Target detection system and method

Abstract

The embodiment of the application discloses a target detection system and method. The method comprises: at least two detection modules, a main transceiver, a switch module and a controller; the number of the switch module is the number of the detection module divided by the number of the communication interface of the main transceiver and rounded up; wherein the at least two detection modules are at least two groups, and each group of detection modules is connected with the communication interface of the main transceiver; the number of groups of the at least two detection modules is less than or equal to the number of the communication interface of the main transceiver; for the detection module in each group, each detection module is connected with the switch module one by one; and the switch module and the main transceiver are connected with the controller. The same detection module is adopted, and it is not necessary to distinguish by hardware or software means, so that the production cost of vehicle parts of the whole vehicle factory is reduced, and the production efficiency of the parts is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of ultrasonic radar, in particular to a target detection system and method. BACKGROUND

[0002] Ultrasonic radar has the advantages of low cost and technology, and the energy consumption of ultrasonic waves is relatively slow, the propagation distance in the medium is relatively far, the penetration is strong, the ranging is convenient and simple, and the ultrasonic ranging sensor has a very large advantage in short distance measurement. The automobile ultrasonic radar is mainly applied to parking assistance and blind area collision warning.

[0003] The conventional means usually adopts ultrasonic radars at different positions for ranging, but the ultrasonic radars at different positions need to manufacture difference points through hardware or software means to distinguish which sensor the received radar data comes from. SUMMARY

[0004] The present application provides a target detection system and method to realize the functions of car parking assistance and automatic parking.

[0005] According to one aspect of the present application, a communication system is provided, the system comprising:

[0006] At least two detection modules, a main transceiver, a switch module and a controller; the number of switch modules is the number of detection modules divided by the number of communication interfaces of the main transceiver and rounded up; wherein,

[0007] The at least two detection modules are at least two groups, and each group of detection modules is connected with a communication interface of the main transceiver; the number of groups of the at least two detection modules is less than or equal to the number of communication interfaces of the main transceiver;

[0008] For the detection modules in each group, each detection module is connected with a switch module one by one;

[0009] The switch module and the main transceiver are connected with the controller.

[0010] According to another aspect of the present application, a communication method is provided, the method comprising:

[0011] Determining the target detection module which needs to transmit data, and determining the target switch module connected with the target detection module and the target communication interface of the main transceiver;

[0012] Controlling the target switch module to be turned on by the controller to supply power to the detection module connected with the target switch module;

[0013] Controlling the target communication interface to be turned on by the controller to establish the communication connection between the main transceiver and the powered target detection module connected with the main transceiver.

[0014] The technical scheme of the embodiment of the present application adopts completely same detection modules, does not need to be distinguished through hardware or software means, reduces the cost of vehicle manufacturers for vehicle part production, and improves the efficiency of part production.

[0015] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical scheme in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0017] Figure 1 A target detection system structure schematic diagram is provided for the first embodiment of the present application.

[0018] Figure 2 A main transceiver interface structure schematic diagram is provided for the second embodiment of the present application.

[0019] Figure 3 A detection module structure schematic diagram is provided for the second embodiment of the present application.

[0020] Figure 4 An automobile radar arrangement structure schematic diagram is provided for the second embodiment of the present application.

[0021] Figure 5 A system radar hardware structure schematic diagram is provided for the second embodiment of the present application.

[0022] Figure 6 A flow chart of a target detection method is provided for the third embodiment of the present application.

[0023] Figure 7 A data transmission schematic diagram is provided for the third embodiment of the present application. DETAILED DESCRIPTION

[0024] In order to make the person skilled in the art better understand the present application scheme, the technical scheme in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should be within the scope of the present application.

[0025] It should be noted that the terms "first", "second", "third", "fourth", "actual", "preset" and the like in the description, claims, and drawings of the application are intended to distinguish similar objects, and are not necessarily used to describe a particular order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily limit to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0026] Embodiment one

[0027] Figure 1 A target detection system structure schematic diagram is provided for the embodiment one of the application, which can be applicable to ultrasonic ranging. Typically, it can be applicable to measuring the safety distance between vehicles. As shown in the figure, Figure 1 The target detection system 100 described in the embodiment of the application includes a detection module 110, a main transceiver 120, a switch module 130 and a controller 140; the number of switch modules 130 is the number of detection modules 110 divided by the number of communication interfaces of the main transceiver 120 and rounded up.

[0028] For example, if the number of detection modules 110 is 12 and the number of main transceivers 120 is 2, then the number of switch modules 130 = 12 / 2 = 6; if the number of detection modules 110 is 11 and the number of main transceivers 120 is 2, then the number of switch modules 130 is calculated as follows: 11 / 2 = 5.5, rounded up to 6, so the number of switch modules 130 is 6; if the number of detection modules 110 is 12 and the number of main transceivers 120 is 3, then the number of switch modules 130 = 12 / 3 = 4.

[0029] Among them, at least two detection modules 110 are at least two groups, and each group of detection modules 110 is connected with the communication interface of the main transceiver 120; the number of groups of at least two detection modules 110 is less than or equal to the number of communication interfaces of the main transceiver 120.

[0030] Among them, the detection module 110 can be a sensor capable of detecting the distance between a vehicle and surrounding objects. The transceiver can be a combination of a transmitter / receiver in a single package, mainly used for wireless communication devices.

[0031] Exemplarily, assuming that the detection modules 110 are 12, the number of groups of the detection modules 110 needs to be less than or equal to the number of communication interfaces of the main transceiver 120, if the number of communication interfaces of the main transceiver 120 is 2, the number of groups of the detection modules 110 is 2; if the number of communication interfaces of the main transceiver 120 is 3, the number of groups of the detection modules 110 is less than or equal to 3, that is, the number of groups of the detection modules 110 can be 2 or 3.

[0032] The detection modules 110 in each group are respectively connected with the switch modules 130.

[0033] The switch modules 130 are used to supply power to the detection modules 110.

[0034] The switch modules 130 and the main transceiver 120 are respectively connected with the controller 140.

[0035] The controller 140 can be a device capable of receiving and sending data, and the controller 140 in the embodiment is a micro controller unit (MCU).

[0036] The technical scheme of the embodiment of the application adopts the same detection modules, which do not need to be distinguished by hardware or software means, thereby reducing the cost of vehicle part production of the vehicle manufacturer and improving the efficiency of part production.

[0037] Embodiment two

[0038] Figure 2 The main transceiver interface structure schematic diagram provided for the embodiment two of the application is shown in FIG. 2. Figure 2 As shown in FIG. 2, the number of communication interfaces of the main transceiver 120 is two, and the number of switch modules 130 is the number of detection modules 110 divided by two and rounded up.

[0039] The number of communication interfaces of the main transceiver 120 is two, and the main transceiver is selected as a DSI3 main transceiver according to the number of interfaces. In the detection modules 110, the slave transceiver is connected with the main transceiver 120, and the master-slave transceiver communicates through a two-wire protocol, which can realize more reliable and high-speed master-slave communication compared with other three-wire or four-wire protocols.

[0040] Exemplarily, if the detection modules 110 are 12, the number of switch modules 130 is calculated as follows: 12 / 6 = 2; if the detection modules 110 are 11, the number of switch modules 130 is calculated as follows: 11 / 2 = 5.5, which is rounded up to 6, that is, the number of switch modules 130 is 6.

[0041] Figure 3 The detection module structure schematic diagram provided for the embodiment two of the application is shown in FIG. 3. Figure 3As shown, the detection module 110 is a radar, and there are twelve radars in total. The number of switch modules 130 is six.

[0042] Among them, ultrasonic radar can be used to measure distance.

[0043] Specifically, the detection module 110 contains 12 ultrasonic radars, which are respectively arranged at the front and rear bumpers and the sides of the vehicle. The ultrasonic radars at the front and rear bumpers detect obstacles in front and behind to achieve ultrasonic parking assistance, while the ultrasonic radars on the sides of the vehicle detect side parking spaces to achieve automatic parking assistance.

[0044] For example, Figure 4 This is a schematic diagram of the automotive ultrasonic radar arrangement structure provided in Embodiment 2 of the present invention. Figure 4 As shown, the ultrasonic radars for automobiles are: front left ultrasonic radar (FLS), front left corner ultrasonic radar (FLC), front left center ultrasonic radar (FLM), front right center ultrasonic radar (FRM), front right corner ultrasonic radar (FRC), front right side ultrasonic radar (FRS), rear right side ultrasonic radar (RRS), rear right corner ultrasonic radar (RRC), rear right center ultrasonic radar (RRM), rear left center ultrasonic radar (RLM), rear left corner ultrasonic radar (RLC), and rear left side ultrasonic radar (RLS).

[0045] For example, Figure 5 This is a schematic diagram of the system radar hardware structure provided in Embodiment 2 of the present invention. Figure 5As shown, the system comprises one DSI3 main transceiver chip + 6 high-side switch driving chips to realize 12-way ultrasonic wave radar power supply, control and diagnosis. The DSI3 main transceiver has 2 DSI3 channels, each DSI3 channel connects 6 ultrasonic wave radars, and the power supply of each ultrasonic wave radar is controlled by 6-way high-side switch driving chips to distinguish the ultrasonic wave radars transmitting data. The MCU and the DSI3 main transceiver establish communication through SPI; the DSI3 main transceiver and the ultrasonic wave radar sensor are DSI3 communication interfaces. The MCU sends and receives data from the DSI3 main transceiver through SPI, when the MCU sends data, the data reaches the DSI3 main transceiver through the SPI bus, is converted into DSI3 protocol data by the transceiver, and is then sent to the ultrasonic wave radar sensor. The ultrasonic wave radar sensor receives the DSI3 data and feeds back the DSI3 format data to the main transceiver, and the DSI3 main transceiver converts the DSI3 format data into SPI format data and returns it to the MCU. The GPIO signals Ctrl1-Ctrl6 of the MCU control the output of the high-side driving chips sw1-sw6. When Ctrl1 outputs high level, sw1 works, and sw1 outputs 12V power supply Power1 to power the left front corner ultrasonic wave radar and the rear left corner ultrasonic wave radar sensor; when Ctrl1 outputs low level, sw1 is disconnected, Power1 has no power supply output, and the left front corner ultrasonic wave radar and the rear left corner ultrasonic wave radar sensor have no power supply and do not work. Power2 powers the left front side ultrasonic wave radar and the rear left side ultrasonic wave radar sensor, Power3 powers the front right middle ultrasonic wave radar and the rear right middle ultrasonic wave radar sensor, Power4 powers the front left middle ultrasonic wave radar and the rear left middle ultrasonic wave radar sensor, Power5 powers the front right side ultrasonic wave radar and the rear right side ultrasonic wave radar sensor, and Power6 powers the front right corner ultrasonic wave radar and the rear right corner ultrasonic wave radar sensor. The power supply control logic is analogous to Power1.

[0046] In the embodiment of the application, a single DSI3 main transceiver is used to realize 12-way ultrasonic wave radar data acquisition, which has a price advantage compared with the scheme of using 2 DSI3 or more transceivers. By using 12-way ultrasonic wave radars that are completely the same, there is no need to distinguish them through hardware or software means, which saves the cost of controlling and managing parts of the vehicle manufacturer, and the vehicle production and assembly do not distinguish different position radar sensor parts, which is expected to shorten the production rhythm and save production cost.

[0047] Embodiment three

[0048] Figure 6 A flowchart of a target detection method provided for the third embodiment of the application is shown in FIG. 6. Figure 6 As shown, the method of the embodiment of the application specifically comprises the following steps:

[0049] S210. Determine the target detection module that needs to transmit data, and determine the target switch module connected to the target detection module and the target communication interface of the main transceiver.

[0050] The target detection module can be a detection module for data to be received and sent.

[0051] Specifically, first, the target detection module that needs to transmit data is determined based on the control requirements, and then the target switch module and the target communication interface of the main transceiver are determined based on the target detection module.

[0052] Optionally, determine the target detection module that needs to transmit data, including steps A1-A2:

[0053] Step A1: Poll the slave transceivers in at least two detection modules through the master transceiver.

[0054] Specifically, the master transceiver polls at least two slave transceivers in the detection modules within a pre-set period. This pre-set period is determined based on the frequency of the real-time detection data from the detection modules. For example, assuming the detection modules perform a detection every 80ms, the pre-set period is less than or equal to the detection time divided by the number of detection modules.

[0055] Step A2: If the master transceiver receives a feedback signal indicating the presence of data from the transceiver, then the detection module corresponding to the slave transceiver is taken as the target detection module.

[0056] Specifically, when the master transceiver is polling and detects data that needs to be transmitted in the detection module, its slave transceiver sends a feedback signal indicating the presence of data to the master transceiver. The master transceiver then uses the detection module corresponding to that slave transceiver as the target detection module. The feedback signal can be either "1" or "0". If the detection module has data to transmit, its slave transceiver's feedback signal is "1"; if the detection module has no data to transmit, its slave transceiver's feedback signal is "0".

[0057] For example, if the front left FLS ultrasonic radar contains distance data that needs to be transmitted, then the corresponding feedback signal of the slave transceiver is "1". When the master transceiver receives this signal during the polling process, it determines that the front left FLS ultrasonic radar is the target detection module.

[0058] For example, the target detection module was determined to be the front left-side FLS ultrasonic radar through polling, such as... Figure 5 As shown, the main transceiver interface connected to the front left FLS ultrasonic radar is the DSI3_1 communication interface, and the connected switch module is FB1, that is, the target switch module is FB1, and the target communication interface of the main transceiver is DSI3_1.

[0059] By adopting the above method, using the target communication interface of the switch module and the main transceiver as a combination to distinguish the detection module, the cost of parts management for car manufacturers can be saved. At the same time, the requirements for error prevention in the installation of vehicle off-line detection module components are reduced, the production cycle is shortened, production efficiency is improved, and production costs are saved.

[0060] S220: The controller controls the target switch module to turn on, and supplies power to the detection module connected to the target switch module.

[0061] Specifically, once the target detection module is identified as being connected to the target switch module, the controller controls the target switch module to close, and the circuit is connected to supply power to the detection module connected to the target switch module.

[0062] For example, the controller controls the target switch module FB1 to turn on, so as to power the front left FLS ultrasonic radar.

[0063] S230. The controller controls the target communication interface to be turned on, so as to establish a communication connection between the powered target detection module connected to the main transceiver and the main transceiver.

[0064] Specifically, after powering the target detection module, the controller controls the target communication interface corresponding to the target detection module to be turned on, thereby establishing communication between the main transceiver and the target detection module connected to it.

[0065] Optional, the target communication interface is activated via the controller to establish a communication connection between the powered target detection module connected to the main transceiver and the main transceiver, including A3-A4:

[0066] Step A3: If data is received from the target detection module, determine the activated target switch module and the target communication interface.

[0067] Specifically, if data is received from the target detection module, the target switch module and the target communication interface are determined to be activated based on the pre-set relationship between the target detection module, the target switch module, and the target communication interface, as shown in Table 1.

[0068] Table 1

[0069] DSI3_1 DSI3_2 Power1 FLS FRS Power2 RLS RRS Power3 FLC FRC Power4 RLC RRC Power5 FLM FRM Power6 RLM RRM

[0070] For example, as shown in Table 1, when the MCU sends data to the front left ultrasonic radar, the controller controls the Power1 power supply output, and the SPI sends a command to read the DSI3_1 channel data to the DSI3 master transceiver, and the DSI3_1 interface establishes communication with the front left ultrasonic radar; when the MCU sends data to the rear right ultrasonic radar, the controller controls the Power2 power supply output, and the SPI sends a command to read the DSI3_2 channel data to the DSI3 master transceiver, and the DSI3_2 interface establishes communication with the rear right ultrasonic radar.

[0071] Step A4: Determine the target detection module identifier based on the pre-determined association between the detection module identifier, the switch module, and the communication interface; wherein, the association between the detection module identifier, the switch module, and the communication interface is determined based on the connection relationship between the detection module and the connected switch module and communication interface.

[0072] Specifically, when the controller receives data from the target detection module, it determines the target detection module identifier based on the pre-determined association between the detection module identifier, the switch module, and the communication interface.

[0073] For example, Table 2 shows the pre-determined association between detection module identifiers, switch modules, and communication interfaces. As shown in Table 2, when the FB1 signal is valid, and the MCU simultaneously parses the DSI3 master transceiver DSI3_1 channel data through the SPI data frame, the data received by the MCU comes from the detection module corresponding to detection module identifier 1. When the FB2 signal is valid, and the MCU simultaneously parses the DSI3 master transceiver DSI3_2 channel data through the SPI data frame, the data received by the MCU comes from the detection module corresponding to detection module identifier 4.

[0074] Table 2

[0075] FB1 FB2 FB3 FB4 FB5 FB6 DSI3_1 1 3 5 7 9 11 DSI3_2 2 4 6 8 10 12

[0076] Optionally, after determining the target detection module identifier, step B1 is included:

[0077] Step B1: Send the target detection module identifier and the target detection module data to the central processing unit (CPU) so that the CPU can determine the target detection module location corresponding to the target detection module identifier based on the pre-determined association between the target detection module identifier and the target detection module location information, and process the data according to the target detection module location.

[0078] The Central Processing Unit (CPU) is primarily used to interpret computer instructions and process data within the computer software. The target detection module identifier can be a label that identifies the target detection module and is recognizable by the controller. The target detection module location can be information indicating the location of the target detection module.

[0079] Specifically, the target detection module identifier and the target detection module data are packaged and sent to the central processing unit. After receiving the data, the central processing unit determines the location of the target detection module corresponding to the target detection module identifier based on the pre-determined association between the detection module identifier and the detection module location information, and processes the data according to the target detection module location.

[0080] For example, Table 3 shows the association between the detection module identifier and the detection module location information. (See Table 3.)

[0081] Table 3

[0082]

[0083] Optionally, the target detection module identifier and the target detection module data are packaged and sent to the central processing unit, including steps C1-C2:

[0084] Step C1: Based on the preset protocol format, construct a data message according to the target detection module identifier, data acquisition time information, and data.

[0085] The preset protocol format can be a protocol format that ensures accurate data transmission and can be determined based on the real-time data format. In this embodiment of the invention, the preset protocol adopts the Controller Area Network (CAN) protocol; the preset protocol format adopts the standard frame format.

[0086] Further, based on a preset protocol format, a data packet is constructed according to the target detection module identifier, data acquisition time information, and the data. The data packet includes eight bytes and includes steps D1-D4:

[0087] Step D1: Use the target detection module identifier as the data corresponding to the first byte.

[0088] The first byte can be the first byte in the preset protocol.

[0089] Specifically, the target detection module identifier is used as the data corresponding to the first byte of the preset protocol, which is usually represented by a binary number.

[0090] For example, the value of the first byte Data1 of the CAN message represents the radar ID. Different IDs correspond to different radar locations, where the radar ID is the location information of the detection module; the value of Data1 represents the identification of the detection module.

[0091] Step D2: Use the data acquisition time information as the data corresponding to the second byte.

[0092] The data acquisition time information can be either the time when the target detection module detects the data or the time when the controller receives the data.

[0093] For example, the value of the second byte, Data2, of the CAN message represents the time sequence number of the transmitted data. This bit is added to identify sampled data from the same radar at different times. When the CAN bus fails and then recovers, the central computing unit controller may receive multiple frames of data. This bit can distinguish the order in which the radar data was sampled, thus better serving the algorithm. Additionally, when a CAN bus failure occurs and packet loss occurs, the central computing unit controller can also identify the data loss fault based on this bit. The value of Data2 is a positive integer cyclic from 1 to 16, i.e., the assignment order is 1, 2, 3, 4…15, 16, 1, 2….

[0094] Step D3: Treat the data as the data corresponding to the third, fourth, fifth, and sixth bytes;

[0095] Specifically, the distance data detected by the target detection module is used as the data corresponding to the third, fourth, and fifth bytes, typically represented by 32-bit binary numbers. For example, assuming the distance data is 50m, the 32-bit binary number would be 00000000 00000000 00000000 00110010.

[0096] Step D4: Determine the check bit based on at least two bytes of data from the first to the sixth byte, and use them as the data for the seventh and eighth bytes.

[0097] The check bit can be a data code that can detect whether an error has occurred during data transmission.

[0098] Specifically, based on at least two bytes of data from the first to the sixth byte, a check bit is calculated and used as the data for the seventh and eighth bytes.

[0099] For example, the seventh byte check bit can be obtained by summing or subtracting at least two bytes of data from the first to the sixth byte. Therefore, the calculation of data check bit 1 (CRC1) can be the sum of Data1 to Data6, i.e., CRC1 = Data1 + Data2 + Data3 + Data4 + Data5 + Data6. The eighth byte check bit can be obtained by performing a bitwise XOR or XNOR logical operation on at least two bytes of data from the first to the sixth byte. Therefore, the calculation of data check bit 2 (CRC2) can be obtained by performing a bitwise XNOR operation on Data1 to Data6, i.e., CRC2 = Data1 ⊙ Data2 ⊙ Data3 ⊙ Data4 ⊙ Data5 ⊙ Data6. Using CRC1 and CRC2 for dual check can ensure data accuracy.

[0100] For example, Table 4 shows the CAN message data protocol format. As shown in Table 4, the data information corresponding to each byte can be obtained.

[0101] Table 4

[0102]

[0103] By adopting the above method and using CRC1 and CRC2 dual verification, the accuracy of the data can be guaranteed. The data information transmitted by the target detection module is used to realize autonomous driving functions such as automatic parking, which directly affects driving safety and the accuracy of autonomous driving function realization. The transmission scheme with dual verification of time sequence number and communication data greatly guarantees the accuracy of the data.

[0104] Step C2: Send the data packet to the central processing unit.

[0105] Specifically, the generated data messages are sent to the central processing unit. Data can be sent and received via the CAN protocol.

[0106] For example, Figure 7 This is a schematic diagram of data transmission provided in Embodiment 3 of the present invention. Figure 7 As shown, straight lines represent the transmission of power supply signals, and dashed lines represent the transmission of data signals. The MCU powers the radar through the power supply transmission line and receives and sends data through the communication line; the MCU transmits data to the central computing unit via the CAN protocol.

[0107] This invention distinguishes detection modules through polling, eliminating the need for hardware or software differentiation and saving vehicle manufacturers on component management costs. Furthermore, the data transmission method employed ensures the accuracy of transmitted data.

[0108] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this application can be executed in parallel, sequentially, or in different orders, as long as the desired information of the technical solution of this application can be achieved, and this is not limited herein.

[0109] Note that the above are merely preferred embodiments and the technical principles employed in this application. Those skilled in the art will understand that this application is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of this application. Therefore, although this application has been described in detail through the above embodiments, this application is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of this application, the scope of which is determined by the scope of the appended claims.

Claims

1. A communication system, characterized in that, The system includes: at least two detection modules, a main transceiver, a switch module, and a controller; the number of switch modules is the number of detection modules divided by the number of communication interfaces of the main transceiver, rounded up; wherein... The detection modules are divided into at least two groups, and each group of detection modules is connected to the communication interface of the main transceiver; the number of groups of at least two detection modules is less than or equal to the number of communication interfaces of the main transceiver; For each group of detection modules, each detection module is connected to a switch module one by one; The switch module and the main transceiver are respectively connected to the controller.

2. The system according to claim 1, characterized in that, The main transceiver has two communication interfaces, and the number of switch modules is the number of detection modules divided by two and rounded up.

3. The system according to claim 2, characterized in that, The detection module is a radar, and there are twelve radars in total. The number of the switch modules is six.

4. The system according to any one of claims 1-3, characterized in that, The detection module also includes a slave transceiver connected to the master transceiver for communication with the master transceiver.

5. A communication method, characterized in that, Performed by the communication system according to any one of claims 1-4, the method comprises: Identify the target detection module that needs to transmit data, and determine the target switch module connected to the target detection module and the target communication interface of the main transceiver; The controller turns on the target switch module and supplies power to the detection module connected to the target switch module. The controller activates the target communication interface to establish a communication connection between the powered target detection module connected to the main transceiver and the main transceiver.

6. The method according to claim 5, characterized in that, The method further includes: The master transceiver polls at least two slave transceivers in the detection modules. If the main transceiver receives a feedback signal indicating the presence of data from the transceiver, then the detection module corresponding to the slave transceiver is taken as the target detection module.

7. The method according to claim 5, characterized in that, The method further includes: If data is received from the target detection module, the target switch module and the target communication interface that are turned on are determined. The target detection module identifier is determined based on the pre-defined association between the detection module identifier, the switch module, and the communication interface; wherein, the association between the detection module identifier, the switch module, and the communication interface is determined based on the connection relationship between the detection module and the connected switch module and communication interface.

8. The method according to claim 7, characterized in that, The method further includes: The target detection module identifier and the target detection module data are sent to the central processing unit, so that the central processing unit determines the target detection module location corresponding to the target detection module identifier based on the pre-determined association relationship between the target detection module identifier and the target detection module location information, and processes the data according to the target detection module location.

9. The method according to claim 8, characterized in that, Send the target detection module identifier and target detection module data to the central processing unit, including: Based on a preset protocol format, a data packet is constructed according to the target detection module identifier, data acquisition time information, and the data. The data packet is sent to the central processing unit.

10. The method according to claim 9, characterized in that, The data message consists of eight bytes; Based on a preset protocol format, a data packet is constructed according to the target detection module identifier, data acquisition time information, and the data, including: Use the target detection module identifier as the data corresponding to the first byte; Use the data acquisition time information as the data corresponding to the second byte; The data is used as the data corresponding to the third, fourth, fifth, and sixth bytes; The check bit is determined based on at least two bytes of data from the first to the sixth byte, and is used as the data for the seventh and eighth bytes.

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