Radar parameter adjustment method, device, computer equipment and storage medium

Abstract

The present application relates to a radar parameter adjustment method, device, computer equipment and storage medium. The method comprises: obtaining an estimated value of the environment in the current environment; determining a target working condition based on the estimated value of the environment, and determining a pulse configuration parameter based on the target working condition; sending a detection pulse combination according to each pulse configuration parameter; wherein the maximum detection distance that each pulse in the detection pulse combination can cover is different. The use of this method can improve the ranging accuracy of the radar.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular to a radar parameter adjustment method, device, computer equipment and storage medium. Background Art

[0002] With the popularization and development of autonomous driving technology, the regulations on autonomous driving safety are becoming more and more stringent, and the requirements for the near-field blind spot performance and target detection accuracy of the laser radar used in autonomous driving technology are becoming more and more stringent. However, due to the limitations of the chip performance in the laser radar and the basic principles of the laser radar, the laser radar is easily affected in terms of line of sight, near-field crosstalk, and field of view overlap, resulting in a certain range blind spot in the laser radar, or poor range accuracy for targets near the blind spot.

[0003] In conventional technology, radar parameter adjustment methods use methods such as periodically emitting several pulses with different intensities to optimize the blind spot detection of laser radar. The method of periodically emitting several pulses with different intensities improves the ranging accuracy of laser radar through pulses with different parameters.

[0004] However, in the current radar parameter adjustment method, the radar parameters are adjusted by periodically adjusting the pulse intensity. Since this method has a low matching degree with the current environment, the current radar's ranging accuracy error is relatively large. Summary of the invention

[0005] Based on this, it is necessary to provide a radar parameter adjustment method, device, computer equipment and storage medium to address the above technical problems.

[0006] In a first aspect, the present application provides a radar parameter adjustment method. The method comprises:

[0007] Get the current environment's estimated value;

[0008] Determining a target operating condition based on the environmental estimate, and determining a pulse configuration parameter based on the target operating condition;

[0009] A detection pulse combination is sent according to each of the pulse configuration parameters; wherein the maximum detection distance that can be covered by each pulse in the detection pulse combination is different.

[0010] In one embodiment, the method further comprises:

[0011] Determining a target detection pulse corresponding to the area where the target object is located according to the farthest detection distance that can be covered by each pulse in the detection pulse combination;

[0012] Determining a first detection result of the target object corresponding to the target detection pulse;

[0013] Target acquisition data is determined based at least on the first detection result.

[0014] In one embodiment, the method further comprises:

[0015] determining a reflectivity estimation value of the target object according to the first detection result;

[0016] Determining a new target operating condition according to the reflectivity estimate and the current environment estimate;

[0017] Based on the pulse configuration parameters corresponding to the new target operating condition, each of the pulse configuration parameters is updated.

[0018] In one embodiment, the method further comprises:

[0019] Determining a reflectivity estimation value of the target object according to the first detection result;

[0020] When the reflectivity estimation value is lower than or higher than a preset threshold, the pulse intensity and / or the number of pulses corresponding to the target detection pulse is adjusted; the first preset threshold is smaller than the second preset threshold.

[0021] In one embodiment, after adjusting the pulse intensity and / or the number of pulses corresponding to the target detection pulse, the method further includes:

[0022] When the pulse intensity is adjusted to reach the intensity adjustment threshold but still cannot meet the accuracy requirement, the pulse number is adjusted.

[0023] In one embodiment, the method further comprises:

[0024] Determine a second detection result of the target object corresponding to the non-target detection pulse;

[0025] If the second detection result is normal, weighting is performed according to the first detection result and each of the second detection results to obtain target acquisition data.

[0026] In one embodiment, the method further comprises:

[0027] If the second detection result is abnormal data, the second detection result is discarded.

[0028] In a second aspect, the present application also provides a radar parameter adjustment device. The device comprises:

[0029] An acquisition module is used to obtain the estimated value of the environment in the current environment;

[0030] A first determination module, configured to determine a target operating condition based on the environmental estimation value, and determine a pulse configuration parameter based on the target operating condition;

[0031] The sending module is used to send a detection pulse combination according to each of the pulse configuration parameters; wherein the maximum detection distance that can be covered by each pulse in the detection pulse combination is different.

[0032] In one embodiment, the device further comprises:

[0033] A second determination module is used to determine the target detection pulse corresponding to the area where the target object is located according to the farthest detection distance that each pulse in the detection pulse combination can cover;

[0034] A third determination module, used to determine a first detection result of the target object corresponding to the target detection pulse;

[0035] The fourth determination module is used to determine target acquisition data at least based on the first detection result.

[0036] In one embodiment, the device further comprises:

[0037] a fifth determination module, configured to determine a reflectivity estimation value of the target object according to the first detection result;

[0038] a sixth determination module, configured to determine a new target operating condition according to the reflectivity estimation value and the current environment estimation value;

[0039] An updating module is used to update each pulse configuration parameter based on each pulse configuration parameter corresponding to the new target operating condition.

[0040] In one embodiment, the device further comprises:

[0041] a seventh determination module, configured to determine a reflectivity estimation value of the target object according to the first detection result;

[0042] The first adjustment module is used to adjust the pulse intensity and / or the number of pulses corresponding to the target detection pulse when the reflectivity estimation value is lower than a first preset threshold or higher than a second preset threshold; the first preset threshold is smaller than the second preset threshold.

[0043] In one embodiment, the device further comprises:

[0044] The second adjustment module is used to adjust the number of pulses when the pulse intensity is adjusted to reach an intensity adjustment threshold but still cannot meet the accuracy requirement.

[0045] In one embodiment, the device further comprises:

[0046] An eighth determination module, used to determine a second detection result of the target object corresponding to the non-target detection pulse;

[0047] A weighting module is used to obtain target acquisition data by weighting the first detection result and each of the second detection results if the second detection result is normal.

[0048] In one embodiment, the device further comprises:

[0049] The discarding module is used to discard the second detection result if the second detection result is abnormal data.

[0050] In a third aspect, the present application further provides a computer device. The computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

[0051] Get the current environment's estimated value;

[0052] Determining a target operating condition based on the environmental estimate, and determining a pulse configuration parameter based on the target operating condition;

[0053] A detection pulse combination is sent according to each of the pulse configuration parameters; wherein the maximum detection distance that can be covered by each pulse in the detection pulse combination is different.

[0054] In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0055] Get the current environment's estimated value;

[0056] Determining a target operating condition based on the environmental estimate, and determining a pulse configuration parameter based on the target operating condition;

[0057] A detection pulse combination is sent according to each of the pulse configuration parameters; wherein the maximum detection distance that can be covered by each pulse in the detection pulse combination is different.

[0058] In a fifth aspect, the present application further provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0059] Get the current environment's estimated value;

[0060] Determining a target operating condition based on the environmental estimate, and determining a pulse configuration parameter based on the target operating condition;

[0061] A detection pulse combination is sent according to each of the pulse configuration parameters; wherein the maximum detection distance that can be covered by each pulse in the detection pulse combination is different.

[0062] The above-mentioned radar parameter adjustment method, device, computer equipment and storage medium can determine the pulse configuration parameters of the detection pulse combination that matches the environmental estimation value by detecting the environmental estimation value of the current environment, which can improve the dynamic range of the radar's effective ranging, and realize that the pulse configuration parameters of the radar's pulse combination for the environment are the pulse configuration parameters with the best performance, thereby improving the radar's ranging accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 A diagram showing an application environment of a radar parameter adjustment method in an embodiment;

[0064] Figure 2 A schematic diagram of a flow chart of a radar parameter adjustment method in one embodiment;

[0065] Figure 3 is a schematic diagram of an optimal ranging distance of each pulse in a pulse combination in an embodiment;

[0066] Figure 4 A schematic flow chart of a method for determining target acquisition data in one embodiment;

[0067] Figure 5 is a flow chart of a method for updating pulse configuration parameters according to a new target operating condition in one embodiment;

[0068] Figure 6 A schematic flow chart of a method for adjusting configuration parameters of a target detection pulse in one embodiment;

[0069] Figure 7 A schematic diagram of pulse combinations in a complete frame scan by a radar in one embodiment;

[0070] Figure 8 A schematic flow chart of a method for determining target acquisition data in one embodiment;

[0071] Fig. 9 A schematic diagram of simulation results of common radar configuration parameters in one embodiment;

[0072] Fig.10 A schematic diagram of a simulation result of a radar parameter adjustment method of the present application in one embodiment;

[0073] Fig.11 is a structural block diagram of a radar parameter adjustment device in one embodiment;

[0074] Fig.12 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0075] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0076] The radar parameter adjustment method provided in this application can be applied to Figure 1 In the application environment shown in the figure, the radar device 110 is wirelessly connected to the computer device 120. The radar device 110 may be a laser radar, and the computer device 120 may be a control chip, or a terminal device corresponding to other devices that need to match the laser radar. The other devices may be, but are not limited to, electric vehicles, ships, drones, etc.

[0077] In one embodiment, Figure 2 As shown, a radar parameter adjustment method is provided. This embodiment uses the method applied to a computer device as an example, and is implemented through the interaction between the radar device and the computer device. In this embodiment, the method includes the following steps:

[0078] Step 202, obtaining an estimated value of the environment in the current environment.

[0079] The environmental estimation values ​​include the ambient temperature and the ambient light intensity.

[0080] In the embodiment of the present application, a car equipped with a radar device is used for illustration. When the car is in different environments, the sensor of the car can detect different ambient temperatures and ambient light intensities, which constitute the environmental estimation value of the working environment of the radar device. The sensor inputs the environmental estimation value of the working environment into the computer device, so that the computer device can obtain the environmental estimation value of the current environment.

[0081] Step 204 , determining a target operating condition based on the environmental estimation value, and determining a pulse configuration parameter based on the target operating condition.

[0082] In the embodiment of the present application, for targets to be measured with different environmental estimation values, pulses with different pulse configuration parameters have different targeted performances. For example, under a specific ambient light intensity and a specific ambient temperature, when the pulse intensity, pulse period and number of pulses in the pulse configuration parameters are different, different performances are achieved for the target object to be measured, which is specifically reflected in the waveform and signal-to-noise ratio of the echo signal of the detection pulse signal. The waveforms and signal-to-noise ratios of different echo signals can reflect the ranging accuracy of the current pulse and the range of the blind spot.

[0083] like Figure 3 As shown, different pulses have the best performance of their corresponding ranging distances, so the computer device can query the pulse configuration parameters of each pulse in the detection pulse combination corresponding to the current environment estimation value.

[0084] The computer device determines the target working condition based on the environmental estimation value, and determines the pulse configuration parameters of each detection pulse combination in the target working condition configuration lookup table. The pulse configuration parameters of each pulse are used by the computer device to set the pulse configuration parameters of the detection pulse combination transmitted in real time in the radar device.

[0085] Optionally, since the environment in which the radar device is located (i.e., the ambient light, temperature, and the relative angle of the radar device relative to the sunlight) will not change suddenly, the pulse configuration parameters in the target working condition configuration lookup table for the current environment do not need to be updated in real time and dynamically. Therefore, the computer device determines the target working condition configuration lookup table corresponding to the current environment in the global working condition configuration lookup table based on the environmental estimation value of the current environment according to a preset period, such as a period of minutes or seconds, and refreshes the working condition configuration lookup table in the radar device based on the corresponding pulse configuration parameters in the target working condition configuration lookup table. Among them, the global working condition configuration lookup table includes pulse configuration parameters corresponding to multiple different types of working conditions, and the working condition type in the target working condition configuration lookup table is a working condition of a type of a preset interval determined by the current environmental estimation value. The computer device can call various types of working conditions in the corresponding interval of the current environment and various pulse configuration parameters corresponding to the type of working condition in the global working condition configuration lookup table according to the current environmental estimation value. The global working condition configuration lookup table can be set in the vehicle computer or the vehicle computer computing power platform, and the computer device determines the target working condition configuration lookup table in the global working condition configuration lookup table based on the environmental estimation value according to the preset period.

[0086] In an optional embodiment, before the radar device works, it is necessary to configure the parameters of the global working condition configuration lookup table. Specifically, the computer device simulates the standard reflectivity objects with different reflectivities under each type of simulation condition, and determines the pulse configuration parameters of each pulse that meets the preset confidence conditions. Among them, the preset confidence conditions can be that the standard reflectivity object can obtain a signal-to-noise ratio that reaches the confidence threshold (for example, a signal-to-noise ratio of 80%-90%) and meet the ranging accuracy threshold (for example, a ranging accuracy of ±x centimeters) within the complete measurement dynamics of the radar device. Among them, different types of simulation conditions are obtained by the computer device by arranging and combining multiple ambient temperature parameters with multiple ambient light intensity parameters. For example, the computer device selects S1 types of ambient temperatures and S2 types of ambient light intensities, and arranges and combines the S1 types of ambient temperatures with the S2 types of ambient light intensities to obtain S1×S2 different typical simulation conditions.

[0087] For example, by placing a plurality of standard reflectivity objects with different reflectivities in a process where their position relationship with respect to a radar device is moving from near to far, in a plurality of different types of simulation conditions, the pulse configuration parameters of the detection pulse combination are adjusted by a preset step value, and the signal-to-noise ratio and ranging accuracy of the echo signal corresponding to each pulse are simulated and calculated in a computer device. Within the ranging range of the best performance corresponding to each pulse, it is determined that the target acquisition data collected by the radar device in various types of simulation conditions can meet the pulse configuration parameters corresponding to each pulse with a preset confidence condition. The pulse configuration parameters are used to constitute the pulse configuration parameters in the global condition configuration lookup table.

[0088] In an optional embodiment, the computer device may also evaluate the pulse configuration parameters of each pulse according to the waveform of the echo signal corresponding to each pulse. For example, when the waveform of the echo signal is a symmetrical waveform, the computer device continues to evaluate the pulse configuration parameters according to the preset confidence conditions; when the waveform of the echo signal is an asymmetrical waveform, it means that the current waveform has a large error, and the computer device continues to adjust the pulse configuration parameters.

[0089] In an optional embodiment, after the computer device adjusts the pulse configuration parameters of each detection pulse combination for each type of simulation working condition, under each type of simulation working condition corresponding to the standard reflectivity object of each reflectivity, the pulse configuration parameters of each pulse meet the preset confidence conditions. Then, the computer device writes the configuration parameters of the detection pulse combination into the global working condition configuration lookup table to realize the construction of the global working condition configuration lookup table.

[0090] Step 206: Send a detection pulse combination according to each pulse configuration parameter.

[0091] Among them, the maximum detection distance that can be covered by each pulse in the detection pulse combination is different.

[0092] In an embodiment of the present application, the radar device transmits a first frame of radar detection pulse signal according to the detection pulse combination for which the pulse configuration parameters have been set, so that the radar device uses the pulse configuration parameters of each detection pulse combination that matches the current environment to measure the distance to the target object in the current environment.

[0093] like Figure 3 As shown, pulse groups 1 to N constitute a group of detection pulse combinations. The pulse configuration parameters of each pulse group in the combination are different. The maximum detection distance of groups 1 to N is based on Figure 3 The arrangement shown forms different levels, that is, the radar is the center of the circle and the radial direction is the detection distance. For example, the farthest detection distance of group 2 is the boundary where S2 is located.

[0094] In the above radar parameter adjustment method, by detecting the environmental estimation value of the current environment, the pulse configuration parameters of the detection pulse combination that matches the environmental estimation value can be determined, which can improve the dynamic range of the radar's effective ranging, and realize that the pulse configuration parameters of the radar's detection pulse combination for the environment are the pulse configuration parameters with the best performance, thereby improving the radar's ranging accuracy.

[0095] In one embodiment, if Figure 4 As shown, the method also includes:

[0096] Step 402: Determine the target detection pulse corresponding to the area where the target object is located according to the farthest detection distance that can be covered by each pulse in the detection pulse combination.

[0097] In the present application embodiment, Figure 3 As shown, the farthest detection distance and the best detection area that can be covered by different detection pulse combinations are different, and objects in the fan-shaped areas of different color depths corresponding to groups 1 to N have the best detection effect. For example, the best detection area of ​​group 3 is the fan-shaped area between the detection boundary S2 of group 2 and the detection boundary S1 of group 3, and group 3 is the target detection pulse corresponding to the target object in the fan-shaped area.

[0098] Step 404: determine a first detection result of the target object corresponding to the target detection pulse.

[0099] In the embodiment of the present application, the radar device determines a first detection result of the target detection pulse for the target object through an echo signal of the target detection pulse for the target object. Optionally, the radar device can determine the accuracy of the first detection result based on the waveform or signal-to-noise ratio of the echo signal of the target detection pulse for the target object.

[0100] Step 406, determining target acquisition data at least based on the first detection result.

[0101] In the embodiment of the present application, the radar device can determine the target acquisition data according to the first detection result, and if the waveform and signal-to-noise ratio of the echo signal corresponding to the first detection result meet the preset conditions, the radar device determines the target acquisition data according to the first detection result. If the waveform and signal-to-noise ratio of the echo signal corresponding to the first detection result do not meet the preset conditions, it should be discarded.

[0102] In this embodiment, the first detection result obtained by the target detection pulse of the optimal detection area corresponding to the target object is used to determine the target acquisition data used for the radar device to measure the distance to the target object, which can improve the ranging accuracy of the radar.

[0103] In one embodiment, if Figure 5 As shown, the method also includes:

[0104] Step 502: Determine a reflectivity estimation value of the target object according to the first detection result.

[0105] In an embodiment of the present application, after the radar device transmits the first frame detection pulse combination, the computer device can determine the reflectivity estimation value of the target object according to the first detection result according to a preset period. Specifically, with respect to the acquisition of the reflectivity estimation value by the computer device, after the radar device receives the first detection result, the computer device compares the body noise in the first detection result with the reflectivity estimation table to determine the signal strength, and determines the reflectivity estimation value of the target object according to the signal strength. Optionally, the computer device can also calculate or interpolate the reflectivity estimation value of the target object according to the real-time first detection result.

[0106] Step 504: determine a new target operating condition based on the reflectivity estimate and the current environment estimate.

[0107] In the embodiment of the present application, after the radar device sends the first frame of detection pulse combination, the radar device can determine the pulse configuration parameters of the new detection pulse combination according to the new target working condition according to the preset period. Specifically, in the target working condition configuration lookup table, the new target working condition can be determined by the new environmental estimation value and the reflectivity estimation value corresponding to the historical frame to determine the pulse configuration parameters corresponding to the environmental estimation value and the reflectivity estimation value.

[0108] Step 506: Update each pulse configuration parameter based on each pulse configuration parameter corresponding to the new target operating condition.

[0109] In the embodiment of the present application, the radar device updates the pulse configuration parameters of the detection pulse combination used for real-time transmission in the radar device based on the pulse configuration parameters of the detection pulse combination queried in the target condition configuration lookup table in the radar device based on the new target condition. The radar detection pulse signal is transmitted based on the updated pulse parameters, so that the radar device uses the pulse configuration parameters of the detection pulse combination that matches the current environment to measure the distance to the target object in the current environment.

[0110] In this embodiment, during the continuous application of the radar device, new target conditions are determined based on the reflectivity estimation value and the environmental estimation value, and the pulse configuration parameters of the detection pulse combination are determined based on the new target conditions, thereby achieving the adaptation of the pulse configuration parameters to the environment, which can improve the ranging accuracy of the radar for different target objects in different environments.

[0111] Since the above-mentioned table lookup update method for the target working condition is performed at a certain time interval and is not real-time, before the next working condition is refreshed, the abnormal collection data is adjusted by updating the configuration parameters of the corresponding target detection pulse. Specifically, when there is abnormal collection data in the previous frame of radar pulse signal, the computer device adjusts the configuration parameters of the next frame of detection pulse signal based on the pulse parameters of the previous frame of radar. In one embodiment, Figure 6 As shown, the method also includes:

[0112] Step 602: Determine a reflectivity estimation value of the target object according to the first detection result.

[0113] In the embodiment of the present application, during the application of the radar device, a pulse combination of abnormal collected data may occur. The computer device first determines a reflectivity estimation value of the target object according to the first detection result.

[0114] like Figure 3 , assuming that the target object A is in the fan-shaped area corresponding to group 3, that is, the target detection pulse corresponding to the target A is pulse group 3. Then the detection result of the target A corresponding to pulse group 3 is the first detection result, and the reflectivity estimation value corresponding to the target A can be calculated through the first detection result.

[0115] Step 604: When the reflectivity estimation value is lower than the first preset threshold or higher than the second preset threshold, adjust the pulse intensity and / or the number of pulses corresponding to the target detection pulse.

[0116] Among them, the first preset threshold is smaller than the second preset threshold.

[0117] In the embodiment of the present application, the types of abnormal collected data include insufficient signal-to-noise ratio (collected data is lower than the preset effective detection data threshold) and the presence of high-reflectivity targets (there is a high reflectivity target or the target to be measured in the current environment is close to the radar). The computer device adjusts the pulse configuration parameters of the target detection pulse with abnormal collection data according to the type of abnormal collected data. That is, assuming that the first detection result reflects that the detection data of target A is abnormal, at this time, only the detection pulse of group 3 corresponding to target object A is adjusted, and the other pulse parameters in the entire pulse combination group 1 to group N remain unchanged.

[0118] Specifically, if the reflectivity estimation value is lower than the first preset threshold or higher than the second preset threshold, the computer device adjusts the pulse intensity and / or the number of pulses corresponding to the target detection pulse.

[0119] In an optional embodiment, after the pulse intensity corresponding to the target detection pulse is adjusted, the farthest detection distance and the optimal detection area of ​​the target detection pulse will also change accordingly. That is to say, the detection boundary of group 3 will move. When the signal-to-noise ratio is insufficient, the detection pulse intensity should be increased. At this time, the boundary S1 moves radially toward S3 (the detection boundary of group 4). On the contrary, when high reflection occurs, the detection intensity should be appropriately reduced. At this time, the detection boundary S1 moves toward S2. However, the adjustment of the intensity of the target detection pulse should still be controlled within a certain range, otherwise the boundary S1 may be too close to the detection boundary of the pulse of group 4 or group 2, resulting in conflicts between the detection results. In other words, it is necessary to control the intensity adjustment threshold of the target detection pulse, for example, the intensity adjustment range of the pulse of group 3 is controlled to be no more than 20%. If the detection requirements are still not met after the pulse intensity adjustment of the target detection pulse reaches the intensity adjustment threshold, the pulse intensity of the target detection pulse is no longer adjusted, and other pulse parameters, such as the number of pulses, are adjusted in the next step.

[0120] In an optional embodiment, when the intensity of the target detection pulse is adjusted, the corresponding detection range changes, and conflicting results may occur in different pulse groups. Figure 3 As shown, assuming that the target object is B, during the initial detection, the target detection pulse corresponding to the target object B should be pulse group 4 (recorded as the first target detection pulse). However, assuming that according to the above process, in order to meet the signal-to-noise ratio requirement of target A, only the pulse intensity of group 3 adjacent to group 4 is adjusted, resulting in the expansion of the detection range boundary to S1' (the part shown by the dotted line). Then, the target object B is simultaneously within the detection range of group 4 and the adjusted group 3 (recorded as the second target detection pulse). At this time, group 4 and the adjusted group 3 are bound to produce two detection results about B. If the results of the two are inconsistent, the initial detection result, that is, the detection result of group 4 (the first target detection pulse) for target B shall prevail.

[0121] In an optional embodiment, when the collection data of the detection pulse combinations of groups 1 to N contain the same type of abnormal collection data, the computer device adjusts the pulse configuration parameters of the detection pulse combinations corresponding to each abnormal collection data according to the same adjustment strategy.

[0122] In this embodiment, by adjusting the pulse configuration parameters of the detection pulse combination with abnormal collection data, the ranging accuracy of the target to be measured by the radar device under abnormal conditions can be improved, and the blind area of ​​the radar device can be reduced.

[0123] In one embodiment, step 604 adjusts the pulse intensity and / or the number of pulses corresponding to the target detection pulse, including:

[0124] When the pulse intensity is adjusted to reach the intensity adjustment threshold and cannot meet the requirement, the pulse number is adjusted.

[0125] In the embodiment of the present application, for different types of abnormal acquisition data, the adjustment strategy of the pulse configuration parameters includes adjusting the pulse intensity and adjusting the number of pulses. Among them, the abnormal adjustment strategy is to adjust the pulse intensity first. If the acquisition data of each detection pulse combination after adjustment still has abnormalities, the number of pulses is adjusted. There are two ways to adjust the number of pulses. The first way is to adjust the pulse period (the number of pulses will naturally change) when the integration time of the target detection pulse (integration time = pulse period Ti × number of pulses Fi) remains unchanged. The second way is to directly adjust the number of pulses under the condition that the integration time of the target detection pulse increases or decreases (the pulse period may not change at this time, and it can also change).

[0126] For example, when the type of abnormal acquisition data is the presence of a high reflectivity target or an echo signal with high reflection intensity, the pulse intensity of the target detection pulse is reduced. If the target detection pulse reaches the intensity adjustment threshold and still has abnormal acquisition data, the pulse period is increased according to method 1; if the target detection pulse is still abnormal after the pulse period is increased, the number of pulses is reduced according to method 2. Conversely, when the type of abnormal acquisition data is the acquisition data is lower than the preset effective detection data threshold (i.e., the signal-to-noise ratio is insufficient), the pulse intensity of the target detection pulse is increased. If the detection pulse still has abnormal acquisition data after the target pulse intensity reaches the intensity adjustment threshold, the pulse period is reduced according to method 1; if the target detection pulse still has abnormal data after the pulse period is reduced, the number of pulses is increased according to method 2.

[0127] As an optional embodiment, after the computer device adjusts the parameters of the target detection pulse with abnormal collection data, the adjusted pulse configuration parameters can be updated in the corresponding pulse configuration parameters in the working condition configuration lookup table. Figure 7 As shown, after the computer device traverses each detection pulse combination, that is, after transmitting each detection pulse combination and receiving the collection data corresponding to each detection pulse combination, the traversal of each detection pulse combination is determined as a complete frame scan of the current environment detection field of view.

[0128] Optionally, a step value of each type of pulse configuration parameter is preset in the computer device, and the computer device adjusts the pulse configuration parameters according to the step value for the pulse intensity, pulse period and pulse number in the pulse configuration parameters.

[0129] In this embodiment, the pulse configuration parameters are adjusted by the processing priority of the pulse intensity, pulse period and pulse number included in the abnormal adjustment strategy. The pulse configuration parameters can be adjusted according to the preset step value to avoid excessive adjustment of the pulse configuration parameters, thereby improving the ranging accuracy of the radar equipment under abnormal conditions.

[0130] In one embodiment, if Figure 8 As shown, the method also includes:

[0131] Step 802: Determine a second detection result of the target object corresponding to the non-target detection pulse.

[0132] In the present application embodiment, Figure 3 As shown in Figure 1, different pulses have different ranging performances in different ranging ranges. For a target object, multiple detection pulses may be generated for collection data, for example: Figure 3 In the above figure, the target detection pulse corresponding to target A is group 3. However, since the detection range of groups 4 to N is larger than that of group 3, the detection information of target A will still be included in the detection results of groups 4 to N. At this time, groups 4 to N are non-target detection pulses of A, and the detection data of groups 4 to N for target A are called the second detection results.

[0133] Step 804: If the second detection result is normal, weighting is performed according to the first detection result and each second detection result to obtain target acquisition data.

[0134] In an embodiment of the present application, for target A, if the first detection result and the second detection result are both normal, that is, the reflectivity estimation values ​​corresponding to the first detection result and the second detection result are both in the normal range (the reflectivity estimation values ​​are higher than the first preset threshold and lower than the second preset threshold), the computer device weights the first detection result and the second detection results, and the weighting mechanism is used to determine the credibility of the target object detection result to obtain target collection data.

[0135] The weight setting can be customized by the user, for example, defining the first detection result as 50% and the sum of the other second detection results as 50%. Finally, based on the weighted results, the final target collection data is determined, and the data in the target collection data whose credibility is less than the preset credibility threshold is discarded. The preset credibility threshold can be set to 60%, for example.

[0136] In this embodiment, the acquisition data obtained by weighting the first detection result and each second detection result is used as the target acquisition data, so that the signal-to-noise ratio of the radar device can be improved and the ranging accuracy of the radar can be improved.

[0137] In one embodiment, the method further comprises:

[0138] If the second detection result is abnormal data, the second detection result is discarded.

[0139] In the embodiment of the present application, since the second detection result is not formed by the target detection pulse, when the second detection result is abnormal, it can be directly discarded. For example, according to the waveform and signal-to-noise ratio of the second detection result, the interference acquisition data in the multiple second detection results corresponding to the target object is determined, and the interference data set can be the acquisition data whose waveform does not meet the preset conditions or the signal-to-noise ratio does not meet the preset conditions, or the reflectivity estimation value corresponding to the second detection result is lower than the first preset threshold or higher than the second preset threshold, and the computer device discards the interference acquisition data.

[0140] In this embodiment, the second detection results determined as interfering with the collected data among the multiple second detection results of the target object are eliminated, thereby reducing the influence of the interfering collected data on the ranging accuracy of the target object, thereby improving the radar ranging accuracy.

[0141] From the experimental results, Fig. 9 As shown in Figure 2, a common laser radar configuration scheme is adopted, and the simulation results are as follows: Fig.10 As shown in the figure, the ambient light background is 50Klux (unit, lux), the reflectivity is 10% and 90% of the target, and the target distance is 0.05m, 0.1m, and 0.3m. Through the simulation calculation of the laser radar, the ranging accuracy (Precision), detection probability (PD) and signal intensity (Intensity) cannot obtain effective data, and the laser radar system cannot effectively detect targets at a relatively close distance. Fig.10 As shown, the radar parameter adjustment method of the present application is adopted to obtain the pulse configuration parameters of N=2, T1=0.5us (microseconds), F1=110, P1=30W, T2=1us, F2=110, P2=15w, where N is the number of detection pulse combinations, T1 is the pulse period at a target distance of 0.3m, F1 is the number of pulses at a target distance of 0.3m, P1 is the pulse intensity at a target distance of 0.3m, T2 is the pulse period at a target distance of 0.1m, F2 is the number of pulses at a target distance of 0.1m, and P2 is the pulse intensity at a target distance of 0.1m. The above configuration parameters are used for the ambient light intensity of 30klux and the target reflectivity of 10% and 90%, and the simulation results are shown as follows Fig.10 As shown, the reduction of ranging blind areas and the improvement of ranging accuracy are achieved, wherein the minimum detectable distance for a target with a reflectivity of 10% is optimized to 0.3m, and the minimum detectable distance for a target with a reflectivity of 90% is optimized to 0.1m.

[0142] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0143] Based on the same inventive concept, the embodiment of the present application also provides a radar parameter adjustment device for implementing the radar parameter adjustment method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more radar parameter adjustment device embodiments provided below can refer to the limitations of the radar parameter adjustment method above, and will not be repeated here.

[0144] In one embodiment, Fig.11 As shown, a radar parameter adjustment device 1100 is provided, comprising: an acquisition module 1101, a first determination module 1102, and a sending module 1103, wherein:

[0145] An acquisition module 1101 is used to acquire an estimated value of the environment in the current environment;

[0146] A first determination module 1102 is used to determine a target operating condition based on an environmental estimation value, and to determine a pulse configuration parameter based on the target operating condition;

[0147] The sending module 1103 is used to send a detection pulse combination according to each pulse configuration parameter; wherein the maximum detection distance that can be covered by each pulse in the detection pulse combination is different.

[0148] In one embodiment, the apparatus 1100 further includes:

[0149] A second determination module is used to determine the target detection pulse corresponding to the area where the target object is located according to the farthest detection distance that each pulse in the detection pulse combination can cover;

[0150] A third determination module, used to determine a first detection result of the target object corresponding to the target detection pulse;

[0151] The fourth determination module is used to determine the target acquisition data at least according to the first detection result.

[0152] In one embodiment, the apparatus 1100 further includes:

[0153] a fifth determination module, configured to determine a reflectivity estimation value of the target object according to the first detection result;

[0154] A sixth determination module, used to determine a new target working condition according to the reflectivity estimation value and the current environment estimation value;

[0155] The updating module is used to update each pulse configuration parameter based on each pulse configuration parameter corresponding to the new target operating condition.

[0156] In one embodiment, the apparatus 1100 further includes:

[0157] a seventh determination module, configured to determine a reflectivity estimation value of the target object according to the first detection result;

[0158] The first adjustment module is used to adjust the pulse intensity and / or the number of pulses corresponding to the target detection pulse when the reflectivity estimation value is lower than the first preset threshold or higher than the second preset threshold; the first preset threshold is smaller than the second preset threshold.

[0159] In one embodiment, the apparatus 1100 further includes:

[0160] The second adjustment module is used to adjust the number of pulses when the pulse intensity reaches the intensity adjustment threshold but still cannot meet the accuracy requirement.

[0161] In one embodiment, the apparatus 1100 further includes:

[0162] An eighth determination module, used to determine a second detection result of the target object corresponding to the non-target detection pulse;

[0163] The weighting module is used to obtain target acquisition data by weighting the first detection result and each second detection result if the second detection result is normal.

[0164] In one embodiment, the apparatus 1100 further includes:

[0165] The discarding module is used to discard the second detection result if the second detection result is abnormal data.

[0166] Each module in the above radar parameter adjustment device can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0167] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Fig.12 As shown. The computer device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store target operating condition configuration query table data. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a radar parameter adjustment method is implemented.

[0168] Those skilled in the art will understand that Fig.12 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0169] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0170] Get the current environment's estimated value;

[0171] Determining a target operating condition based on the environmental estimate, and determining a pulse configuration parameter based on the target operating condition;

[0172] A detection pulse combination is sent according to each pulse configuration parameter; wherein the maximum detection distance that can be covered by each pulse in the detection pulse combination is different.

[0173] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0174] Determine the target detection pulse corresponding to the area where the target object is located according to the farthest detection distance that each pulse in the detection pulse combination can cover;

[0175] Determining a first detection result of the target object corresponding to the target detection pulse;

[0176] At least based on the first detection result, target acquisition data is determined.

[0177] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0178] determining a reflectivity estimation value of the target object according to the first detection result;

[0179] Determine a new target working condition based on the reflectivity estimate and the current environment estimate;

[0180] Based on the pulse configuration parameters corresponding to the new target operating condition, each pulse configuration parameter is updated.

[0181] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0182] determining a reflectivity estimation value of the target object according to the first detection result;

[0183] When the reflectivity estimation value is lower than a first preset threshold or higher than a second preset threshold, the pulse intensity and / or the number of pulses corresponding to the target detection pulse is adjusted; the first preset threshold is smaller than the second preset threshold.

[0184] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0185] When the pulse intensity is adjusted to reach the intensity adjustment threshold and cannot meet the accuracy requirement, the pulse number is adjusted.

[0186] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0187] Determine a second detection result of the target object corresponding to the non-target detection pulse;

[0188] If the second detection result is normal, weighting is performed according to the first detection result and each second detection result to obtain target acquisition data.

[0189] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0190] If the second detection result is abnormal data, the second detection result is discarded.

[0191] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0192] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0193] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0194] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0195] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0196] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A radar parameter adjustment method, It is characterized in that The method comprises: Get the current environment's estimated value; Determining a target operating condition based on the environmental estimate, and determining a pulse configuration parameter based on the target operating condition; Sending a detection pulse combination according to each of the pulse configuration parameters; wherein the maximum detection distance that each pulse in the detection pulse combination can cover is different; The method further comprises: Determining a target detection pulse corresponding to the area where the target object is located according to the farthest detection distance that can be covered by each pulse in the detection pulse combination; Determining a first detection result of the target object corresponding to the target detection pulse; determining target acquisition data based at least on the first detection result; The method further comprises: Determine a second detection result of the target object corresponding to the non-target detection pulse; If the second detection result is normal, weighting is performed according to the first detection result and each of the second detection results to obtain target acquisition data.

2. The method according to claim 1, It is characterized in that The method further comprises: determining a reflectivity estimation value of the target object according to the first detection result; Determining a new target operating condition according to the reflectivity estimate and the current environment estimate; Based on the pulse configuration parameters corresponding to the new target operating condition, each of the pulse configuration parameters is updated.

3. The method according to claim 1, It is characterized in that The method further comprises: determining a reflectivity estimation value of the target object according to the first detection result; When the reflectivity estimation value is lower than a first preset threshold or higher than a second preset threshold, the pulse intensity and / or the number of pulses corresponding to the target detection pulse is adjusted; the first preset threshold is smaller than the second preset threshold.

4. The method according to claim 3, It is characterized in that The step of adjusting the pulse intensity and / or the number of pulses corresponding to the target detection pulse comprises: When the pulse intensity is adjusted to reach the intensity adjustment threshold but still cannot meet the accuracy requirement, the pulse number is adjusted.

5. The method according to claim 1, It is characterized in that The method further comprises: If the second detection result is abnormal data, the second detection result is discarded.

6. A radar parameter adjustment device, It is characterized in that The device comprises: An acquisition module is used to obtain the estimated value of the environment in the current environment; A first determination module, configured to determine a target operating condition based on the environmental estimation value, and determine a pulse configuration parameter based on the target operating condition; A sending module, used for sending a detection pulse combination according to each of the pulse configuration parameters; wherein the maximum detection distance that each pulse in the detection pulse combination can cover is different; A second determination module is used to determine the target detection pulse corresponding to the area where the target object is located according to the farthest detection distance that each pulse in the detection pulse combination can cover; A third determination module, used to determine a first detection result of the target object corresponding to the target detection pulse; a fourth determination module, configured to determine target acquisition data at least based on the first detection result; An eighth determination module, used to determine a second detection result of the target object corresponding to the non-target detection pulse; A weighting module is used to obtain target acquisition data by weighting the first detection result and each of the second detection results if the second detection result is normal.

7. The device according to claim 6, It is characterized in that The device also includes: a fifth determination module, configured to determine a reflectivity estimation value of the target object according to the first detection result; a sixth determination module, configured to determine a new target operating condition according to the reflectivity estimation value and the current environment estimation value; An updating module is used to update each pulse configuration parameter based on each pulse configuration parameter corresponding to the new target operating condition.

8. The device according to claim 6, It is characterized in that The device also includes: a seventh determination module, configured to determine a reflectivity estimation value of the target object according to the first detection result; The first adjustment module is used to adjust the pulse intensity and / or the number of pulses corresponding to the target detection pulse when the reflectivity estimation value is lower than a first preset threshold or higher than a second preset threshold; the first preset threshold is smaller than the second preset threshold.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program. It is characterized in that When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, It is characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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