Radar control method and apparatus, terminal device, and computer-readable storage medium

Abstract

The application is suitable for the field of radar technology, and provides a radar control method and device, a terminal equipment and a computer readable storage medium, which comprises: obtaining a transmission strategy of a current transmission block according to a current measurement scene; and a laser radar controls the current transmission block to transmit a laser detection signal according to the transmission strategy, so that the laser detection signal transmitted by the current transmission block can meet the requirements of the current measurement scene by adjusting the transmission times of the laser detection signal transmitted by the current transmission block and the transmission power of the laser detection signal transmitted each time, and the laser radar can meet the ranging performance, ranging accuracy, high reverse expansion and other performance requirements of multiple different measurement scenes, and the measurement performance of the laser radar is improved.

Description

Technical Field

[0001] This application belongs to the field of radar technology, and in particular relates to a radar control method, terminal equipment and computer-readable storage medium. Background Technology

[0002] Due to its advantages such as high resolution, high sensitivity, strong anti-interference ability, and unaffected by dark conditions, lidar is often used in fields such as autonomous driving, logistics vehicles, robots, and intelligent public transportation.

[0003] However, current lidar systems have limitations in meeting the performance requirements of ranging, ranging accuracy, and high anti-diffraction in various measurement scenarios, including short-range, medium-range, and long-range applications. In other words, current lidar systems suffer from poor measurement performance. Summary of the Invention

[0004] This application provides a radar control method, apparatus, terminal device, and computer-readable storage medium to address the problem of poor measurement performance in current lidar systems.

[0005] In a first aspect, embodiments of this application provide a radar control method, including:

[0006] The emission strategy of the current emission block is obtained based on the current measurement scenario. The emission strategy includes the number of emission times when the current emission block is emitted and the emission power of the laser detection signal in each emission.

[0007] The lidar controls the current transmitting block to emit a laser detection signal according to the emission strategy.

[0008] In one implementation of the first aspect, the transmitting block includes one or more transmitting units.

[0009] In one implementation of the first aspect, the lidar includes a transmitting array comprising several parallel groups of transmitting blocks, each group of parallel transmitting blocks transmitting laser detection signals using the same transmitting strategy.

[0010] In one implementation of the first aspect, when the transmitting array adopts area array transmission, the transmission strategies of the transmitting blocks located in different regions are different.

[0011] In one implementation of the first aspect, after the lidar controls the current transmitting block to emit a laser detection signal according to the emission strategy, it further includes:

[0012] The launch strategy of the current launch block in the next measurement cycle is adjusted based on the measurement results of the current measurement cycle.

[0013] In one implementation of the first aspect, when the emission strategy is a first emission strategy, controlling the current emission block to emit a laser detection signal according to the emission strategy includes:

[0014] The current transmitting block is controlled to transmit at least two laser detection signals, wherein the transmission power of each transmitted laser detection signal is a fixed power and the transmission power of each transmitted laser detection signal is equal.

[0015] In one implementation of the first aspect, when the emission strategy is the second emission strategy, controlling the current emission block to emit a laser detection signal according to the emission strategy includes:

[0016] The current transmitting block is controlled to transmit at least two laser detection signals, wherein the transmission power of each transmitted laser detection signal is a fixed power, and the transmission power of each transmitted laser detection signal is different.

[0017] In one implementation of the first aspect, when the transmission strategy is a third transmission strategy, the control lidar transmits a laser detection signal according to the transmission strategy, including:

[0018] The subsequent transmission strategy is adjusted based on the first echo signal of the current detection cycle. The first echo signal is the echo signal received by the lidar when the laser detection signal is transmitted for the first time in the current detection cycle.

[0019] In one implementation of the first aspect, before adjusting the subsequent transmission strategy based on the first echo signal of the current detection period, the method further includes:

[0020] Determine whether the first echo signal meets the detection requirements;

[0021] If the first echo signal meets the detection requirements, then stop transmitting the laser detection signal;

[0022] If the first echo signal does not meet the detection requirements, then the step of adjusting the subsequent transmission strategy according to the first echo signal of the current detection period is executed.

[0023] Secondly, embodiments of this application provide a radar control device, including:

[0024] The determination module is used to obtain the emission strategy of the current emission block according to the current measurement scenario. The emission strategy includes the number of emission times when the current emission block is emitted and the emission power of the laser detection signal in each emission.

[0025] The control module is used by the lidar to control the current transmitting block to emit laser detection signals according to the emission strategy.

[0026] Thirdly, embodiments of this application provide a terminal device, the terminal device including a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the radar control method as described in the first aspect or any optional method of the first aspect.

[0027] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the radar control method as described in the first aspect or any alternative method of the first aspect.

[0028] Fifthly, embodiments of this application provide a computer program product that, when run on a terminal device, causes the terminal device to execute the radar control method described in the first aspect or any optional method of the first aspect.

[0029] The beneficial effects of the embodiments in this application compared with the prior art are:

[0030] Implementing the radar control method, terminal device, computer-readable storage medium, and computer program product provided in this application has the following beneficial effects:

[0031] The radar control method provided in this application can adjust the number of times the laser detection signal emitted by the current transmitting block is emitted and the emission power of the laser detection signal emitted each time according to the current measurement scenario, so that the emitted laser detection signal can meet the requirements of the current measurement scenario. By adjusting the number of times the laser detection signal emitted by the current transmitting block is emitted and the emission power of the laser detection signal emitted each time, the lidar can meet the performance requirements of ranging performance, ranging accuracy, high anti-dilatation, etc. in various different measurement scenarios, thereby improving the measurement performance of the lidar. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of existing lidar application scenarios;

[0034] Figure 2 This is a schematic diagram illustrating the implementation process of a radar control method provided in an embodiment of this application;

[0035] Figure 3This is a schematic diagram of the transmitting array of the lidar provided in the embodiments of this application;

[0036] Figure 4 This is a schematic diagram of the first launch strategy provided in an embodiment of this application;

[0037] Figure 5 This is a schematic diagram of the second launch strategy provided in the embodiments of this application;

[0038] Figure 6 This is a schematic diagram of the third launch strategy provided in the embodiments of this application;

[0039] Figure 7 This is a schematic diagram of another third launch strategy provided in an embodiment of this application;

[0040] Figure 8 This is a schematic diagram of another third launch strategy provided in an embodiment of this application;

[0041] Figure 9 This is a schematic diagram of the structure of a radar control device provided in an embodiment of this application;

[0042] Figure 10 This is a schematic diagram of the structure of a terminal device provided in an embodiment of this application. Detailed Implementation

[0043] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0044] It should be understood that the term "and / or" as used in this application specification and the appended claims refers to any combination of one or more of the associated listed items, as well as all possible combinations, and includes such combinations. Furthermore, in the description of this application specification and the appended claims, the terms "first," "second," "third," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0045] It should also be understood that references to "one embodiment" or "some embodiments" in this specification mean that one or more embodiments of this application include the specific features, structures, or characteristics described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0046] A lidar (Light Detection and Ranging) system is an automated remote sensing device that uses a laser as its emission source and employs photoelectric detection technology for detection. A lidar system can include a transmitting array, a receiving array, a scanning control system, and a data processing system. The working principle of a lidar system is to emit a laser detection signal towards a target object. After the laser signal hits the target object, the target object reflects the laser signal, forming an echo signal. The receiving array can receive this echo signal and process it to obtain information such as the target object's distance, size, speed, and reflectivity.

[0047] Current lidar typically emits a laser detection signal only once per measurement cycle. The measurement result can be obtained by receiving the echo signal corresponding to the laser detection signal and analyzing the echo signal.

[0048] For example, please refer to Figure 1 , Figure 1 A schematic diagram illustrating existing LiDAR application scenarios is shown. For example... Figure 1 As shown, the lidar may include a control module 11, a transmitting module 12, and a receiving module 13, with the control module 11 connected to the transmitting module 12 and the receiving module 13 respectively.

[0049] In one measurement cycle, the lidar, controlled by the control module 11, controls the transmitting module 12 to emit a laser detection signal once to detect a target object. When the laser detection signal detects the target object, the target object will reflect an echo signal. The receiving module 13 receives the echo signal reflected by the target object, and the control module 11 processes and analyzes the echo signal to determine the target object's direction of motion, speed, distance, and other information relative to the lidar. That is, only one laser detection signal needs to be emitted to obtain a measurement result.

[0050] It should be noted that the entity performing the aforementioned processing and analysis of the echo signal to determine the target object's direction of motion, speed, distance, etc., relative to the lidar can also be other devices / modules / terminals with data processing and analysis capabilities. For example, it could be the data processing module within the lidar (…). Figure 1 (Not shown in the image), can be an electronic device such as a vehicle-mounted terminal and / or a mobile terminal that communicates with the lidar, and this application does not limit this.

[0051] LiDAR systems typically suffer from oversaturation and high reflectivity dilation. Oversaturation occurs when, at the same transmit power, the energy of the reflected echo signal increases when the target object is close to the LiDAR, causing the received echo signal to become oversaturated and leading to inaccurate measurements. High reflectivity dilation occurs when the target object is highly reflective, resulting in excessively high power reflected echo signals and also causing inaccurate measurements.

[0052] To improve measurement accuracy, the transmission power is usually reduced; however, reducing the transmission power will affect the ranging performance and accuracy of the lidar. Furthermore, lidar often has blind spots when detecting objects at close and long distances, which can also lead to inaccurate measurement results.

[0053] In summary, it can be seen that current lidar systems suffer from poor measurement performance.

[0054] To address the aforementioned issues, this application provides a lidar control method that can determine the number of times a laser detection signal is emitted by the current transmitting block and the emission power of each emitted laser detection signal based on the current measurement scenario. This ensures that the emitted laser detection signal meets the requirements of the current measurement scenario. By adjusting the number of times the laser detection signal is emitted and the emission power of each emitted laser detection signal, the lidar can meet the performance requirements of various measurement scenarios, thereby improving the lidar's measurement performance.

[0055] The radar control method provided in the embodiments of this application will be described in detail below:

[0056] Please see Figure 2 , Figure 2This is a schematic flowchart illustrating a radar control method provided in an embodiment of this application. The executing entity of the radar control method provided in this embodiment can be a lidar, a control system / module within the lidar, or a terminal device communicating with the lidar. The aforementioned terminal device can be a mobile terminal such as a smartphone, tablet, or wearable device, or it can be a computer, cloud server, radar-assisted computer, or other devices used in various application scenarios. The following explanation uses a lidar as the executing entity as an example:

[0057] like Figure 2 As shown, the radar control method provided in this application embodiment may include S11 to S12, which are described in detail below:

[0058] S11: Obtain the launch strategy of the current launch block based on the current measurement scenario.

[0059] In this embodiment of the application, the above-mentioned transmission strategy includes the number of times the laser detection signal of the current transmission block is transmitted within the current measurement period and the transmission power of the laser detection signal transmitted each time.

[0060] In this embodiment of the application, the lidar can determine the number of times the current transmitting block emits a laser detection signal and the emission power of the laser detection signal emitted each time within the current measurement period, based on the current measurement scenario.

[0061] In practical applications, the measurement scenario of the current transmitter block can be determined based on its location and detection requirements. For example, when the detection requirement is to detect objects at different distances and / or with different reflectivities using transmitter blocks at different locations, the measurement scenario of the current transmitter block can be defined as a multi-distance measurement scenario; when the radar has high measurement accuracy capabilities and there is a high measurement accuracy requirement, the measurement scenario of the current transmitter block can be defined as a high-precision measurement scenario; when detecting objects with unknown reflectivities or unknown distances, the measurement scenario of the current transmitter block can be defined as a real-time adjustment measurement scenario, etc.

[0062] Depending on the measurement scenario, the emission strategies of the transmitter blocks at different locations can be the same or different. Therefore, when determining the emission strategy of the current transmitter block, it is necessary to determine the current position of the transmitter block, and then combine this with the current measurement scenario to determine the position of the current transmitter block.

[0063] In this embodiment of the application, the aforementioned launch block may include one or more launch units. Determining the launch strategy of the current launch block may involve determining the launch strategy of each launch unit in the launch block.

[0064] For example, please refer to Figure 3 , Figure 3 This is a schematic diagram of the transmitting array of a lidar.

[0065] Depend on Figure 3 It can be seen that, by Figure 3 It can also be seen that each transmitter block may include one or more transmitter units. Within a transmitter block, each transmitter unit has the same transmitter strategy.

[0066] In this embodiment of the application, the transmitting array may include several parallel groups of transmitting blocks, each group of parallel transmitting blocks transmitting laser detection signals with the same transmitting strategy.

[0067] In practical applications, the grouping method for parallel transmission can be determined according to the actual application scenario. Transmission blocks in the same group use the same transmission strategy, while transmission blocks in different groups use different transmission strategies.

[0068] In one embodiment of this application, when the transmitting array adopts area array transmission, the transmission strategies of the transmitting blocks located in different regions are different.

[0069] For example Figure 3 The first three rows of emitter blocks can use one emitter strategy (e.g., an emitter strategy for close-range measurement scenarios), the emitter blocks in the middle (e.g., rows 4 to N-4) can use another emitter strategy (e.g., an emitter strategy for long-range measurement scenarios), and the emitter blocks in the last three rows can use the emitter strategy corresponding to the emitter blocks in the first three rows.

[0070] It is understood that the above measurement scenarios can also be other scenarios. The multi-distance measurement scenarios, high-precision measurement scenarios, and real-time adjustment measurement scenarios mentioned above are only examples and not limitations. For example, the above measurement scenarios can also be long-distance measurement scenarios, short-distance measurement scenarios, medium-distance measurement scenarios, high-reflectivity object measurement scenarios, low-reflectivity object measurement scenarios, etc.

[0071] It should also be noted that the long-range, short-range, and medium-range measurements mentioned in the embodiments of this application can be determined based on the radar's device parameters. For example, a measurement area more than 10m away from the lidar can be set as a long-range measurement area, a measurement area less than 3m away from the lidar can be set as a short-range measurement area, and a measurement area between 3m and 10m away from the lidar can be set as a medium-range measurement area. Accordingly, the aforementioned long-range measurement scenario refers to a measurement scenario in which target objects within the long-range measurement area are detected; the aforementioned short-range measurement scenario refers to a measurement scenario in which target objects within the short-range measurement area are detected; and the aforementioned medium-range measurement scenario refers to a measurement scenario in which target objects within the medium-range measurement area are detected.

[0072] In practical applications, the transmission strategy of the current transmitting block can be set to correspond with the above measurement scenarios. That is, different transmission strategies can be set for the current transmitting block according to different measurement scenarios. For example, for a transmitting block located in the middle, the first transmission strategy can be set for high-precision measurement scenarios; the second transmission strategy can be set for multi-distance measurement scenarios; and the third transmission strategy can be set for real-time adjustment measurement scenarios.

[0073] The first emission strategy can be set to control the current emission block to emit at least two laser detection signals within a measurement cycle, and the emission power of the laser detection signal emitted each time is a fixed power, and the emission power of the laser detection signal emitted each time is equal.

[0074] By emitting at least two laser detection signals with the same transmission power, and then using the echo signals corresponding to the two laser detection signals to determine information such as the distance to the target object, the ranging accuracy of the current transmitting block can be effectively improved, so that the lidar can meet the business requirements of high-precision measurement.

[0075] It should be noted that the transmission power of each laser detection signal and the number of laser detection signals transmitted can be set according to the radar performance and accuracy requirements, and this application does not impose any restrictions on them.

[0076] For example, the first launch strategy mentioned above could be a fixed-power dual-launch strategy, a fixed-power triple-launch strategy, a fixed-power quadruple-launch strategy, etc.

[0077] The fixed power in the first launch strategy can be determined based on various conditions, including but not limited to: the product's required long-range ranging capability, short-range ranging capability, and leader detection capability. Generally, the longer the ranging capability requirement, the higher the fixed power can be set; conversely, the shorter the ranging capability requirement, the lower the fixed power can be set.

[0078] The second emission strategy can be set to control the current emission block to emit at least two laser detection signals within a measurement cycle, and the emission power of the laser detection signal emitted each time is a fixed power, and the emission power of the laser detection signal emitted each time is not equal.

[0079] By emitting laser detection signals with at least two different transmission powers and using the echo signals corresponding to the different laser detection signals to analyze information such as the distance of the target object, it is possible to detect target objects at different distances or with different reflectivities, thus enabling lidar to meet the business needs of multi-distance measurement.

[0080] Similarly, the transmission power of each emitted laser detection signal and the number of times the laser detection signal is emitted can be set according to the radar performance and accuracy requirements, etc., and this application does not impose any restrictions on this.

[0081] For example, to simultaneously detect objects at close range and at a distance, the second emission strategy can be determined as emitting a laser detection signal with a first fixed power once, and then emitting a laser detection signal with a second fixed power once. Here, the first fixed power is the emission power corresponding to close-range detection, and the second fixed power is the emission power for long-range detection. Generally, the first fixed power is less than the second fixed power.

[0082] For example, to simultaneously detect objects at close range, medium to long range, and long range, the second transmission strategy can be defined as transmitting a laser detection signal with a first fixed power, a second fixed power, and a third fixed power. Here, the first fixed power is the transmission power for close-range detection, the second fixed power is the transmission power for long-range detection, and the third fixed power is the transmission power for medium to long-range detection. Generally, the first fixed power is less than the third fixed power, and the third fixed power is less than the second fixed power. The specific transmission order of the first, second, and third fixed powers is set according to specific requirements. It should be noted that the transmission order of the first, second, and third fixed powers can be set according to the radar's measurement requirements and is not specifically limited here.

[0083] The third transmission strategy can be set to control the current transmitting block to adjust the subsequent transmission strategy based on the first echo signal of the current detection period within one measurement cycle. The first echo signal is the echo signal received by the lidar after the laser detection signal emitted with a first preset transmission power is reflected by the target object.

[0084] The aforementioned first preset transmission power can be determined based on actual application. Specifically, the aforementioned first preset transmission power can be a fixed transmission power set in advance, or it can be an adjustable transmission power set based on the measurement results of the previous measurement cycle.

[0085] In one embodiment of this application, the third transmission strategy described above may also be: within a measurement cycle, a laser detection signal is transmitted at a first preset transmission power; the first echo signal is used to determine whether to transmit the laser detection signal again; if the laser detection signal needs to be transmitted again, the transmission power of the laser detection signal is adjusted according to the first echo signal, and then the laser detection signal is transmitted at the adjusted transmission power for detection; if the laser detection signal does not need to be transmitted again, the measurement task of this measurement cycle is completed, and the measurement results are analyzed according to the first echo signal.

[0086] It should be noted that if the echo signal (hereinafter referred to as the second echo signal) corresponding to the laser detection signal emitted with the adjusted emission power does not meet the detection requirements, the emission power will be adjusted again according to the second echo signal, and the laser detection signal will be emitted again with the adjusted emission power until the echo signal meets the detection requirements.

[0087] It should also be noted that the current transmitting block can be configured with multiple transmitting strategies corresponding to other measurement scenarios. The current transmitting block can determine the transmitting strategy corresponding to the current measurement scenario. For example, the current transmitting block can also be configured with a fourth transmitting strategy corresponding to a long-distance measurement scenario, a fifth transmitting strategy corresponding to a short-distance measurement scenario, and so on. The fourth transmitting strategy can be a strategy of transmitting a laser detection signal at a second fixed power, and the fifth transmitting strategy can be a strategy of transmitting a laser detection signal at a first fixed power. When the current transmitting block determines that the current measurement scenario is a long-distance measurement scenario, it can determine that the corresponding transmitting strategy is the fourth transmitting strategy.

[0088] S12: The lidar controls the current transmitting block to emit laser detection signals according to the emission strategy.

[0089] In this embodiment of the application, after the lidar determines the emission strategy of the current emission block, it can control the current emission block to emit laser detection signals according to the number of times the laser detection signal is emitted and the emission power of each laser detection signal emitted in the emission strategy.

[0090] In one embodiment of this application, when the above-mentioned transmission strategy is the first transmission strategy, the above-mentioned S12 may include: controlling the current transmission block to transmit at least two laser detection signals, wherein the transmission power of the laser detection signal transmitted each time is a fixed power, and the transmission power of the laser detection signal transmitted each time is equal.

[0091] For example, please refer to Figure 4 , Figure 4 A schematic diagram of the first launch strategy provided in an embodiment of this application is shown. Figure 4 The horizontal axis represents time, and the vertical axis represents the emitted power of the laser detection signal. For example... Figure 4 As shown, in the first measurement cycle, the current transmitting block is first controlled to emit a first laser detection signal with a first fixed power (or other fixed power). Then, the current transmitting block is controlled to emit a second laser detection signal with the same first fixed power. In the second measurement cycle, the current transmitting block is again controlled to emit a first laser detection signal with the same first fixed power (or other fixed power). Then, the current transmitting block is controlled to emit a second laser detection signal with the same first fixed power. This process continues until the measurement is completed.

[0092] It should be noted that the first emission strategy mentioned above can also be an emission strategy that emits three laser detection signals of the same fixed power within the same measurement period, or four laser detection signals of the same fixed power within the same measurement period. In this case, the lidar will emit laser detection signals of the same fixed power a corresponding number of times within the same measurement period.

[0093] It should be noted that the more times the laser radar is emitted, the higher its ranging accuracy will be, but at the same time, the energy consumption of the laser radar will also be higher. Therefore, the number of times the same fixed power laser detection signal is emitted within the same measurement cycle can be reasonably set according to the ranging accuracy requirements and energy consumption requirements.

[0094] In one embodiment of this application, when the above-mentioned transmission strategy is the second transmission strategy, the above-mentioned S12 may include: controlling the current transmission block to transmit at least two laser detection signals, wherein the transmission power of the laser detection signal transmitted each time is a fixed power, and the transmission power of the laser detection signal transmitted each time is different.

[0095] For example, please refer to Figure 5 , Figure 5 A schematic diagram of the second launch strategy provided in an embodiment of this application is shown. Figure 5 The horizontal axis represents time, and the vertical axis represents the emitted power of the laser detection signal. For example... Figure 5 As shown, in the first measurement cycle, the current transmitting block is first controlled to emit the first laser detection signal with the first fixed power, and then the current transmitting block is controlled to emit the second laser detection signal with the second fixed power. In the second measurement cycle, the current transmitting block is also first controlled to emit the first laser detection signal with the first fixed power, and then the current transmitting block is controlled to emit the second laser detection signal with the second fixed power, and so on, until the measurement is completed.

[0096] It should be noted that the above-mentioned second transmission strategy can also be a transmission strategy of transmitting three laser detection signals with different fixed powers in the same measurement period, or transmitting four laser detection signals with different fixed powers in the same measurement period. In this case, the current transmission block will transmit the corresponding laser detection signal in the same measurement period according to the transmission power of the laser detection signal transmitted each time.

[0097] It should be noted that the more times the laser radar is emitted, the more objects at different distances it can detect. At the same time, the energy consumption of the laser radar will also be higher. Therefore, the number of times the laser detection signal with different fixed power is emitted within the same measurement cycle and the emission power of the laser detection signal each time can be reasonably set according to the ranging requirements and energy consumption requirements.

[0098] In one embodiment of this application, when the launch strategy is the third launch strategy, the above-mentioned S12 includes:

[0099] Adjust subsequent launch strategies based on the first echo signal of the current detection cycle.

[0100] In practical applications, the first echo signal can be the echo signal received by the lidar after the laser detection signal is reflected by the target object, which is controlled by the current transmitting block to emit a laser detection signal at a first transmitting power.

[0101] In specific applications, the aforementioned first preset transmission power can be determined based on the actual application.

[0102] In practical applications, the subsequent transmission strategy is adjusted based on the first echo signal (hereinafter referred to as the first echo signal) of the current detection cycle: if the amplitude of the first echo signal is too high, the transmission power is reduced; if the amplitude of the first echo signal is too low, the transmission power is increased. It should be noted that an excessively high amplitude of the first echo signal means that the echo intensity of the first echo signal is greater than the saturation intensity threshold, i.e., the received first echo signal is oversaturated; an excessively low amplitude of the first echo signal means that the echo intensity of the first echo signal is less than the measurement intensity threshold, i.e., the first echo signal cannot meet the measurement requirements.

[0103] It is understood that echo intensity can be characterized by "echo amplitude, echo pulse width, echo peak value, echo integral value", etc., and can be characterized by one echo feature or a combination of multiple echo features. This application does not limit this.

[0104] It should be noted that the above-mentioned saturation intensity threshold and measurement intensity threshold can be set according to the actual application, and this application does not impose any restrictions on them.

[0105] In practical applications, the aforementioned reduction in transmission power can be achieved by reducing the transmission power by a preset unit power, i.e., reducing it by one preset unit power at a time; similarly, the aforementioned increase in transmission power can also be achieved by increasing the transmission power by a preset unit power, i.e., increasing it by one preset unit power at a time. The aforementioned reduction in transmission power can also be achieved by determining the target power reduction value based on the difference between the echo intensity of the first echo signal and the saturation intensity threshold, and then controlling the lidar to reduce the target power adjustment value based on the first preset transmission power. The aforementioned increase in transmission power can also be achieved by determining the target power increase value based on the difference between the echo intensity of the first echo signal and the measurement intensity threshold, and then controlling the lidar to increase the power adjustment value based on the first preset transmission power. Of course, the aforementioned methods for increasing and decreasing transmission power can also refer to other lidar methods for adjusting transmission power, and this application does not limit them.

[0106] It should also be noted that the above-mentioned preset unit power can be set according to the actual application situation, and this application does not impose any restrictions on it.

[0107] The above-mentioned determination of the target power adjustment value to be reduced based on the difference between the echo intensity of the first echo signal and the saturation intensity threshold, and the determination of the target power adjustment value to be increased based on the difference between the echo intensity of the first echo signal and the measurement intensity threshold, can be achieved by pre-setting the correspondence between the difference and the target power adjustment value, and finding the corresponding target power adjustment value based on the difference.

[0108] For example, please refer to Figure 6 , Figure 6 A schematic diagram of the third launch strategy provided in an embodiment of this application is shown. Figure 6 The horizontal axis represents time, and the vertical axis represents the emitted power of the laser detection signal. For example... Figure 6 As shown, in the first measurement cycle, the current transmitting block is first controlled to transmit at a first preset power ( Figure 6 The first preset transmission power is a fixed power. The first laser detection signal is emitted, and then the transmission power of the second laser detection signal is adjusted according to the first echo signal corresponding to the first laser detection signal. In the second measurement cycle, the current transmitting block is controlled to emit the first laser detection signal at the first preset transmission power. Then the transmission power of the second laser detection signal is adjusted according to the first echo signal corresponding to the first laser detection signal. This process is repeated until the measurement is completed.

[0109] In one embodiment of this application, before adjusting the transmission power of the laser detection signal according to the first echo signal and transmitting the laser detection signal according to the adjusted transmission power, the following steps may be included:

[0110] Determine whether the first echo signal meets the detection requirements;

[0111] If the first echo signal meets the detection requirements, then the transmission of the laser detection signal is stopped;

[0112] If the first echo signal does not meet the detection requirements, then the steps of adjusting the transmission power of the laser detection signal according to the first echo signal and transmitting the laser detection signal according to the adjusted transmission power are executed.

[0113] For example, please refer to Figure 7 , Figure 7 A schematic diagram of another third launch strategy provided by an embodiment of this application is shown. Figure 7 The horizontal axis represents time, and the vertical axis represents the emitted power of the laser detection signal. For example... Figure 7 As shown, in the first measurement cycle, the current transmitting block is first controlled to transmit at a first preset power ( Figure 7The first preset transmission power is a fixed power. The first laser detection signal is transmitted. Then, based on the first echo signal corresponding to the first laser detection signal, it is determined whether a second laser detection signal needs to be transmitted. If a second laser detection signal needs to be transmitted, the transmission power of the second laser detection signal is adjusted according to the first echo signal corresponding to the first laser detection signal. This process is repeated until the measurement is completed.

[0114] Specifically, the aforementioned first preset transmission power can be a fixed transmission power set in advance, or it can be an adjustable transmission power set according to the measurement results of the previous measurement cycle.

[0115] For another example, please refer to Figure 8 , Figure 8 A schematic diagram of another third launch strategy provided in an embodiment of this application is shown. Figure 8 The horizontal axis represents time, and the vertical axis represents the emitted power of the laser detection signal. For example... Figure 8 As shown, in the first measurement cycle, the current transmitting block is first controlled to transmit at a first preset power ( Figure 8 The first preset transmission power (adjustable power) is used to transmit the first laser detection signal. Then, based on the first echo signal corresponding to the first laser detection signal, it is determined whether a second laser detection signal needs to be transmitted. If a second laser detection signal needs to be transmitted, the transmission power of the second laser detection signal is adjusted according to the first echo signal corresponding to the first laser detection signal. This process is repeated until the measurement is completed.

[0116] As can be seen from the above, the radar control method provided in this application embodiment can adjust the number of times the laser detection signal emitted by the current transmitting block is emitted and the emission power of the laser detection signal emitted each time according to the current measurement scenario, so that the emitted laser detection signal can meet the requirements of the current measurement scenario. By adjusting the number of times the laser detection signal emitted by the current transmitting block is emitted and the emission power of the laser detection signal emitted each time, the lidar can meet the ranging performance, ranging accuracy, high anti-dilatation and other performance requirements of various different measurement scenarios, thereby improving the measurement performance of the lidar.

[0117] In one embodiment of this application, the radar control method described above may further include the following steps:

[0118] The launch strategy of the current launch block in the next measurement cycle is adjusted based on the measurement results of the current measurement cycle.

[0119] In practical applications, the above-mentioned transmission strategy for determining the current transmitting block in the next measurement cycle based on all echo signals received in the current measurement cycle can be: adjusting the number of transmissions and transmission power of the current transmitting block in the next cycle based on one or more parameters such as the echo amplitude (signal strength of the echo signal), the echo pulse width of the echo signal, and the distance to the target object.

[0120] In practical applications, the closer the distance to the target object, the lower the required transmission power and number of transmissions. Therefore, in this case, the number of transmissions in the next measurement cycle and the transmission power per transmission can be reduced. Conversely, the farther the distance to the target object, the higher the required transmission power and number of transmissions. Therefore, in this case, the number of transmissions in the next measurement cycle and the transmission power per transmission can be increased.

[0121] The stronger the received echo amplitude, the lower the required transmission power and number of transmissions. Therefore, in this case, the number of transmissions and the transmission power for each transmission in the next measurement cycle can be reduced. Conversely, the lower the echo amplitude, the higher the required transmission power and number of transmissions. Therefore, in this case, the number of transmissions and the transmission power for each transmission in the next measurement cycle can be increased.

[0122] The wider the echo pulse width, the lower the required transmission power and the number of transmissions. Therefore, in this case, the number of transmissions in the next measurement cycle and the transmission power for each transmission can be reduced. Conversely, the narrower the echo pulse width, the higher the required transmission power and the number of transmissions. Therefore, in this case, the number of transmissions in the next measurement cycle and the transmission power for each transmission can be increased.

[0123] For example, when the echo signal indicates that a nearby object has been detected, the transmission power in the next measurement cycle can be reduced to ensure eye safety. When the transmission power is reduced and the echo amplitude decreases, the number of superpositions can be increased to ensure sufficient measurement accuracy and detection rate.

[0124] For example, if the echo amplitude is too small, the transmission power can be increased. After increasing the transmission power, when the echo amplitude energy becomes large enough, the measurement accuracy and detectivity meet the design requirements, and the number of superpositions can be reduced to reduce the overall power consumption.

[0125] In practical applications, the aforementioned reduction in transmission power can be achieved by reducing the transmission power by a preset unit power, i.e., reducing it by one preset unit power each time; similarly, the aforementioned increase in transmission power can also be achieved by increasing the transmission power by a preset unit power, i.e., increasing it by one preset unit power each time.

[0126] The aforementioned reduction in transmit power can also be achieved by determining the target power reduction value based on the difference between the echo signal's echo intensity and the saturation intensity threshold, and then controlling the lidar to reduce the target power adjustment value based on the initial transmit power. Similarly, the aforementioned increase in transmit power can be achieved by determining the target power increase value based on the difference between the echo signal's echo intensity and the measurement intensity threshold, and then controlling the lidar to increase the target power adjustment value based on the initial transmit power.

[0127] It is understood that the methods for increasing and decreasing transmission power described above can also refer to other methods for adjusting transmission power in lidar, and this application does not limit them.

[0128] It should also be noted that the above-mentioned preset unit power can be set according to the actual application situation, and this application does not impose any restrictions on it.

[0129] The above-mentioned determination of the target power adjustment value to be reduced based on the difference between the echo intensity of the echo signal and the saturation intensity threshold, and the determination of the target power adjustment value to be increased based on the difference between the echo intensity of the echo signal and the measurement intensity threshold, can be achieved by pre-setting the correspondence between the difference and the target power adjustment value, and finding the corresponding target power adjustment value based on the difference.

[0130] In one embodiment of this application, after determining the transmission strategy for the next measurement cycle, the lidar can transmit detection signals according to the number of times the detection signal is transmitted and the transmission power of each transmission signal in the transmission strategy when it starts to execute the detection task of the next measurement cycle.

[0131] In practical applications, since lidar emits multiple laser detection signals within the same measurement cycle, it will receive multiple echo signals. Therefore, when analyzing the measurement results of the current measurement cycle, it is necessary to analyze based on multiple echo signals.

[0132] In practical applications, analyzing measurement results based on all echo signals can be achieved by superimposing all echo signals and using the superimposed echo signals to analyze the measurement results.

[0133] It should be noted that existing calculation methods can be referenced based on the echo signal analysis and measurement results, and this application will not elaborate on them. For example, in a flash radar, histograms are superimposed on multiple transmissions. The echo signals received by each receiving array are treated as a single result after histogram superposition and data processing. Optionally, the echo signal processing can also be performed by superimposing histograms on the echo signals received by a portion of the receiving elements in the receiving array to obtain a single result. This application does not limit the process of echo signal processing and result analysis, and adjustments can be made based on different radar systems and different detection requirements.

[0134] By emitting multiple laser detection signals within the same measurement cycle and then analyzing the corresponding measurement results using the echo signals from these multiple laser detection signals, the accuracy of the measurement results can be effectively improved.

[0135] In one embodiment of this application, to avoid signal crosstalk between multiple detection signals transmitted within the same measurement period, the radar control method provided in this application embodiment may further include the following steps:

[0136] A preset delay time is added after each transmission of the detection signal.

[0137] In practical applications, the transmission time is jittered by adding a different preset delay time after each transmission time, so that there is a different time deviation between each transmission time and the scanning time, thus avoiding crosstalk between multiple detection signals.

[0138] Of course, in addition to jittering the transmission time to avoid crosstalk between multiple detection signals, the transmission order of the detection signals can also be adjusted. That is, when multiple receiving and transmitting modules are working, the order between different receiving and transmitting modules can be adjusted so that there is no crosstalk between the received signals.

[0139] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0140] Based on the radar control method provided in the above embodiments, the present invention further provides an embodiment of a radar control device for implementing the above method embodiments.

[0141] Please see Figure 9 , Figure 9 This is a schematic diagram of a radar control device provided in an embodiment of this application. In this embodiment, the radar control device includes units used for performing... Figure 2 The steps in the corresponding embodiments. Please refer to the details. Figure 2 as well as Figure 2 The relevant descriptions in the corresponding embodiments are shown below. For ease of explanation, only the parts relevant to this embodiment are shown. Figure 9 As shown, the radar control device 9 includes: a determination module 91 and a control module 92. Wherein:

[0142] The determination module 91 is used to obtain the emission strategy of the current emission block according to the current measurement scenario. The emission strategy includes the number of emission times when the current emission block is emitted and the emission power of the laser detection signal in each emission.

[0143] The control module 92 is used by the lidar to control the current transmitting block to transmit laser detection signals according to the above-mentioned transmission strategy.

[0144] In one embodiment of this application, the aforementioned transmitting block includes one or more transmitting units.

[0145] In one embodiment of this application, the aforementioned lidar includes a transmitting array, which comprises several parallel groups of transmitting blocks, each group of parallel transmitting blocks transmitting laser detection signals using the same transmitting strategy.

[0146] In one embodiment of this application, when the above-mentioned transmitting array adopts area array transmission, the transmission strategies of the transmitting blocks located in different regions are different.

[0147] In one embodiment of this application, the radar control device 90 further includes an adjustment module.

[0148] The aforementioned adjustment module is used to adjust the launch strategy of the current launch block in the next measurement cycle based on the measurement results of the current measurement cycle.

[0149] In one embodiment of this application, when the above-mentioned transmission strategy is the first transmission strategy, the control module 92 is specifically used to control the current transmission block to transmit at least two laser detection signals, wherein the transmission power of the laser detection signal transmitted each time is a fixed power, and the transmission power of the laser detection signal transmitted each time is equal.

[0150] In one embodiment of this application, when the above-mentioned transmission strategy is the second transmission strategy, the control module 92 is specifically used to control the current transmission block to transmit at least two laser detection signals, wherein the transmission power of the laser detection signal transmitted each time is a fixed power, and the transmission power of the laser detection signal transmitted each time is different.

[0151] In one embodiment of this application, when the above-mentioned transmission strategy is the third transmission strategy, the control module 92 is specifically used to adjust the subsequent transmission strategy according to the first echo signal of the current detection cycle. The first echo signal is the echo signal received by the lidar when the laser detection signal is transmitted for the first time in the current detection cycle.

[0152] In one embodiment of this application, the control module 92 is further configured to determine whether the first echo signal meets the detection requirements; if the first echo signal meets the detection requirements, then stop transmitting the laser detection signal; if the first echo signal does not meet the detection requirements, then perform the steps of adjusting the transmission power of the laser detection signal according to the first echo signal and transmitting the laser detection signal according to the adjusted transmission power.

[0153] It should be noted that the information interaction and execution process between the above-mentioned units are based on the same concept as the method embodiments of this application. Their specific functions and technical effects can be referred to the method embodiments section, and will not be repeated here.

[0154] Figure 10 This is a schematic diagram of the structure of a terminal device provided in another embodiment of this application. For example... Figure 10 As shown, the terminal device 10 provided in this embodiment includes: a processor 100, a memory 101, and a computer program 102 stored in the memory 101 and executable on the processor 100, such as an image segmentation program. When the processor 100 executes the computer program 102, it implements the steps in the various radar control method embodiments described above, for example... Figure 2 S11 to S12 are shown. Alternatively, when the processor 100 executes the computer program 102, it implements the functions of each module / unit in the above-described terminal device embodiments, for example... Figure 9 The functions of units 91 to 92 shown.

[0155] For example, the computer program 102 can be divided into one or more modules / units, which are stored in the memory 101 and executed by the processor 100 to complete this application. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program 102 in the terminal device 10. For example, the computer program 102 can be divided into multiple units; please refer to the specific functions of each unit. Figure 9 The relevant descriptions in the corresponding embodiments are not repeated here.

[0156] The terminal device may include, but is not limited to, a processor 100 and a memory 101. Those skilled in the art will understand that... Figure 10 This is merely an example of terminal device 10 and does not constitute a limitation on terminal device 10. It may include more or fewer components than shown, or combine certain components, or different components. For example, the terminal device may also include input / output devices, network access devices, buses, etc.

[0157] The processor 100 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0158] The memory 101 can be an internal storage unit of the terminal device 10, such as a hard disk or memory of the terminal device 10. The memory 101 can also be an external storage device of the terminal device 10, such as a plug-in hard disk, smart media card (SMC), secure digital card (SD), flash card, etc., equipped on the terminal device 10. Furthermore, the memory 101 can include both internal and external storage units of the terminal device 10. The memory 101 is used to store the computer program and other programs and data required by the terminal device. The memory 101 can also be used to temporarily store data that has been output or will be output.

[0159] This application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, which, when executed by a processor, can implement the aforementioned radar control method.

[0160] This application provides a computer program product that, when run on a terminal device, enables the terminal device to implement the aforementioned radar control method.

[0161] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the terminal device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0162] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, refer to the relevant descriptions of other embodiments.

[0163] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0164] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A radar control method, characterized in that, include: The emission strategy of the current emission block is obtained according to the current measurement scenario. The emission strategy includes the number of emission times when the current emission block is emitted and the emission power of the laser detection signal in each emission. The lidar includes multiple emission blocks, and each emission block includes multiple emission units. In a single emission block, each emission unit has the same emission strategy. The lidar controls the current transmitting block to emit a laser detection signal according to the emission strategy; The current measurement scenario includes a multi-distance measurement scenario, which corresponds to the detection requirement of detecting objects at different distances and / or with different reflectivities based on the emission blocks at different positions. When the emission strategy of the current emission block is the emission strategy corresponding to the multi-distance measurement scenario, controlling the current emission block to emit laser detection signals according to the emission strategy includes: The current transmitting block is controlled to emit at least two laser detection signals within the same measurement cycle, wherein the emission power of each emitted laser detection signal is a fixed power, and the emission power of each emitted laser detection signal is different; The current measurement scenario also includes a high-precision measurement scenario. When the current transmitting block's transmission strategy is the transmission strategy corresponding to the high-precision measurement scenario, controlling the current transmitting block to transmit a laser detection signal according to the transmission strategy includes: The current transmitting block is controlled to emit laser detection signals at least twice, wherein the emission power of the laser detection signal emitted each time is a fixed power and the emission power of the laser detection signal emitted each time is equal; The current measurement scenario also includes real-time adjustment of the measurement scenario. When the current transmitter block's transmission strategy is the transmission strategy corresponding to the real-time adjustment of the measurement scenario, controlling the current transmitter block to transmit laser detection signals according to the transmission strategy includes: The subsequent transmission strategy is adjusted based on the first echo signal of the current detection cycle. The first echo signal is the echo signal received by the lidar when the laser detection signal is transmitted for the first time in the current detection cycle.

2. The radar control method according to claim 1, characterized in that, The transmitter block includes one or more transmitter units.

3. The radar control method according to claim 1, characterized in that, The lidar includes a transmitting array, which comprises several parallel groups of transmitting blocks, each group of parallel transmitting blocks transmitting laser detection signals using the same transmitting strategy.

4. The radar control method according to claim 3, characterized in that, When the transmitting array adopts area array transmission, the transmission strategies of the transmitting blocks located in different regions are different.

5. The radar control method according to any one of claims 1 to 4, characterized in that, After the lidar controls the current transmitting block to emit a laser detection signal according to the emission strategy, it also includes: The launch strategy of the current launch block in the next measurement cycle is adjusted based on the measurement results of the current measurement cycle.

6. The radar control method according to claim 1, characterized in that, Before adjusting the subsequent transmission strategy based on the first echo signal of the current detection period, the method further includes: Determine whether the first echo signal meets the detection requirements; If the first echo signal meets the detection requirements, then stop transmitting the laser detection signal; If the first echo signal does not meet the detection requirements, then the step of adjusting the subsequent transmission strategy according to the first echo signal of the current detection period is executed.

7. A radar control device, characterized in that, include: The determination module is used to obtain the emission strategy of the current emission block according to the current measurement scenario. The emission strategy includes the number of emission times when the current emission block emits and the emission power of the laser detection signal in each emission. The lidar includes multiple emission blocks, and each emission block includes multiple emission units. In a single emission block, each emission unit has the same emission strategy. The control module is used by the lidar to control the current transmitting block to emit a laser detection signal according to the emission strategy; The current measurement scenario includes a multi-distance measurement scenario, which corresponds to the detection requirement of detecting objects at different distances and / or with different reflectivities based on the transmitter blocks at different positions. When the current transmitter block's emission strategy is the emission strategy corresponding to the multi-distance measurement scenario, the control module is used to: The current transmitting block is controlled to emit at least two laser detection signals within the same measurement cycle, wherein the emission power of each emitted laser detection signal is a fixed power, and the emission power of each emitted laser detection signal is different; The current measurement scenario also includes a high-precision measurement scenario. When the current transmitter block's transmission strategy is the transmission strategy corresponding to the high-precision measurement scenario, the control module is used to: The current transmitting block is controlled to emit laser detection signals at least twice, wherein the emission power of the laser detection signal emitted each time is a fixed power and the emission power of the laser detection signal emitted each time is equal; The current measurement scenario also includes real-time adjustment of the measurement scenario. When the current transmitter block's transmission strategy is the transmission strategy corresponding to the real-time adjustment of the measurement scenario, the control module is further configured to: The subsequent transmission strategy is adjusted based on the first echo signal of the current detection cycle. The first echo signal is the echo signal received by the lidar when the laser detection signal is transmitted for the first time in the current detection cycle.

8. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the radar control method as described in any one of claims 1 to 6.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the radar control method as described in any one of claims 1 to 6.

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