Radar control method, device, terminal equipment and computer readable storage medium

Abstract

The present application is applicable to the field of radar technology, and provides a radar control method, apparatus, terminal equipment and computer-readable storage medium, including: after the laser radar completes the detection laser emission task of the current emission channel, controlling the laser radar to move a preset step along the scanning direction, and emitting the detection laser through the next emission channel until all emission channels complete the emission task of the detection laser; wherein the preset step is smaller than the divergence angle of the scanning spot of the current emission channel; filtering the echo data received by the current receiving channel according to the echo data received by the adjacent receiving channel to obtain the scanning result of the current receiving channel, setting the movement step of the laser radar to be smaller than the divergence angle of the scanning spot of each emission channel, so that the scanning spots between adjacent emission channels overlap, thereby improving the correlation of adjacent emission channels and improving the laser radar's detection capability for small target objects.

Description

Technical Field

[0001] The present application belongs to the field of radar technology, and in particular, relates to a radar control method, a terminal device, and a computer-readable storage medium. Background Art

[0002] LiDAR is often used in autonomous driving, logistics vehicles, robots, public smart transportation and other fields due to its high resolution, high sensitivity and not being affected by dark conditions.

[0003] However, when using LiDAR for detection, it is often subject to interference between channels, interference between different external LiDARs, and environmental noise interference, which reduces the accuracy of LiDAR detection. Using existing solutions to solve the crosstalk problem will result in low detection capabilities for small targets. Summary of the invention

[0004] The embodiments of the present application provide a radar control method, apparatus, terminal device and computer-readable storage medium, which can solve the laser radar crosstalk while ensuring the detection of small targets and improving the radar detection accuracy.

[0005] In a first aspect, an embodiment of the present application provides a radar control method, including:

[0006] After the laser radar completes the detection laser emission task of the current emission channel, the laser radar is controlled to move a preset step along the scanning direction, and the detection laser is emitted through the next emission channel; wherein the preset step is smaller than the divergence angle of the scanning spot of the current emission channel; when the current emission channel emits the detection laser, it is emitted according to the jitter delay corresponding to the current emission channel;

[0007] The echo data received by the current receiving channel is filtered according to the echo data received by the adjacent receiving channel to obtain the scanning result of the current receiving channel.

[0008] In an implementation of the first aspect, before filtering the echo data received by the current receiving channel according to the echo data received by the adjacent receiving channel to obtain the scanning result of the current receiving channel, the method includes:

[0009] The echo data received by the adjacent receiving channel and the echo data received by the current receiving channel are acquired according to the jitter delay.

[0010] In an implementation of the first aspect, the echo data received by the current receiving channel is filtered according to the echo data received by the adjacent receiving channel to obtain the scanning result of the current receiving channel, including: when there is a target point in the echo data received by the current receiving channel, identifying whether the target point is a noise point according to the echo data received by the adjacent receiving channel; if the target point is the noise point, deleting the echo data corresponding to the target point.

[0011] In an implementation of the first aspect, when there is a target point in the echo data received by the current receiving channel, identifying whether the target point is a noise point according to the echo data received by the adjacent receiving channel includes:

[0012] Determine whether there is a valid point corresponding to the target point in the echo data received by the adjacent receiving channel;

[0013] If there is a valid point corresponding to the target point in the echo data received by the adjacent receiving channel, the target point is determined to be a valid point; otherwise, the target point is determined to be a noise point.

[0014] In an implementation of the first aspect, determining whether the echo data received by the adjacent receiving channel has a valid point corresponding to the target includes:

[0015] Obtaining the location information of the target point;

[0016] It is determined whether there is a valid point corresponding to the target point in the echo data received by the adjacent receiving channel according to the position information of the target point.

[0017] In an implementation of the first aspect, determining whether the echo data received by the adjacent receiving channel has a valid point corresponding to the target includes:

[0018] Obtaining the detection time of the target point;

[0019] It is determined whether there is a valid point corresponding to the target in the echo data received by the adjacent receiving channel according to the detection time of the target point.

[0020] In an implementation manner of the first aspect, a correlation degree of jitter delays of the respective transmission channels is less than a preset threshold.

[0021] In an implementation of the first aspect, the echo data received by the current receiving channel is the echo data received by the current receiving channel within a preset time;

[0022] Alternatively, the echo data received by the current receiving channel is the echo data received by the current receiving channel after scanning the preset area.

[0023] In a second aspect, an embodiment of the present application provides a radar control device, including:

[0024] A control module, used to control the laser radar to move a preset step along the scanning direction after the laser radar completes the detection laser emission task of the current emission channel, and to emit the detection laser through the next emission channel until all emission channels complete the emission task of the detection laser; wherein the preset step is smaller than the divergence angle of the scanning spot of the current emission channel; when the current emission channel emits the detection laser, it emits according to the jitter delay corresponding to the current emission channel;

[0025] The filtering module is used to filter the echo data received by the current receiving channel according to the echo data received by the adjacent receiving channel to obtain the scanning result of the current receiving channel.

[0026] In a third aspect, an embodiment of the present application provides a terminal device, comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, it implements the radar control method as described in the first aspect or any optional method of the first aspect.

[0027] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the radar control method as described in the first aspect or any optional manner of the first aspect is implemented.

[0028] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product is run on a terminal device, the terminal device executes the radar control method described in the first aspect or any optional method of the first aspect.

[0029] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0030] The radar control method, terminal device, computer-readable storage medium and computer program product provided by the embodiments of the present application have the following beneficial effects:

[0031] The radar control method provided in the embodiment of the present application can set the step size of the movement of the laser radar to be smaller than the divergence angle of the scanning spot of the current transmission channel, so that the scanning spots between adjacent transmission channels overlap, so as to improve the correlation between adjacent transmission channels, so as to use the received echo data of the adjacent transmission channels to filter the received echo data of the target transmission channel, reduce the situation where valid points are misidentified as noise, improve the laser radar's detection capability of small target objects, and improve the accuracy of radar detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0033] Figure 1 A radar control method provided in an embodiment of the present application is a schematic diagram of an implementation flow chart;

[0034] Figure 2 is a schematic diagram of a scanning scenario of a radar control method provided in an embodiment of the present application;

[0035] Figure 3 Schematic diagram of the overlap of scanning spots of various emission channels in the embodiment of the present application;

[0036] Figure 4 is a schematic diagram of the overlapping of scanning spots corresponding to different detection fields of view in an embodiment of the present application;

[0037] Figure 5 is a schematic diagram of the overlapping of scanning spots corresponding to different detection fields of view in an embodiment of the present application;

[0038] Figure 6 is a schematic diagram of the signal transmission process of the radar control method provided in an embodiment of the present application;

[0039] Figure 7 is a schematic structural diagram of a radar control device provided in an embodiment of the present application;

[0040] Figure 8 It is a structural diagram of a terminal device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0041] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0042] It should be understood that the term "and / or" used in the specification of this application and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes these combinations. In addition, in the description of the specification of this application and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0043] It should also be understood that references to "one embodiment" or "some embodiments" etc. described in the specification of the present application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Thus, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in the specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0044] For laser radars based on the principle of direct time of flight, multi-shot coding or single-shot jitter coding is usually used to reduce interference between channels, interference from different external laser radars, and environmental noise interference. Among them, multi-shot coding means that each channel transmits multiple pulse signals, controls the transmission interval of the multiple pulse signals, and uses the reception results of the multiple pulse signals for analysis to reduce the interference between different channels. However, the transmission method of multi-shot coding will bring power consumption multiplied by the response multiple, and the corresponding circuit must also have corresponding loop support, which increases the hardware cost and complexity of the hardware circuit. Among them, the single-shot jitter coding method refers to a transmission method that adds a jitter time to each channel each time it is transmitted, thereby reducing the interference between the received signals. However, when this method processes the received data, it will delete the isolated valid points (small target objects) as noise, thereby greatly reducing the radar's detection ability for small targets.

[0045] Based on this, an embodiment of the present application provides a radar control method, which controls the overlapping of the scanning spots of adjacent channels of the radar, improves the correlation of adjacent channels, and uses the echo data of adjacent channels to filter the isolated detection points detected by the current channel, so as to effectively detect small target objects and effectively improve the detection capability of the laser radar for small target objects.

[0046] It should be noted that the small target object mentioned in the embodiments of the present application refers to a target object whose radar cross-section is smaller than a preset value and is easily submerged by ground clutter and noise. The preset value can be set according to the application scenario. For example, for a laser radar used on a ship, the radar cross-section is set to 0.1m 2 Etc., this application does not make any specific limitation to this.

[0047] The radar control method provided in the embodiment of the present application is described in detail below:

[0048] See also Figure 1 , Figure 1 It is a schematic flow chart of a data processing method provided in an embodiment of the present application. The execution subject of the radar control method provided in an embodiment of the present application can be a laser radar, or a control system / module inside the laser radar, or a terminal device connected to the laser radar. The above terminal device can be a mobile terminal such as a smart phone, tablet computer or wearable device, or a computer, cloud server, radar-assisted computer and other devices in various application scenarios. The following is an example of the execution subject being a laser radar:

[0049] like Figure 1 As shown, the radar control method provided in the embodiment of the present application may include S11 to S12, which are described in detail as follows:

[0050] S11: After the laser radar completes the detection laser emission task of the current emission channel, the laser radar is controlled to move a preset step along the scanning direction and emit the detection laser through the next emission channel.

[0051] The preset step is smaller than the divergence angle of the scanning spot of the current emission channel.

[0052] Among them, the current transmitting channel transmits the detection laser according to the jitter delay corresponding to the current transmitting channel.

[0053] In specific applications, the above preset steps can be set according to actual application requirements, and this application does not impose any specific restrictions on this.

[0054] The divergence angle of the scanning light spot refers to the angle of the diameter of the scanning light spot along the preset direction corresponding to the light-emitting point within the preset detection distance. The preset detection distance can be set according to the detection requirements of the radar.

[0055] In specific applications, in the same transmission cycle, each transmission channel only transmits the detection laser once, which can reduce the overall power consumption of the laser radar. Then, by setting the preset step smaller than the emission angle of the scanning spot of the current transmission channel, the scanning spots between adjacent transmission channels overlap. By setting the spots of adjacent transmission channels to overlap, the correlation of adjacent transmission channels can be effectively improved, so that the echo data received by the adjacent transmission channels can be used to filter the echo data received by the current transmission channel, reducing the situation where valid points are mistakenly identified as noise, and improving the laser radar's detection ability for small volume / small area target objects. At the same time, by setting the transmission jitter delay between adjacent transmission channels in the same transmission, interference between adjacent transmission channels can be avoided.

[0056] In an optional embodiment of the present application, the divergence angles of the scanning spots of the above-mentioned various emission channels are equal, that is, the scanning range that can be scanned by the scanning spots of each emission channel is the same.

[0057] In another optional embodiment of the present application, the divergence angles of the scanning light spots of the above-mentioned various emission channels are not necessarily equal, and the divergence angles of the scanning light spots of the emission channels at different positions are different.

[0058] It can be understood that the above-mentioned preset step can be set according to the divergence angle of the scanning spot of the emission channel. When the divergence angles of the scanning spots of the emission channels at different positions are different, if the same spot overlap is maintained, the preset steps of movement of different emission channels after completing the emission are also not equal.

[0059] It is understandable that the above-mentioned preset step can also be set according to the detection requirements of different scanning areas, for example, Figure 4 As shown, if the size of the output light spot of each emitter is the same and the arrangement density is the same, the central area requires higher detection accuracy, so the light spot overlap rate needs to be higher and the step size needs to be smaller; the edge area requires lower detection accuracy, so the light spot overlap rate is designed to be smaller and the step size of the edge area is larger.

[0060] The total detection field of view includes a central area and an edge area, and the central area is also called a target detection area, namely, a ROI area.

[0061] It is understandable that, according to the detection requirements of the radar, the lasers designed in the central area can be arranged more densely and with a smaller scanning step, thereby further improving the overlap rate of the scanning spots in the central area and improving the detection accuracy of small target objects.

[0062] Therefore, in an optional embodiment of the present application, after the laser radar completes the detection laser emission task of the current emission channel, the laser radar is controlled to move a preset step along the scanning direction, and before emitting the detection laser through the next emission channel, the method further includes:

[0063] Acquire the detection area corresponding to the current transmission channel; and determine the step amount of movement along the scanning direction corresponding to the current transmission channel according to the detection area corresponding to the current channel.

[0064] It can be understood that the stepping amount of movement along the scanning direction corresponding to the current transmitting channel according to the detection area corresponding to the current channel includes:

[0065] Get the resolution of the detection area corresponding to the current channel;

[0066] Determining the overlap rate of the light spots in the detection area according to the resolution of the detection area;

[0067] The step amount along the scanning direction corresponding to the current emission channel is determined according to the overlap rate of the light spots and the divergence angle of the scanning light spots.

[0068] It can be understood that, in an optional embodiment of the present application, when the laser radar has two scanning directions, determining the overlap rate of the light spots in the detection area according to the resolution of the detection area includes:

[0069] Determining an overlap rate of light spots in a first scanning direction and / or an overlap rate of light spots in a second scanning direction of the detection area according to a resolution of the detection area;

[0070] The stepping amount along the scanning direction corresponding to the current emission channel is determined according to the overlap rate of the light spots, including:

[0071] Based on the overlap rate of the light spots in the first scanning direction and / or the overlap rate of the light spots in the second scanning direction and the divergence angle of the scanning light spots in the first scanning direction and / or the divergence angle of the scanning light spots in the second scanning direction of the detection area, the step amount along the first scanning direction and / or the second scanning direction corresponding to the current emission channel is determined.

[0072] It can be understood that the central area can include at least one primary detection field of view, such as a primary detection field of view and a secondary detection field of view. It can be understood that the present application does not limit the number of detection fields of view included in the central area.

[0073] It can be understood that for different detection fields in the central area, the corresponding light spot overlap rates are different. Figure 5 As shown, the central area includes the primary detection field of view and the secondary detection field of view, wherein the light spot corresponding to the primary detection field of view has the highest overlap and the highest detection accuracy, and the light spots of the two secondary detection fields of view have the same overlap, wherein the light spot overlap of the secondary detection field of view is less than the light spot overlap of the primary target detection field of view, and greater than the light spot overlap of the edge detection field of view.

[0074] Therefore, in an optional embodiment of the present application, after the laser radar completes the detection laser emission task of the current emission channel, the laser radar is controlled to move a preset step along the scanning direction, and before emitting the detection laser through the next emission channel, the method further includes:

[0075] Obtaining the detection area corresponding to the current transmission channel;

[0076] When the detection area is in the central area, obtaining the detection field of view of the central area where the detection area is located;

[0077] The step amount of movement along the scanning direction corresponding to the current emission channel is determined according to the detection field of view corresponding to the detection area corresponding to the current channel.

[0078] In another optional embodiment of the present application, the above-mentioned laser radar may include a scanning device, and the above-mentioned controlling the laser radar to move the preset step along the scanning direction may be controlling the scanning device to move the preset step along the scanning direction.

[0079] In a specific implementation, the above-mentioned scanning device can be a scanning galvanometer, a rotating mirror, a rotating platform or other devices. The present application does not limit the specific form of the scanning device.

[0080] It can be understood that controlling the laser radar to move the preset step along the scanning direction may be controlling the scanning device to move the preset step along one direction, for example, controlling the scanning device to move the preset step along the horizontal scanning direction, or controlling the scanning device to move the preset step along the vertical scanning direction.

[0081] It is understandable that the above-mentioned control of the laser radar to move the preset step along the scanning direction may be to control the above-mentioned scanning device to move the preset step along two directions at the same time. For example, the scanning device is controlled to move the preset step along the vertical direction and the horizontal direction. It should be noted that the laser radar realizes the preset step of the laser radar moving horizontally and vertically by controlling a scanning device. For example, the laser radar can realize the preset step of the output light spot moving along the horizontal and vertical directions by a two-dimensional galvanometer; it is understandable that the laser radar can also realize the preset step of the laser radar moving along the horizontal and vertical directions by controlling at least two scanning devices. For example, the laser radar can realize the vertical scanning by the galvanometer and the horizontal scanning by the rotating mirror. It is understandable that the laser radar can also realize the vertical scanning by the first rotating mirror and the horizontal scanning by the second rotating mirror. Optionally, the laser radar can also realize the vertical scanning by the galvanometer and the horizontal scanning by the rotating platform. This application does not limit the type and combination of the scanning devices in the vertical and horizontal directions in the specific application. Among them, it is understandable that as a preferred implementation of the present application, the scanning of the radar in two directions can be controlled independently.

[0082] The above-mentioned controlling the scanning device to move the preset steps in the vertical direction and the horizontal direction at the same time may be: controlling the scanning device to move the preset steps corresponding to the vertical direction in the vertical direction while controlling the scanning device to move the preset steps corresponding to the horizontal direction in the horizontal direction.

[0083] In one embodiment of the present application, the above-mentioned laser radar may include a transmitting array, and the above-mentioned control of the laser radar to move a preset step along the scanning direction can be achieved by controlling the interval between the transmitting blocks corresponding to two adjacent transmissions in the transmitting array, so that the scanning spots of the transmitting blocks corresponding to any two adjacent transmissions overlap when they are transmitted.

[0084] For example, see Figure 2 , Figure 2 A schematic diagram of a scanning scenario of a radar control method provided in an embodiment of the present application.

[0085] Take controlling the laser radar to move a preset step along the horizontal scanning direction as an example. Figure 2 As shown, it is assumed that the step of the laser radar moving along the horizontal scanning direction each time is Δθ, and the size of the scanning spot of each transmitting channel in the horizontal direction is δθ. After the laser radar completes the signal transmission of the first transmitting channel (corresponding to the scanning spot of the first transmitting channel), it will control the laser radar to move along the horizontal scanning direction by a step Δθ, and control the second transmitting channel to transmit the detection laser to scan the range corresponding to the scanning spot of the second transmitting channel. After the second transmitting channel completes the signal transmission, it will control the laser radar to move along the horizontal scanning direction by a step Δθ again, and control the third transmitting channel to transmit the detection laser to scan the range corresponding to the scanning spot of the third transmitting channel, and so on, until the signal transmission of all transmitting channels is completed.

[0086] See also Figure 3 , Figure 3 Schematic diagram of the overlap of scanning spots of each emission channel in the embodiment of the present application.

[0087] Depend on Figure 3 It can be seen that there is a certain overlap between the scanning spots of the adjacent transmitting channels on the left and right sides of the current transmitting channel and the scanning spot of the current transmitting channel in the horizontal direction.

[0088] In order to reduce signal interference (i.e., crosstalk) between different transmission channels, the laser radar can control the adjacent transmission channels to transmit according to their corresponding jitter delays. The laser radar can set corresponding jitter delays for each parallel transmission channel.

[0089] In specific applications, when the laser radar controls the first transmission channel to emit a detection laser, the emission time will be delayed by the jitter delay corresponding to the first transmission channel, and the detection laser will be emitted when the jitter delay time corresponding to the first transmission channel is reached. When the laser radar controls the second transmission channel to emit a detection laser, the emission time will be delayed by the jitter delay corresponding to the second transmission channel, and the detection laser will be emitted when the jitter delay time corresponding to the second transmission channel is reached.

[0090] In an embodiment of the present application, the correlation degree of the jitter delay of each of the above-mentioned transmission channels is less than a preset threshold.

[0091] In specific applications, the jitter delay of the transmission channel is random, and a pseudo-random sequence can be used as the jitter time coding sequence of the transmission channel, that is, the jitter delay of each transmission channel transmitted in parallel is set based on the pseudo-random sequence. However, if the mutual correlation between the pseudo-random sequences is large, the lasers emitted between the transmission channels transmitted in parallel are likely to interfere with other channels. Therefore, in order to reduce the interference between the transmission channels, the mutual correlation function of each pseudo-random sequence can be obtained, and the correlation degree of the jitter delay of each transmission channel can be calculated according to the mutual correlation function, and the jitter delay with a mutual correlation degree less than a preset threshold is selected.

[0092] In practical applications, the cross-correlation function of multiple pseudo-random sequences can be determined by the following formula:

[0093]

[0094] Among them, CCR(a,b,τ) is the cross-correlation function, a i represents the pseudo-random code sequence of the current transmission channel, b i+τ Indicates the pseudo-random code sequence corresponding to adjacent transmission channels transmitted in parallel.

[0095] A pair of pseudo-random sequences whose mutual correlation coefficient is less than a preset threshold is selected as the jitter delay of the current transmission channel and the jitter delay of the next transmission channel. According to the above method, the jitter delay corresponding to each transmission channel in the laser radar can be determined.

[0096] The above-mentioned preset threshold may be related to the physical distance between adjacent transmission channels. It is understandable that the closer the distance between parallel transmission channels, the smaller the correlation coefficient. It is set according to actual needs, and this application does not impose any specific restrictions on this.

[0097] In an embodiment of the present application, the jitter delays of the above-mentioned transmission channels are not equal. In the case where the jitter delays of the above-mentioned transmission channels are not equal, the mutual correlation of the above-mentioned pseudo-random sequence is the smallest.

[0098] For example, see Figure 6 , Figure 6 A schematic diagram of the signal transmission process of the radar control method provided in an embodiment of the present application.

[0099] like Figure 6 As shown, for example, the laser radar can have three parallel transmission channels, the jitter delay of the first transmission channel is τ1, the jitter delay of the second transmission channel is τ2, and the jitter delay of the third transmission channel is τ3.

[0100] Among them, the mutual correlation degree of τ1, τ2, and τ3 is less than a preset threshold.

[0101] S12: filtering the echo data received by the current receiving channel according to the echo data received by the adjacent receiving channel to obtain a scanning result of the current receiving channel.

[0102] In specific applications, when the laser radar transmits the detection laser through each transmission channel, the target object will reflect the detection laser, that is, the target object will reflect the echo signal, and the laser radar can receive the echo signal through the receiving channel corresponding to the transmission channel. The echo signal received by the receiving channel is the echo data received by the above receiving channel. After each transmission channel transmits the detection laser, the corresponding receiving channel will receive the echo data, and then the interference signal will be identified and detected based on the echo data received by multiple receiving channels.

[0103] In one embodiment of the present application, the echo data received by the current receiving channel is the echo data received by the current receiving channel within a preset time; or the echo data received by the current receiving channel is the echo data received by the current receiving channel after scanning the preset area based on the echo data received by the adjacent receiving channel.

[0104] In specific applications, by setting a preset time or a preset area, when acquiring echo data, the echo data within the preset time period is acquired or the echo data obtained after the preset area is scanned is acquired. In this way, only the echo data received by the current receiving channel within the preset time period can be filtered, or only the echo data received by the current receiving channel after the preset area is scanned can be filtered, without waiting for the entire frame of data to be scanned before filtering and outputting the echo signal, thereby reducing the amount of calculation for each filtering and improving the detection efficiency.

[0105] The above preset time and preset area can be set according to actual needs, and this application does not impose any specific restrictions on this.

[0106] In an embodiment of the present application, the above S12 may include the following steps:

[0107] Aligning the detection time of the echo data received by the adjacent receiving channel and the detection time of the echo data received by the current receiving channel according to the jitter delay, thereby acquiring the echo data of the adjacent receiving channel corresponding to the same transmission according to the echo data of the current receiving channel;

[0108] According to the echo data received at the same time by the adjacent receiving channel, interference data is identified from the echo data received by the current receiving channel, and the interference data is deleted.

[0109] In specific applications, delayed jitter transmission is used to make randomly occurring crosstalk and noise appear at different times in different receiving channels. Therefore, the detection time of the signal received by the receiving channel is aligned according to the jitter delay, and then a determination is made as to whether the detection time of the signal in the echo data received at the same time by the adjacent receiving channel is consistent with the detection time of the signal in the echo data received by the current receiving channel. If they are inconsistent, the signal is confirmed to be an interference signal, and the detected interference signal is deleted from the scanning result of the echo data received by the current receiving channel.

[0110] In an embodiment of the present application, the above S12 may include the following steps:

[0111] When there is a target point in the echo data received by the current receiving channel, identifying whether the target point is a noise point according to the echo data received by the adjacent receiving channel;

[0112] If the target point is a noise point, the echo data corresponding to the target point is deleted.

[0113] For small target objects, since the scanning spots of different channels overlap, the current channel and the two adjacent channels may detect the target point corresponding to the small target object. Therefore, the echo data received by the adjacent channels can be used to verify whether the target point detected in the echo data received by the current channel is a noise point or a valid point.

[0114] It should be noted that the adjacent channels mentioned in the embodiments of the present application refer to the previous channel of the current channel and the next channel of the current channel. Figure 2 Taking the second channel in as an example, its adjacent channels are the first channel and the third channel.

[0115] Exemplarily, when scanning is achieved by a scanning device, if it only moves along the horizontal direction of scanning, the above-mentioned adjacent channels may be the left and right channels of the current channel; if it only moves along the vertical direction of scanning, the above-mentioned adjacent channels may be the upper and lower channels of the current channel; if it moves along the horizontal direction of scanning and the vertical direction of scanning at the same time, the adjacent channels may be four channels of upper, lower, left and right.

[0116] Exemplarily, when scanning is achieved through a transmission array, the adjacent channel may be a previous transmission block and / or a next transmission block of a current transmission block.

[0117] In an embodiment of the present application, when there is a target point in the echo data received by the current receiving channel, identifying whether the target point is a noise point according to the echo data received by the adjacent receiving channel may include the following steps:

[0118] Determine whether there is a valid point corresponding to the target point in the echo data received by the adjacent receiving channel;

[0119] If there is a valid point corresponding to the target point in the echo data received by the adjacent receiving channel, the target point is determined to be a valid point; otherwise, the target point is determined to be a noise point.

[0120] In specific applications, since there is an overlap between the scanning spot of the current channel and the scanning spot of the adjacent channel, when an isolated target point is detected in a certain channel, the echo data received by the adjacent channel can be associated to detect the target point. If there is a valid point corresponding to the target point in the echo data received by any adjacent channel, it can be determined that the target point is a real target object, not noise. If there is no valid point corresponding to the target point in any adjacent channel, it can be determined that the isolated target point is noise, not a real target object. Based on this, the detection probability of the laser radar for small target objects is improved, and the detection ability of the laser radar for small target objects is improved.

[0121] In an embodiment of the present application, the above-mentioned determination of whether the echo data received by the adjacent receiving channel has a valid point corresponding to the target may include the following steps:

[0122] Obtaining the location information of the target point;

[0123] It is determined whether there is a valid point corresponding to the target in the echo data received by the adjacent receiving channel according to the position information of the target point.

[0124] In specific applications, when a target object actually exists, the position of the target object is fixed or will only move within a certain range. Therefore, in order to determine whether an isolated target point is a valid point, the echo data received by the current receiving channel can be used to determine the position information of the target point, such as position coordinates, longitude and latitude coordinates, etc., and then judge whether the echo data received by the adjacent receiving channel detects the same position or there is a valid point within a certain position range. If so, it means that the target point corresponds to a real target object rather than a randomly appearing noise signal. Therefore, the target point is identified as a valid point, otherwise the valid point is identified as a noise point.

[0125] It should be noted that the above-mentioned certain position range can be set according to the measurement scenario, and this application does not impose any specific limitation on this.

[0126] It should also be noted that the method of determining the position information of the target point based on the echo data can refer to the existing echo data analysis method, which is not elaborated in this application.

[0127] In an embodiment of the present application, the above-mentioned determination of whether the echo data received by the adjacent receiving channel has a valid point corresponding to the target may include the following steps:

[0128] Obtaining the detection time of the target point;

[0129] It is determined whether there is a valid point corresponding to the target in the echo data received by the adjacent receiving channel according to the detection time of the target point.

[0130] In specific applications, since the detection time of real target objects is similar for different channels, the detection time of the target point in the echo data corresponding to different receiving channels can be used to determine whether the target point is a valid point. That is, if the detection time of the target point in the echo data corresponding to different receiving channels is the same or the difference is within a preset range, the target point is determined to be a valid point; otherwise, the target point is determined to be a noise point.

[0131] It should be noted that the method of determining the detection time of the target point based on the echo data can refer to the existing echo data analysis method, and this application will not elaborate on this.

[0132] From the above, it can be seen that the radar control method provided in the embodiment of the present application controls the radar to emit detection laser based on a single-shot jitter coding method, that is, each transmitting channel only emits a detection laser once in each round of transmission, which can reduce the overall power consumption of the laser radar, and then by setting the movement step of the laser radar to be smaller than the divergence angle of the scanning spot of the current transmitting channel, the scanning spots between adjacent transmitting channels overlap to improve the correlation between adjacent transmitting channels, so as to use the received echo data of the adjacent transmitting channel to filter the received echo data of the target transmitting channel, reduce the situation where valid points are misidentified as noise, and improve the laser radar's detection capability for small target objects.

[0133] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean 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 the present application.

[0134] Based on the radar control method provided in the above embodiment, the embodiment of the present invention further provides an embodiment of a radar control device for implementing the above method embodiment.

[0135] See also Figure 7 , Figure 7 Schematic diagram of the structure of a radar control device provided in an embodiment of the present application. In the embodiment of the present application, the radar control device includes various units for executing Figure 1 For details, please refer to the steps in the corresponding embodiment. Figure 1 as well as Figure 1 For the convenience of explanation, only the parts related to this embodiment are shown. Figure 7As shown, the radar control device 7 includes: a control module 71 and a filter module 72. Among them:

[0136] The control module 71 is used to control the laser radar to move a preset step along the scanning direction after the laser radar completes the detection laser emission task of the current emission channel, and emits the detection laser through the next emission channel until all emission channels complete the detection laser emission task.

[0137] Wherein, the preset step is smaller than the divergence angle of the scanning spot of the current emission channel; when the current emission channel emits the detection laser, it emits according to the jitter delay corresponding to the current emission channel.

[0138] The filtering module 72 is used to filter the echo data received by the current receiving channel according to the echo data received by the adjacent receiving channel to obtain the scanning result of the current receiving channel.

[0139] In one embodiment of the present application, the filtering module 72 includes a first filtering unit.

[0140] The first filtering unit is used to align the detection time of the echo data received by the adjacent receiving channel and the detection time of the echo data received by the current receiving channel according to the jitter delay; identify interference data from the echo data received by the current receiving channel according to the echo data received by the adjacent receiving channel, and delete the interference data.

[0141] In one embodiment of the present application, the filtering module 72 includes a second filtering unit.

[0142] The second filtering unit is used to identify whether a target point is a noise point according to the echo data received by the adjacent receiving channel when there is a target point in the echo data received by the current receiving channel; if the target point is a noise point, delete the echo data corresponding to the target point.

[0143] In one embodiment of the present application, the above-mentioned second filtering unit is specifically used to determine whether there is a valid point corresponding to the target point in the echo data received by the adjacent receiving channel; if there is a valid point corresponding to the target point in the echo data received by the adjacent receiving channel, the target point is determined to be a valid point; otherwise, the target point is determined to be a noise point.

[0144] In one embodiment of the present application, the second filtering unit includes a first acquisition unit and a first judgment unit.

[0145] The first acquisition unit is used to acquire the position information of the target point.

[0146] The first judgment unit is used to judge whether there is a valid point corresponding to the target in the echo data received by the adjacent receiving channel according to the position information of the target point.

[0147] In one embodiment of the present application, the second filtering unit includes a second acquiring unit and a second judging unit.

[0148] in:

[0149] The second acquisition unit is used to acquire the detection time of the target point.

[0150] The second judgment unit is used to judge whether there is a valid point corresponding to the target in the echo data received by the adjacent receiving channel according to the detection time of the target point.

[0151] It should be noted that the information interaction, execution process and other contents between the above-mentioned units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be specifically referred to the method embodiment part.

[0152] In summary, the radar control device provided in the embodiment of the present application can also control the radar to emit detection laser based on the single-shot jitter coding method, that is, each transmission channel only emits the detection laser once, which can reduce the overall power consumption of the laser radar, and then by setting the movement step of the laser radar to be smaller than the divergence angle of the scanning spot of the current transmission channel, the scanning spots between adjacent transmission channels overlap to improve the correlation between adjacent transmission channels, so as to use the received echo data of the adjacent transmission channel to filter the received echo data of the target transmission channel, reduce the situation where valid points are misidentified as noise, and improve the laser radar's detection capability of small target objects.

[0153] Figure 8 FIG. 1 is a schematic diagram of a terminal device provided in another embodiment of the present application. Figure 8 As shown, the terminal device 8 provided in this embodiment includes: a processor 80, a memory 81, and a computer program 82 stored in the memory 81 and executable on the processor 80, such as an image segmentation program. When the processor 80 executes the computer program 82, the steps in the above-mentioned radar control method embodiments are implemented, such as Figure 1 Alternatively, when the processor 80 executes the computer program 82, the functions of the modules / units in the above-mentioned terminal device embodiments are realized, for example, Figure 7 The functions of the units 71-72 are shown.

[0154] Exemplarily, the computer program 82 may be divided into one or more modules / units, which are stored in the memory 81 and executed by the processor 80 to complete the present application. The one or more modules / units may be a series of computer program instruction segments that can complete specific functions, and the instruction segments are used to describe the execution process of the computer program 82 in the terminal device 8. For example, the computer program 82 may be divided into multiple units, and the specific functions of each unit may be described in detail in the following table. Figure 7 The relevant descriptions in the corresponding embodiments are not repeated here.

[0155] The terminal device may include, but is not limited to, a processor 80 and a memory 81. Those skilled in the art will appreciate that Figure 8 It is only an example of the terminal device 8 and does not constitute a limitation of the terminal device 8. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the terminal device may also include input and output devices, network access devices, buses, etc.

[0156] The processor 80 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) 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, etc.

[0157] The memory 81 may be an internal storage unit of the terminal device 8, such as a hard disk or memory of the terminal device 8. The memory 81 may also be an external storage device of the terminal device 8, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the terminal device 8. Further, the memory 81 may also include both an internal storage unit and an external storage device of the terminal device 8. The memory 81 is used to store the computer program and other programs and data required by the terminal device. The memory 81 may also be used to temporarily store data that has been output or is to be output.

[0158] The embodiment of 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 above radar control method can be implemented.

[0159] An embodiment of the present application provides a computer program product. When the computer program product runs on a terminal device, the terminal device can implement the above-mentioned radar control method when executing the computer program product.

[0160] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned function allocation can be completed by 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 embodiment can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0161] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0162] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example 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 performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0163] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A radar control method, characterized in that: include: After the laser radar completes the detection laser emission task of the current emission channel, the laser radar is controlled to move a preset step along the scanning direction, and the detection laser is emitted through the next emission channel; wherein the preset step is smaller than the divergence angle of the scanning spot of the current emission channel; the current emission channel emits the detection laser according to the jitter delay corresponding to the current emission channel; The echo data received by the current receiving channel is filtered according to the echo data received by the adjacent receiving channel to obtain the scanning result of the current receiving channel; wherein, the detection time of the signal received by the receiving channel is aligned according to the jitter delay, and then it is determined whether the detection time of the signal in the echo data received by the adjacent receiving channel at the same time is consistent with the detection time of the signal in the echo data received by the current receiving channel, so as to detect whether the target point is a noise point or a valid point.

2. The radar control method according to claim 1, characterized in that: After the laser radar completes the detection laser emission task of the current emission channel, the laser radar is controlled to move a preset step along the scanning direction, and before emitting the detection laser through the next emission channel, the method further includes: Acquire the detection area corresponding to the current transmission channel; and determine the step amount of movement along the scanning direction corresponding to the current transmission channel according to the detection area corresponding to the current transmission channel.

3. The radar control method according to claim 1 or 2, characterized in that: The filtering of the echo data received by the current receiving channel according to the echo data received by the adjacent receiving channel to obtain the scanning result of the current receiving channel includes: When there is a target point in the echo data received by the current receiving channel, identifying whether the target point is a noise point according to the echo data received by the adjacent receiving channel; If the target point is the noise point, the echo data corresponding to the target point is deleted.

4. The radar control method according to claim 3, characterized in that: When there is a target point in the echo data received by the current receiving channel, identifying whether the target point is a noise point according to the echo data received by the adjacent receiving channel includes: Determine whether there is a valid point corresponding to the target point in the echo data received by the adjacent receiving channel; If there is a valid point corresponding to the target point in the echo data received by the adjacent receiving channel, the target point is determined to be a valid point; otherwise, the target point is determined to be a noise point.

5. The radar control method according to claim 4, characterized in that: The determining whether the echo data received by the adjacent receiving channel has a valid point corresponding to the target includes: Obtaining the location information of the target point; It is determined whether there is a valid point corresponding to the target point in the echo data received by the adjacent receiving channel according to the position information of the target point.

6. The radar control method according to claim 4, characterized in that: The determining whether the echo data received by the adjacent receiving channel has a valid point corresponding to the target includes: Obtaining the detection time of the target point; It is determined whether there is a valid point corresponding to the target point in the echo data received by the adjacent receiving channels according to the detection time of the target point.

7. The radar control method according to any one of claims 1, 2, 4 and 5, characterized in that: The echo data received by the current receiving channel is the echo data received by the current receiving channel within a preset time; Alternatively, the echo data received by the current receiving channel is the echo data received by the current receiving channel after completing the scanning of the preset area.

8. A radar control device, characterized in that: include: A control module is used to control the laser radar to move a preset step along the scanning direction after the laser radar completes the detection laser emission task of the current emission channel, and control the next emission channel to emit the detection laser until all emission channels complete the emission task of the detection laser; wherein the preset step is smaller than the divergence angle of the scanning spot of the current emission channel; when the current emission channel emits the detection laser, it emits according to the jitter delay corresponding to the current emission channel; A filtering module is used to filter the echo data received by the current receiving channel according to the echo data received by the adjacent receiving channel to obtain the scanning result of the current receiving channel; wherein, the detection time of the signal received by the receiving channel is aligned according to the jitter delay, and then it is determined whether the detection time of the signal in the echo data received by the adjacent receiving channel at the same time is consistent with the detection time of the signal in the echo data received by the current receiving channel, so as to detect whether the target point is a noise point or a valid point.

9. 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, the radar control method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the radar control method according to any one of claims 1 to 7 is implemented.

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