timeout judgment on the radar point cloud packet data to determine the data transmission signal. Specifically, as follows... Figure 2 As shown, a preset data receiving queue is pre-set to receive the collected radar point cloud packet data. The system determines whether the preset data receiving queue is empty. If it is not empty, it indicates that the preset data has received the radar point cloud packet data, but the radar point cloud packet data has not yet been output from the preset data receiving queue, meaning the radar point cloud packet data has not yet been framed. The data is then output from the queue, generating and returning a no-timeout signal. If it is empty, it indicates that the radar point cloud packet data has not yet been transmitted to the queue, or the radar point cloud packet data has been framed and output from the queue. To determine which of these situations the current preset data receiving queue is in, it is necessary to wait for a preset time period. Then, the system determines whether the preset data receiving queue has received the radar point cloud packet data. If it has not received it, it indicates that the radar point cloud packet data has been framed and output from the queue, or that packet loss during radar point cloud packet transmission caused data transmission failure, generating a timeout signal. If it has received it, it indicates that the radar point cloud packet data has been normally transmitted to the preset data receiving queue, and the system returns to the step of determining whether the preset receiving queue is empty.

[0061] Step S300: Determine the radar mirror angle based on the radar point cloud packet data.

[0062] The radar mirror angle includes the radar mirror angle corresponding to each frame of the radar point cloud packet data.

[0063] Step S400: Based on the data transmission signal and the radar mirror angle, determine whether the radar point cloud packet data has been framed, and generate a framing signal; wherein, the framing signal includes a framing completion signal and a framing incomplete signal.

[0064] Specifically, this step, based on the timeout and non-timeout signals generated in step S200, determines whether the data transmission signal is a timeout signal. If the data transmission signal is determined to be a timeout signal, it determines whether the radar point cloud packet data has been lost. If the radar point cloud packet data has not been lost, it determines that the radar point cloud packet data has completed framing and generates a framing completion signal. If the radar point cloud packet data has been lost, it determines that the radar point cloud packet data has not completed framing and generates a framing incomplete signal. It is understandable that since the preset data receiving queue has not received radar point cloud packet data, there are two possible situations: one is that all radar point cloud packet data has been sent, i.e., all radar point cloud packet data has been framed; the other is that data loss has occurred, causing the data not to be transmitted to the queue. Therefore, it is necessary to determine whether the data is lost. Specifically, regarding the determination of packet loss, as follows... Figure 3As shown, each frame of the radar point cloud packet data corresponds to the current mirror angle of the radar. It is determined whether the current mirror angle meets a preset angle range, which is the mirror angle range corresponding to the end frame of the radar point cloud packet data. It can be understood that before transmitting the radar point cloud packet data to the preset data receiving queue, the mirror angle range corresponding to the end frame of the last radar point cloud packet data can be directly determined. In this embodiment, data packet loss is determined by judging whether the current mirror angle is close to the mirror angle range corresponding to the end frame. When a timeout signal is received, the current mirror angle 1 is obtained, and this current mirror angle 1 is judged by… Figure 3 It is known that the current mirror angle 1 is not within the mirror angle range corresponding to the end frame, therefore it is determined that the radar point cloud packet data has been lost, and a frame assembly incomplete signal is generated; Figure 3 It can be seen that the current mirror angle 2 is within the mirror angle range corresponding to the end frame, indicating that there is no packet loss in the radar point cloud packet data. Therefore, it is determined that the radar point cloud packet data framing is complete, and a framing completion signal is generated.

[0065] It is understood that in this embodiment, after determining that the preset data receiving queue has received radar point cloud packet data, the current mirror angle will be updated in real time. After determining that the radar point cloud packet data has been framed, the current mirror angle needs to be reset to the preset initial angle to avoid affecting the next judgment.

[0066] In summary, the overall process of this embodiment is as follows: Figure 4 As shown, the system first receives at least one radar point cloud packet data, frames the radar point cloud data, and determines whether the preset data receiving queue is empty. If it is not empty, the current mirror angle is updated; if it is empty, the next step is executed. After waiting for a preset time period, it is determined whether the preset data receiving queue has received radar point cloud packet data. If not, a timeout signal is generated. If a timeout signal exists, it is determined whether the current mirror angle meets the preset angle range. If so, the current mirror angle is reset to the preset initial angle, and a framing completion signal is generated and returned; otherwise, a framing incomplete signal is generated and returned. This embodiment avoids processing large amounts of radar data by framing radar point cloud packet data, reducing the computational load and improving the efficiency of radar data processing. This embodiment also determines whether the radar point cloud packet data has completed framing based on the data transmission signal and the radar mirror angle, improving the accuracy of framing completion and increasing framing efficiency.

[0067] This embodiment proposes a radar data processing device 200, as shown below. Figure 5 , Figure 5 This is a schematic diagram of the functional modules of a radar data processing device 200 provided in this embodiment.

[0068] Data receiving module 210 is used to receive at least one radar point cloud packet data;

[0069] The framing module 220 is used to frame radar point cloud packet data and generate data transmission signals; wherein, the data transmission signals include timeout signals and non-timeout signals;

[0070] Angle determination module 230 is used to determine the radar mirror angle based on radar point cloud packet data;

[0071] The framing judgment module 240 is used to determine whether the radar point cloud packet data has been framed based on the data transmission signal and the radar mirror angle, and to generate a framing signal; wherein, the framing signal includes a framing completion signal and a framing incomplete signal.

[0072] Understandably, the radar data processing device 200 also includes a timeout judgment module 250, used for:

[0073] Determine if the preset data receiving queue is empty;

[0074] If the preset data receiving queue is empty, then after waiting for a preset time period, determine whether the preset data receiving queue has received radar point cloud packet data.

[0075] If the preset data receiving queue does not receive radar point cloud packet data, the timeout signal is generated.

[0076] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application.

[0077] This embodiment also provides an electronic device in which, in a typical configuration, the computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0078] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, like read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0079] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0080] This embodiment also provides a computer-readable storage medium storing instructions that, when executed by a processor, are adapted to perform a program containing radar data processing method steps.

[0081] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0082] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0083] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0084] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0085] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the embodiments of the present invention will not describe the various possible combinations separately.

[0086] In addition, the functional modules in the various embodiments of the present invention 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.

[0087] It should also be noted that 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 process, method, article, or apparatus. Unless otherwise specified, 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 that element.

[0088] The above are merely embodiments of the present invention and are not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A radar data processing method, characterized in that, The method includes: Receive at least one radar point cloud packet data; The radar point cloud packet data is framed and a data transmission signal is generated; wherein, the data transmission signal includes a timeout signal and a non-timeout signal; The radar mirror angle is determined based on the radar point cloud packet data; Based on the data transmission signal and the radar mirror angle, it is determined whether the radar point cloud packet data has been framed, and a framing signal is generated; wherein, the framing signal includes a framing completion signal and a framing incomplete signal; The step of determining whether the radar point cloud packet data has been framed based on the data transmission signal and the radar mirror angle includes: Determine whether the data transmission signal is a timeout signal; If the data transmission signal is determined to be a timeout signal, then it is determined whether the radar point cloud packet data has been lost. If it is determined that no packets were lost in the radar point cloud packet data, then the radar point cloud packet data is judged to have completed framing, and a framing completion signal is generated. The step of determining whether packet loss has occurred in the radar point cloud data includes: The current mirror angle is determined based on the radar mirror angle; wherein the current mirror angle is the radar mirror angle corresponding to the current frame; Determine whether the current mirror angle meets the preset angle range; wherein, the preset angle range is the angle range corresponding to the preset end frame; If the current mirror angle does not meet the preset angle range, it is determined that the radar point cloud packet data has been lost.

2. The radar data processing method according to claim 1, characterized in that, The generation of the data transmission signal includes: Determine if the preset data receiving queue is empty; If the preset data receiving queue is empty, then after waiting for a preset time period, it is determined whether the preset data receiving queue has received the radar point cloud packet data. If the preset data receiving queue does not receive the radar point cloud packet data, then the timeout signal is generated.

3. The radar data processing method according to claim 1, characterized in that, The method further includes: If the data transmission signal is determined to be a non-timeout signal, then it is determined that the radar point cloud packet data has not been framed, and the process returns to determine whether the data transmission signal is a timeout signal.

4. The radar data processing method according to claim 1, characterized in that, include: If the current mirror angle is determined to meet the preset angle range, it is determined that no packet loss has occurred in the radar point cloud data, and the current mirror angle is reset to the preset initial angle.

5. A radar data processing device, characterized in that, The device includes: The data receiving module is used to receive data from at least one radar point cloud packet; A framing module is used to frame the radar point cloud packet data and generate a data transmission signal; wherein the data transmission signal includes a timeout signal and a non-timeout signal; An angle determination module is used to determine the radar mirror angle based on the radar point cloud packet data. The framing determination module is used to determine whether the radar point cloud packet data has been framed based on the data transmission signal and the radar mirror angle, and to generate a framing signal; wherein, the framing signal includes a framing completion signal and a framing incomplete signal; The step of determining whether the radar point cloud packet data has been framed based on the data transmission signal and the radar mirror angle includes: Determine whether the data transmission signal is a timeout signal; If the data transmission signal is determined to be a timeout signal, then it is determined whether the radar point cloud packet data has been lost. If it is determined that no packets were lost in the radar point cloud packet data, then the radar point cloud packet data is judged to have completed framing, and a framing completion signal is generated. The step of determining whether packet loss has occurred in the radar point cloud data includes: The current mirror angle is determined based on the radar mirror angle; wherein the current mirror angle is the radar mirror angle corresponding to the current frame; Determine whether the current mirror angle meets the preset angle range; wherein, the preset angle range is the angle range corresponding to the preset end frame; If the current mirror angle does not meet the preset angle range, it is determined that the radar point cloud packet data has been lost.

6. The radar data processing apparatus according to claim 5, characterized in that, The device further includes a timeout determination module, used for: Determine if the preset data receiving queue is empty; If the preset data receiving queue is empty, then after waiting for a preset time period, it is determined whether the preset data receiving queue has received the radar point cloud packet data. If the preset data receiving queue does not receive the radar point cloud packet data, then the timeout signal is generated.

7. An electronic device, characterized in that, include: A processor and a memory, the memory storing machine-readable instructions executable by the processor, which, when executed by the processor, perform the radar data processing method according to any one of claims 1-4.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions for causing a machine to perform the radar data processing method according to any one of claims 1-4.

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