Radar data processing device, laser radar and data transmission method

Abstract

The present application relates to a radar data processing device, a laser radar, and a data transmission method. The laser transmitting module is used to generate laser light; the laser receiving module is used to receive the reflected laser light corresponding to the laser light, and generate the original radar data; the scanning module is used to adjust the position where the laser transmitting module generates the laser light at a preset angle, and generate a packet loss mark at the corresponding position; the main control module is used to transmit the original radar data and the corresponding packet loss mark to an external device, so that the external device corrects the original radar data according to the packet loss mark. During the scanning process of the radar data processing device, the scanning module generates a packet loss mark for each scanning position, and the main control module transmits the original radar data and the corresponding packet loss mark to the external device. The external device corrects the original radar data based on the packet loss mark, thereby improving the correspondence between the point cloud and the physical space position during point cloud reconstruction, and further improving the accuracy of target recognition.

Description

Technical Field

[0001] The present application relates to the field of radar technology, and in particular to a radar data processing device, a laser radar, and a data transmission method. Background Art

[0002] LiDAR is a radar system that emits laser beams to detect characteristic quantities such as the position and speed of a target. The transmitting antenna of the LiDAR generates a laser beam, which is irradiated onto the target object and is received by the receiving antenna of the radar when it is reflected back, thereby generating radar data. When the LiDAR is in use, the scanning module of the LiDAR adjusts the irradiation position of the laser beam at a preset angle, and by continuously adjusting the position, the scanning range of the LiDAR covers the entire space. Every time the scanning module adjusts its position, it triggers the transmitting antenna and the receiving antenna to collect radar data.

[0003] In traditional technology, laser radar is used for scanning. When the scanning module adjusts the irradiation position of the laser beam, there is a fluctuation in the adjustment speed, which causes scanning failure at some positions, thereby causing the radar data at the corresponding position to be lost. When the point cloud is reconstructed based on the radar data, the correspondence between the point cloud and the spatial position is further invalidated and the target is misjudged. Summary of the invention

[0004] Based on this, it is necessary to provide a radar data processing device, a laser radar and a data transmission method to address the above technical problems.

[0005] In the first aspect, the present application provides a radar data processing device, which includes: a laser emitting module, a laser receiving module, a scanning module and a main control module; the laser emitting module, the laser receiving module and the scanning module are respectively connected to the main control module; the laser emitting module is used to generate laser; the laser receiving module is used to receive the reflected laser corresponding to the laser and generate original radar data; the scanning module is used to adjust the position where the laser emitting module generates laser at a preset angle and generate a packet loss mark of the corresponding position; the main control module is used to obtain the original radar data generated by the laser receiving module and the packet loss mark corresponding to the scanning module, and transmit the original radar data and the corresponding packet loss mark to an external device, so that the external device corrects the original radar data according to the packet loss mark.

[0006] In one embodiment, the scanning module includes: a scanning component and a driving mechanism; the scanning component is arranged on the optical path of the laser generated by the laser emitting module; the driving mechanism is respectively connected to the scanning component and the main control module, and is used to adjust the angle of the scanning component at a preset time interval and a preset angle, so as to adjust the position where the laser emitting module generates the laser and generate a packet loss mark.

[0007] In one embodiment, the driving mechanism includes: a driving component and a driving control component; the driving component is connected to the scanning component, and is used to adjust the angle of the scanning component at a preset time interval and a preset angle, so as to adjust the position at which the laser emitting module generates the laser and generate an angle position signal; the driving control component is respectively connected to the driving component and the main control module, and is used to obtain the angle position signal, and generate a packet loss flag based on the angle position signal.

[0008] In one of the embodiments, the drive control component is further used to generate a position identifier based on the angular position signal; determine a packet loss status based on a time difference between two adjacent angular position signals received; and generate a packet loss identifier for a corresponding position based on the position identifier and the packet loss status.

[0009] In one embodiment, the main control module includes: a timing control component and a main control component; the timing control component is respectively connected to the laser emitting module, the laser receiving module and the main control component, and is used to periodically control the laser emitting module to generate laser based on a preset periodic signal, and control the laser receiving module to receive the reflected laser corresponding to the laser to generate original radar data; the main control component is respectively connected to the laser emitting module, the laser receiving module and the scanning module, and is used to obtain the original radar data generated by the laser receiving module and the packet loss identifier corresponding to the scanning module, and transmit the original radar data and the corresponding packet loss identifier to an external device, so that the external device corrects the original radar data according to the packet loss identifier.

[0010] In one embodiment, the scanning component includes: a motor and an optical element driven by the motor; the motor is connected to the driving mechanism; the rotation speed range of the motor is: 75RPM-600RPM; the period range of the periodic signal is: 30μs-100μs.

[0011] In one of the embodiments, the main control module is further used to insert the packet loss identifier into the corresponding original radar data if the packet loss status in the packet loss identifier is no packet loss, generate a data packet including the packet loss identifier, and send the data packet to an external device.

[0012] In one of the embodiments, the main control module is also used to parse the original radar data to obtain original parsed data; insert the packet loss identifier into the original parsed data to generate original parsed data including the packet loss identifier; package the original parsed data including the packet loss identifier to obtain a data packet including the packet loss identifier, and send the data packet to an external device.

[0013] In one of the embodiments, the main control module is further used to send the data packet to an external device via high-speed serial transmission.

[0014] In one of the embodiments, the main control module is also used to send the received original radar data to an external device in real time, count the packet loss identifiers within a preset time period, generate an identifier index table, and send the identifier index table to the external device.

[0015] In one of the embodiments, the main control module is further used to count target packet loss identifiers within a preset time period; and to generate an identifier index table by sorting the target packet loss identifiers in sequence according to their position identifiers.

[0016] In one of the embodiments, the main control module is further used to count the target packet loss identifiers whose packet loss status is packet loss within a preset time period; and to sort the target packet loss identifiers in sequence according to their position identifiers to generate an identifier index table.

[0017] In one of the embodiments, the laser emission module is used to generate a laser extending in a first direction; the scanning module is used to adjust the position of the laser generated by the laser emission module in a second direction at a preset angle and generate a packet loss mark at the corresponding position; the first direction is perpendicular to the second direction.

[0018] In one of the embodiments, the laser receiving module includes: a SPAD detector.

[0019] In the second aspect, the present application also provides a laser radar, which includes: a radar data processing device of any one of the first aspects above, and the laser radar is arranged on the vehicle side; a main control module, used to obtain the original radar data generated by the laser receiving module and the packet loss flag corresponding to the scanning module, and transmit the original radar data and the corresponding packet loss flag to the vehicle side, so that the vehicle side corrects the original radar data according to the packet loss flag.

[0020] In a third aspect, the present application also provides a data transmission method for a radar data processing device, which is applied to any radar data processing device in the first aspect above, and the method includes: generating a laser, and receiving a reflected laser corresponding to the laser, to generate original radar data; adjusting the position where the laser is generated at a preset angle, and generating a packet loss identifier for the corresponding position; transmitting the original radar data and the corresponding packet loss identifier to an external device, so that the external device corrects the original radar data according to the packet loss identifier.

[0021] In one of the embodiments, generating laser, receiving reflected laser corresponding to the laser, and generating raw radar data includes: based on a preset periodic signal, periodically generating laser, receiving reflected laser corresponding to the laser, and generating raw radar data.

[0022] In one of the embodiments, adjusting the position of the laser at a preset angle and generating a packet loss mark at the corresponding position includes: adjusting the position of the laser at a preset time interval and a preset angle and generating an angle position signal; generating a packet loss mark according to the angle position signal.

[0023] In one of the embodiments, generating a packet loss identifier based on the angle position signal includes: generating a position identifier based on the angle position signal; determining a packet loss status based on a time difference between two adjacent angle position signals received; and generating a packet loss identifier for a corresponding position based on the position identifier and the packet loss status.

[0024] In one embodiment, transmitting the original radar data and the corresponding packet loss identifier to an external device includes: if the packet loss status in the packet loss identifier is no packet loss, inserting the packet loss identifier into the corresponding original radar data, generating a data packet including the packet loss identifier, and sending the data packet to the external device.

[0025] In one of the embodiments, inserting the packet loss identifier into the corresponding original radar data, generating a data packet including the packet loss identifier, and sending the data packet to an external device includes: parsing the original radar data to obtain original parsed data; inserting the packet loss identifier into the corresponding original parsed data to generate original parsed data including the packet loss identifier; packing the original parsed data including the packet loss identifier to obtain a data packet including the packet loss identifier, and sending the data packet to an external device.

[0026] In one of the embodiments, transmitting the original radar data and the corresponding packet loss identifier to an external device includes: sending the received original radar data to the external device in real time; counting the packet loss identifiers within a preset time period to generate an identifier index table; and sending the identifier index table to the external device.

[0027] In one of the embodiments, the counting of packet loss identifiers within a preset time period to generate an identifier index table includes: counting target packet loss identifiers within the preset time period; and sorting the target packet loss identifiers in sequence according to their position identifiers to generate an identifier index table.

[0028] In one of the embodiments, the counting of packet loss identifiers within a preset time period to generate an identifier index table includes: counting target packet loss identifiers whose packet loss status is packet loss within the preset time period; and sorting the target packet loss identifiers in sequence according to their position identifiers to generate an identifier index table.

[0029] The above-mentioned radar data processing device, laser radar and data transmission method, wherein the radar data processing device includes: a laser emitting module, a laser receiving module, a scanning module and a main control module. The laser emitting module, the laser receiving module and the scanning module are connected to the main control module respectively. The laser emitting module is used to generate laser; the laser receiving module is used to receive the reflected laser corresponding to the laser and generate the original radar data; the scanning module is used to adjust the position where the laser emitting module generates the laser at a preset angle and generate a packet loss mark at the corresponding position; the main control module is used to obtain the original radar data generated by the laser receiving module and the packet loss mark of the corresponding scanning module, and transmit the original radar data and the corresponding packet loss mark to an external device, so that the external device corrects the original radar data according to the packet loss mark. During the scanning process of the radar data processing device, the scanning module generates a packet loss mark for each scanning position, and the main control module transmits the original radar data and the corresponding packet loss mark to the external device. The external device corrects the original radar data based on the packet loss mark, thereby improving the correspondence between the point cloud and the physical space position during point cloud reconstruction, and further improving the accuracy of target recognition. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a structural block diagram of a radar data processing device in one embodiment;

[0031] Figure 2 is a structural block diagram of a radar data processing device in another embodiment;

[0032] Figure 3 A structural block diagram of a radar data processing device in yet another embodiment;

[0033] Figure 4 is a structural block diagram of a radar data processing device in a specific embodiment;

[0034] Figure 5 A schematic diagram of a process of transmitting data by a main control module in an embodiment;

[0035] Figure 6 A schematic diagram of a process flow of a main control module transmitting data in another embodiment;

[0036] Figure 7 A schematic diagram of a flow chart of a data transmission method of a radar data processing device in one embodiment;

[0037] Figure 8A schematic diagram of a process of transmitting data by a radar data processing device in one embodiment;

[0038] Fig. 9 FIG. 4 is a schematic diagram of a flow chart of data transmission by a radar data processing device in another embodiment. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0040] When the laser radar is in use, the scanning module of the laser radar will adjust the irradiation position of the laser at a preset angle, and by continuously adjusting the position, the scanning range of the laser radar covers the entire space. For example, if the laser radar is in point scanning mode, the laser radar emits a laser, and the laser corresponds to a point in the space. The scanning module adjusts the scanning position of the laser in the space at a preset angle. Each time the position is adjusted, the radar data of the corresponding position is collected once, thereby realizing point-by-point scanning of the scanning space. If the laser radar is in line scanning mode, the laser radar emits a laser line, and the laser line corresponds to a line in the space, for example, a scanning line in the horizontal direction of the space. The scanning module adjusts the scanning position of the laser in the space at a preset angle, that is, adjusts the scanning position of the laser in the space at a preset angle in the vertical direction. Each time the position is adjusted, the radar data of the corresponding position is collected once, thereby realizing scanning of the scanning space.

[0041] During the laser radar scanning process, if the laser irradiation position is adjusted at a preset angle, and the dwell time between two adjacent angle positions is too short, the radar data at the corresponding position will be lost. For example, after the laser radar adjusts the position of the laser, it generates laser at that position and receives the reflected laser to generate radar data. If the dwell time at that position is too short and the radar data has not been generated, the laser radar adjusts the laser position for the next time, which will cause the radar data at the previous position to be lost. If radar data is lost, when generating point cloud data based on radar data, the radar data at some positions will be lost, which will cause the collected radar data to not correspond to the physical space position, further making target detection inaccurate.

[0042] In one embodiment, Figure 1As shown, a radar data processing device is provided, and the radar data processing device includes a laser transmitting module 100, a laser receiving module 200, a scanning module 300 and a main control module 400. Among them, the laser transmitting module 100, the laser receiving module 200, and the scanning module 300 are respectively connected to the main control module 400. The connection can be a wireless connection or a wired connection, which is not specifically limited in this embodiment. For example, in order to ensure the quality and efficiency of data transmission, a wired connection can be used. Among them, the radar data processing device can be a radar, and for example, it can be a laser radar.

[0043] The laser emission module 100 is used to generate laser light. The laser emission module 100 includes at least one laser. When the radar data processing device performs point scanning, the laser emission module 100 generates and emits point laser light; when the radar data processing device performs line scanning, the laser emission module 100 generates and emits line laser light.

[0044] The laser receiving module 200 is used to receive the reflected laser corresponding to the laser and generate the original radar data. The laser generated by the laser transmitting module 100 is irradiated on the target object, and after reflection, a reflected laser is formed. The laser receiving module 200 receives the reflected laser and generates the original radar data. The original radar data includes signal strength information, distance information, time information, echo waveform characteristics, etc. When the radar data processing device performs point scanning, the original radar data includes the signal strength information, distance information, time information, echo waveform characteristics, etc. of the corresponding point; when the radar data processing device performs line scanning, the generated laser corresponds to the scanning line in the horizontal direction, and the original radar data includes the signal strength information, distance information, time information, echo waveform characteristics, and horizontal position information of each point in the horizontal position. The laser receiving module 200 can be a laser detector, for example, a SPAD (single photon avalanche diode) or an APD (avalanche photodiode). This embodiment is not specifically limited, and only needs to be able to receive the reflected laser and generate the original radar data. APD outputs linear array data, and requires an additional matching algorithm to integrate the linear array data into planar array data before outputting the original radar data, which is costly. Preferably, the laser receiving module may be a SPAD detector. SPAD outputs planar array data and can directly generate the original radar data without the need for an additional matching algorithm, which is more cost-effective.

[0045] The scanning module 300 is used to adjust the position where the laser emitting module 100 generates the laser at a preset angle, and generate a packet loss mark at the corresponding position. Among them, the scanning module 300 may include an optical element driven by a motor, and the scanning module 300 is arranged on the optical path of the laser emitting module 100 generating the laser, and the laser generated by the laser emitting module 100 is irradiated to the target position through the optical element. When adjusting the irradiation position of the laser at a preset angle, the angle of the optical element is adjusted by the motor drive, so as to adjust the irradiation position of the laser at a preset angle. If the radar data processing device is in a point scanning mode, the laser emitting module 100 emits a laser, and the laser corresponds to a point in space. The scanning module 300 adjusts the scanning position of the laser in space at a preset angle, and collects radar data of the corresponding position each time the position is adjusted, so as to realize point-by-point scanning of the scanning space. If the radar data processing device is in a line scanning mode, the laser emitting module 100 emits a laser line, and the laser line corresponds to a line in space, for example, a scanning line in the horizontal direction. The scanning module 300 adjusts the scanning position of the laser in space at a preset angle, that is, adjusts the scanning position of the laser in space at a preset angle in the vertical direction. Each time the position is adjusted, the radar data of the corresponding position is collected, thereby realizing the scanning of the scanning space. The packet loss mark includes a position mark and a packet loss state. Specifically, when the radar data processing device starts scanning, the generated laser is located at the initial position. After adjusting the laser position at a preset angle, a position mark corresponding to the laser position is generated. Then, according to the residence time at the current position, if the residence time is less than the preset time, the current position does not collect the corresponding position radar data, so the packet loss state is packet loss; if the residence time is not less than the preset time, the current position can collect the corresponding position radar data, so the packet loss state is no packet loss.

[0046] The main control module 400 is used to obtain the original radar data generated by the laser receiving module 200 and the packet loss mark of the corresponding scanning module 300, and transmit the original radar data and the corresponding packet loss mark to the external device 500, so that the external device 500 corrects the original radar data according to the packet loss mark. The original radar data and the packet loss mark are both data generated at the corresponding laser position. Therefore, when the packet loss state is no packet loss, the original radar data corresponds to the packet loss mark of the corresponding position one by one; when the packet loss state is packet loss, since the current position has packet loss, there is only a packet loss mark at the current position, and the corresponding original radar data is not collected. Among them, the external device 500 can be a vehicle end, that is, a vehicle; it can also be any computer device with data processing capabilities. The embodiment of the present application does not specifically limit the external device 500.

[0047] If the main control module 400 is a high-computing power chip, such as a SOC chip, the main control module 400 can directly generate point cloud data in the radar data processing device according to the original radar data and the packet loss identifier, and then transmit the generated point cloud data to the external device 500. For example, the main control module 400 applies the packet loss identifier to the coordinate transformation of the three-dimensional space point coordinates, and converts the original radar data from the spatial polar coordinate system to the Cartesian coordinate system to generate point cloud data. Due to the large amount of original radar data, directly generating point cloud data in the radar data processing device requires high computing power of the main control module 400 chip. Therefore, this method is not suitable for low-computing power chips. High-computing power chips will bring about the problem of high overall cost of radar data processing devices.

[0048] In order to reduce the cost of the radar data processing device, the main control module 400 can also use a low computing power chip. If the main control module 400 is a low computing power chip, such as an FPGA chip or an MCU chip, the main control module 400 transmits the original radar data and the corresponding packet loss identifier to the external device 500. After receiving the original radar data and the corresponding packet loss identifier, the external device 500 corrects the original radar data according to the packet loss identifier.

[0049] The above-mentioned radar data processing device includes: a laser emitting module 100, a laser receiving module 200, a scanning module 300 and a main control module 400. The laser emitting module 100, the laser receiving module 200 and the scanning module 300 are connected to the main control module 400 respectively. The laser emitting module 100 is used to generate laser; the laser receiving module 200 is used to receive the reflected laser corresponding to the laser and generate the original radar data; the scanning module 300 is used to adjust the position where the laser emitting module 100 generates the laser at a preset angle and generate a packet loss mark of the corresponding position; the main control module 400 is used to obtain the original radar data generated by the laser receiving module 200 and the packet loss mark of the corresponding scanning module 300, and transmit the original radar data and the corresponding packet loss mark to the external device 500, so that the external device 500 corrects the original radar data according to the packet loss mark. Through the coordinated work of the laser emitting module 100, the laser receiving module 200, the scanning module 300 and the main control module 400, high-precision space scanning is achieved. The scanning module 300 adjusts the position where the laser emitting module 100 generates the laser at a preset angle to ensure that the laser scans the scanning space according to a predetermined trajectory to avoid missed scans. During the scanning process of the radar data processing device, the scanning module 300 generates a packet loss mark for each scanning position, and the main control module 400 transmits the original radar data and the corresponding packet loss mark to the external device 500. The external device 500 corrects the original radar data based on the packet loss mark, thereby improving the correspondence between the point cloud and the physical space position during point cloud reconstruction, and further improving the accuracy of target recognition.

[0050] The following embodiments are described by taking the radar data processing device working in the line scanning mode as an example: when the radar data processing device performs line scanning, the laser emitting module 100 is used to generate a laser extending in the first direction; the scanning module 300 is used to adjust the position of the laser generated by the laser emitting module 100 in the second direction at a preset angle, and generate a packet loss mark at the corresponding position; the first direction is perpendicular to the second direction. The first direction can be a horizontal direction or a vertical direction. When the first direction is a horizontal direction, the second direction is a vertical direction; when the first direction is a vertical direction, the second direction is a horizontal direction. For example, if the laser generated by the laser emitting module 100 is a laser line in the horizontal direction, the scanning module 300 adjusts the position of the laser in the vertical direction at a preset angle, and generates a packet loss mark at the corresponding position. If the laser generated by the laser emitting module 100 is a laser line in the vertical direction, the scanning module 300 adjusts the position of the laser in the horizontal direction at a preset angle, and generates a packet loss mark at the corresponding position.

[0051] In one embodiment, if Figure 2 As shown, the scanning module 300 includes: a scanning component 310 and a driving mechanism 320; the scanning component 310 is arranged on the optical path of the laser emission module 100 generating the laser; the driving mechanism 320 is connected to the scanning component 310 and the main control module 400 respectively, and is used to adjust the angle of the scanning component 310 at a preset time interval and a preset angle, so as to adjust the position where the laser emission module 100 generates the laser, and generate a packet loss mark. Among them, the scanning component 310 includes: a motor and an optical element driven by the motor, wherein the optical element can be a reflector, a scanning mirror, a rotating prism, a plane mirror, and a galvanometer. The optical element is arranged on the optical path of the laser emission module 100 generating the laser, and the laser generated by the laser emission module 100 is irradiated to the target position through the optical element. The driving mechanism 320 can be a drive for the motor of the scanning component 310. The driving mechanism 320 is connected to the motor of the scanning component 310, and the driving mechanism 320 drives the motor of the scanning component 310 at a preset time interval and a preset angle, thereby adjusting the angle of the scanning component 310. The preset time interval may be a time interval for the driving mechanism 320 to adjust the angle of the scanning component 310 under a preset ideal state. The preset angle may be a rotation angle of the optical element when adjusting the angle of the scanning component 310. By adjusting the rotation angle of the optical element, the position where the laser emitting module 100 generates the laser is adjusted in the second direction. The angle of the scanning component 310 is precisely controlled by the preset time interval and the preset angle to ensure that the laser can scan at the preset angle, thereby improving the scanning accuracy.

[0052] In one embodiment, the speed range of the motor in the scanning component 310 is: 75RPM-600RPM. Among them, the motor with a speed lower than 75RPM is not suitable for the radar data processing device because the motor speed is too slow; and the motor with a speed higher than 600RPM is too expensive, thereby increasing the cost of the radar data processing device. The use of a motor with a speed of 75RPM-600RPM can not only meet the needs of the radar data processing device, but also reduce the cost of the radar data processing device. However, 75RPM-600RPM may cause packet loss caused by speed fluctuations. When the speed of the motor is 75RPM, the optical element can be an octahedral prism. At this time, the frame rate of the radar data processing device is 10FPS, and the time corresponding to each face of the octahedral prism is 100ms. The octahedral prism rotates 45° to form one face, and the motor speed is 60s / 800ms=75RPM. When the motor speed is 600RPM, the optical element can be two plane mirrors. At this time, the frame rate of the radar data processing device is 20FPS, and the time corresponding to each surface of the two plane mirrors is 50ms. The two plane mirrors rotate 180° to form one surface, and the motor speed is 60s / 100ms=600RPM. Preferably, the motor speed is 150RPM, and the optical element can be a four-sided prism.

[0053] like Figure 3As shown, the driving mechanism 320 includes: a driving component 321 and a driving control component 322; the driving component 321 is connected to the scanning component 310, and is used to adjust the angle of the scanning component 310 at a preset time interval and a preset angle, so as to adjust the position where the laser emitting module 100 generates the laser, and generate an angle position signal; the driving control component 322 is connected to the driving component 321 and the main control module 400 respectively, and is used to obtain the angle position signal, and generate a packet loss mark based on the angle position signal. Among them, the driving component 321 can be a drive for the motor of the scanning component 310. The driving component 321 is connected to the motor of the scanning component 310, and adjusts the angle of the scanning component 310 at a preset time interval and a preset angle, so as to adjust the position where the laser emitting module 100 generates the laser in the second direction, and generate an angle position signal. After each adjustment of the angle of the scanning component 310, the driving component 321 generates an angle position signal of the corresponding angle. For example, if the preset angle is 0.05°, the driving component 321 will adjust the angle of the optical element of the scanning component 310 by 0.05° each time, determine the angle of the current motor, and generate an angle position signal according to the angle of the current motor. The driving control component 322 can be a chip with data computing capabilities. The driving control component 322 is connected to the driving component 321, obtains the angle position signal, and generates a packet loss identifier based on the angle position signal. Specifically, the driving control component 322 generates a position identifier according to the angle position signal; determines the packet loss state according to the time difference between the two adjacent angle position signals received; and generates a packet loss identifier for the corresponding position according to the position identifier and the packet loss state. After obtaining the angle position signal, the driving control component 322 of the radar data processing device generates a corresponding position identifier according to the angle position signal. For example, when the radar data processing device starts scanning, it obtains the initial position of the motor of the scanning component 310 at the first scanning position, and generates a position identifier 1 for the corresponding position. After the driving component 321 adjusts the angle of the optical element of the scanning component 310 by 0.05°, it generates an angle position signal to indicate the current position of the motor, and generates a position identifier 2 for the corresponding position. By analogy, each time the driving component 321 adjusts the angle of the optical element of the scanning component 310, it generates a corresponding angle position signal to indicate the current position of the motor, and then generates a corresponding position identifier. It can be understood that the above-mentioned position identifier 1 and position identifier 2 are only for illustration, and position identifiers with different encoding methods can be set according to actual usage requirements. The packet loss information is determined based on the time difference between the two adjacent angle position signals received.Specifically, first, an angle position signal with an angle position of a first angle is received, and the position identifier corresponding to the angle position signal is determined to be 5. Then, an angle position signal with an angle position of a second angle is received, and the position identifier corresponding to the angle position signal is determined to be 6. The first time when the angle position signal corresponding to the first angle is received is obtained, and the second time when the angle position signal corresponding to the second angle is received is obtained. The second time is subtracted from the first time to obtain a time difference, and the time difference is compared with a preset time difference threshold. If the time difference is less than the preset time difference threshold, the angle position signal corresponding to the first angle has packet loss, and the packet loss state is determined to be packet loss, that is, the packet loss state corresponding to the position with the position identifier of 5 is packet loss; if the time difference is greater than or equal to the preset time difference threshold, the angle position signal corresponding to the first angle has not been lost, and the packet loss state is determined to be no packet loss, that is, the packet loss state corresponding to the position with the position identifier of 5 is no packet loss. Finally, according to the position identifier and the packet loss state, a packet loss identifier of the corresponding position is generated. For example, the packet loss state corresponding to the position with the position identifier of 1 is no packet loss; the packet loss state corresponding to the position with the position identifier of 2 is no packet loss; and the packet loss state corresponding to the position with the position identifier of 3 is packet loss.

[0054] The above embodiment ensures that each scanning position can be uniquely marked through position identification, which is convenient for subsequent data processing and correction; the packet loss state of the corresponding position can be accurately determined through the time difference between two adjacent angular position signals, and a packet loss identification is generated through the packet loss state, so as to facilitate the correction of the original radar data through the packet loss identification, thereby improving the correspondence between the point cloud and the physical space position during point cloud reconstruction.

[0055] In one embodiment, the main control module 400 includes: a timing control component and a main control component. The timing control component is respectively connected to the laser emitting module 100, the laser receiving module 200 and the main control component, and is used to periodically control the laser emitting module 100 to generate laser based on a preset periodic signal, and control the laser receiving module 200 to receive the reflected laser corresponding to the laser to generate original radar data; the main control component is respectively connected to the laser emitting module 100, the laser receiving module 200 and the scanning module 300, and is used to obtain the original radar data generated by the laser receiving module 200 and the corresponding packet loss mark of the scanning module 300, and transmit the original radar data and the corresponding packet loss mark to the external device 500, so that the external device 500 corrects the original radar data according to the packet loss mark. Among them, the timing control component is used to control the working timing of the laser emitting module 100, the laser receiving module 200 and the main control component. Based on the periodic signal, the laser emitting module 100 is periodically controlled to generate laser in each cycle, and the laser receiving module 200 is periodically controlled to receive the reflected laser corresponding to the laser to generate original radar data. The period of the periodic signal corresponds to the time when the scanning module 300 adjusts the laser position, that is, every time the scanning module 300 adjusts the position of the laser, the periodic signal just controls the laser emitting module 100 to generate laser and controls the laser receiving module 200 to receive the reflected laser corresponding to the laser to generate the original radar data. Specifically, the period range of the periodic signal is: 30μs-100μs. When the period of the periodic signal is 30μs, the radar data processing device corresponds to medium-range ranging. During medium-range ranging, the laser emitting module 100 has fewer light-on times at a corresponding laser position, and the range is reduced. The number of light-on times can be 20 times, the light-on time is short, the data volume of the original radar data is small, and the transmission time is short. When the period of the periodic signal is 100μs, the radar data processing device corresponds to long-range ranging. During long-range ranging, the laser emitting module 100 has more light-on times at a corresponding laser position, and the range is increased. The number of light-on times can be 100 times, the light-on time is long, the data volume of the original radar data is large, and the transmission time is long. Preferably, in this embodiment, the period of the periodic signal is 55.6 μs, and the number of lighting times can be 32 times.

[0056] When the radar data processing device performs scanning, for each laser position adjusted by the scanning module 300, an original radar data and a corresponding packet loss mark are generated. After receiving the original radar data generated by the laser receiving module 200 and the packet loss mark of the scanning module 300, the main control module 400 needs to transmit the original radar data and the corresponding packet loss mark to the external device 500.

[0057] In one embodiment, the main control module 400 is used to insert the packet loss identifier into the corresponding original radar data if the packet loss status in the packet loss identifier is no packet loss, generate a data packet containing the packet loss identifier, and send the data packet to the external device 500. If the packet loss status in the packet loss identifier is packet loss, the corresponding packet loss identifier is discarded. For example, the first original radar data is received in sequence, the position identifier corresponding to the first original radar data is 1, and the packet loss status is no packet loss; the second original radar data, the position identifier corresponding to the second original radar data is 2, and the packet loss status is no packet loss; the third original radar data, the position identifier corresponding to the third original radar data is 3, and the packet loss status is packet loss. Among them, if the packet loss status corresponding to the location identifier 1 is no packet loss, the location identifier 1 and the packet loss status are not packet loss, and the corresponding first original radar data are inserted to generate a data packet containing a packet loss identifier, and the data packet is sent to the external device 500; if the packet loss status corresponding to the location identifier 2 is not packet loss, the location identifier 2 and the packet loss status are not packet loss, and the corresponding second original radar data are inserted to generate a data packet containing a packet loss identifier, and the data packet is sent to the external device 500; if the packet loss status corresponding to the location identifier 3 is packet loss, that is, the corresponding original radar data is not collected at this location, and the packet loss identifier of the location identifier 3 is discarded.

[0058] For example, when inserting the packet loss identifier into the corresponding original radar data, the main control module 400 is also used to parse the original radar data to obtain original parsed data; insert the packet loss identifier into the original parsed data to generate original parsed data containing the packet loss identifier; pack the original parsed data containing the packet loss identifier to obtain a data packet containing the packet loss identifier, and send the data packet to the external device 500. Take the generated laser corresponding to the scanning line in the horizontal direction as an example for explanation, the original radar data includes the signal strength information, distance information, time information, echo waveform characteristics and horizontal position information of each point in the horizontal position. The scanning module 300 adjusts the laser position in the second direction, that is, adjusts the laser position in the vertical direction, and the position identifier in the packet loss identifier is the vertical position. The original radar data is parsed, that is, according to the horizontal position in the original radar data and the vertical position in the packet loss identifier, the spatial coordinates of each point in the original radar data are parsed, and the spatial coordinates are matched with the strength information, distance information, time information and echo waveform characteristics of the point to obtain the original parsed data. A packet loss indicator is inserted before the original parsed data, or after the original parsed data, or at a preset position in the original parsed data. The original parsed data including the packet loss indicator is packaged into a data packet, and the corresponding data packet is sent to the external device 500. The main control module 400 can send the data packet to the external device 500 via a high-speed serial transmission method. Among them, the high-speed serial method includes: GMSL (Gigabit Multimedia Serial Link) and FPD-Link (Video Serial Communication) and other high-speed serial transmission methods. The high-speed serial transmission method can reduce the data transmission cost. After receiving the data packet including the packet loss indicator, the external device 500 extracts the packet loss indicator and the original parsed data at the corresponding position, and corrects the original parsed data according to the packet loss indicator.

[0059] In this embodiment, the period of the periodic signal corresponding to the timing control component is associated with the working process of the radar data processing device. For example, in each period, the laser emitting module 100 is controlled to generate laser, and the laser receiving module 200 is controlled to receive the reflected laser corresponding to the laser to generate original radar data; the main control module 400 receives the original radar data and the packet loss identifier, parses the original radar data, and obtains the original parsed data; inserts the packet loss identifier into the original parsed data, and generates the original parsed data containing the packet loss identifier; packages the original parsed data containing the packet loss identifier to obtain a data packet containing the packet loss identifier, and sends the data packet to the external device 500. After the data packet is sent to the external device 500, the current period ends and the working process of the next period begins. At this time, the period of the periodic signal matches the time required for the working process within the above period.

[0060] In one embodiment, after the main control module 400 packages the original parsed data including the packet loss identifier into a data packet, the data packet can be stored first, and then the stored data packet can be sent to the external device 500. In this way, the period of the periodic signal can be reduced compared to directly sending the data packet to the external device 500. In this embodiment, for example, in each cycle, the laser emitting module 100 is controlled to generate laser, and the laser receiving module 200 is controlled to receive the reflected laser corresponding to the laser to generate the original radar data; the main control module 400 receives the original radar data and the packet loss identifier, parses the original radar data, and obtains the original parsed data; inserts the packet loss identifier into the original parsed data, generates the original parsed data including the packet loss identifier; packages the original parsed data including the packet loss identifier, obtains the data packet including the packet loss identifier, and stores the data packet. The current cycle ends and the working process of the next cycle begins. In this embodiment, sending the data packet to the external device 500 and generating the data packet including the packet loss identifier can be performed in parallel, thereby saving scanning time and improving scanning efficiency. At this time, the period of the periodic signal matches the time required for the working process within the above cycle.

[0061] In one embodiment, the main control module 400 is used to send the received raw radar data to the external device 500 in real time, count the packet loss identifiers within a preset time period, generate an identifier index table, and send the identifier index table to the external device 500. The main control module 400 directly sends the received raw radar data to the external device 500, and counts the packet loss identifiers within a preset time period.

[0062] For example, counting the packet loss identifier within the preset time period can be: the main control module 400 counts the target packet loss identifier within the preset time period; sorts in sequence according to the position identifier of the target packet loss identifier, and generates an identifier index table. Among them, the preset time period can be set according to actual needs, and this embodiment does not make specific limitations. For example, the preset time period can be generated based on the periodic signal of the timing control component, for example, the time corresponding to 1200 cycles in the periodic signal is used as the preset time period. Count all the packet loss identifiers within the preset time period as the target packet loss identifier, for example: all the packet loss identifiers counted include: the packet loss state corresponding to the position identifier 1 is no packet loss; the packet loss state corresponding to the position identifier 2 is no packet loss; the packet loss state corresponding to the position identifier 3 is packet loss. All the above packet loss identifiers are used as target packet loss identifiers, and are sorted in the order of the size of the position identifiers to generate an identifier index table. After the original radar data corresponding to the position identifier 3 is sent to the external device 500, the corresponding identifier index table is sent to the external device 500. The external device 500 receives the identification index table, matches the packet loss identification in the identification index table with the three original radar data acquired before receiving the identification index table, and corrects the original radar data.

[0063] For example, counting the packet loss identifiers within a preset time period can also be: counting the target packet loss identifiers whose packet loss status is packet loss within the preset time period; sorting in sequence according to the position identifiers of the target packet loss identifiers, and generating an identifier index table. Among them, the preset time period can be set according to actual needs, and this embodiment does not make specific limitations. For example, the preset time period can be generated based on the periodic signal of the timing control component, for example, the time corresponding to 1200 cycles in the periodic signal is used as the preset time period. Count all the packet loss identifiers within the preset time period, and use the packet loss identifier whose packet loss status is packet loss in the packet loss identifier as the target packet loss identifier. For example, all the packet loss identifiers counted include: the packet loss status corresponding to the position identifier of 1 is no packet loss; the packet loss status corresponding to the position identifier of 2 is no packet loss; the packet loss status corresponding to the position identifier of 3 is packet loss, and the packet loss status corresponding to the position identifier of 4 is packet loss. The packet loss status corresponding to the position identifier 3 is packet loss, and the packet loss status corresponding to the position identifier 4 is packet loss as the target packet loss identifier, and the identifier index table is generated by sorting them in the order of the size of the position identifiers. After the original radar data corresponding to the position identifier 4 is sent to the external device 500, the corresponding identifier index table is sent to the external device 500. The external device 500 receives the identifier index table, and respectively matches the packet loss identifiers in the identifier index table with the four original radar data obtained before receiving the identifier index table, and corrects the original radar data. With respect to counting all packet loss identifiers within a preset time period, an identifier index table is generated. In this embodiment, only the packet loss identifiers whose packet loss status is packet loss within the preset time period are counted, which reduces the amount of data statistics, saves computing power, and further reduces costs.

[0064] The above-mentioned embodiment adopts a low-cost radar data processing device, thereby reducing the cost of the radar data processing device. By sending the packet loss identifier and the corresponding original radar data to an external device, the external device corrects the original radar data through the packet loss identifier, thereby improving the correspondence between the point cloud and the physical space position during point cloud reconstruction.

[0065] In a specific embodiment, Figure 4As shown, the radar data processing device adopts a low-cost laser radar, that is, a laser radar with a low computing power master control solution. The laser transmitting module generates a linear laser in the horizontal direction (laser + optical shaping). The laser receiving module can be a SPAD array sensor. The laser receiving module receives the reflected laser of the linear laser to generate MIPI data, that is, the original radar data. The SPAD array sensor uses a MIPI interface and universal standard data similar to traditional 2D image sensors. The data content and length in the protocol are adjusted according to the 3D detection requirements. When the SPAD array sensor works in line scanning mode, one MIPI data includes one or more rows in the entire surface. As a 3D sensor, each Pixel has signal strength information, distance information, and the horizontal position of the pixel in a row of line scanning. Among them, the distance information is the result of the depth flight time test, that is, the flight time. The signal strength information is the signal strength of the corresponding pixel. The scanning module adjusts the angle of the optical element in the vertical direction at a preset angle. Each time the angle is adjusted, the laser and SPAD are triggered to collect radar data. In an ideal state, the time used for radar data collection is fixed at t0. When the time between the two adjustments of the optical element angle is too short, that is, the adjustment speed is too fast, the time interval t1 between the two scanning positions is less than t0, which will result in the inability to collect radar data and packet loss. At this time, the packet loss state is packet loss. Each time the angle is adjusted, the scanning module will generate a packet loss mark for the corresponding position, and the packet loss mark includes a vertical position mark and a packet loss state. That is, each scanning position has corresponding raw radar data and a packet loss mark. The main control module of the laser radar does not process the raw radar data, but directly transmits the raw radar data and the packet loss mark to the vehicle end through the communication chip. Among them, the communication chip usually uses high-speed multimedia data serial transmission solutions such as GMSL and FPD-Link. GMSL and FPD-Link are common communication solutions for medium and long distance transmission of high-speed signals on the vehicle side. First, inside the LiDAR, MIPI data is converted into a serial signal suitable for transmission in a coaxial cable or twisted pair cable through a serializer, and then transmitted to the deserializer on the vehicle side and restored to MIPI data. This is the data transmission link. In addition to the data link, GMSL and FPD-Link also provide a control transmission link, which can restore the I2C or SPI communication data provided by the main control module to the vehicle side through serial compression and deserialization.

[0066] The main control module of the laser radar transmits the original radar data and packet loss identification to the vehicle side through the communication chip. Among them, the vehicle side can be the autonomous driving domain controller or regional controller of the vehicle side, and the vehicle side corrects the original radar data according to the packet loss identification. It avoids the problem of target recognition errors caused by packet loss of the laser radar, improves the correspondence between the laser radar point cloud and the physical space, and ensures accurate identification of target objects. In addition, the main control module of the laser radar uses a low-computing power chip, which reduces the cost of the laser radar. The main control module of the laser radar does not process the original radar data, thereby reducing the power consumption of the entire laser radar.

[0067] The main control module of the laser radar transmits the original radar data and packet loss identification to the vehicle through the communication chip. There are two schemes: a synchronous transmission scheme and an asynchronous transmission scheme.

[0068] In synchronous transmission schemes, such as Figure 5 As shown, the main control module obtains the MIPI data output by the laser receiving module and parses it. In the figure, the yellow square indicates that the MIPI data of the corresponding position has been collected, and the gray square indicates that the MIPI data of the corresponding position has not been collected, that is, packet loss occurs at the corresponding position. The analysis can be to determine the spatial coordinates of each pixel point according to the horizontal position of the pixel in the MIPI data and the vertical position in the packet loss identifier, and correspond the spatial coordinates to the signal strength information, distance information, time information and echo waveform characteristics of the point. The main control module inserts the packet loss identifier into the redundant space of the MIPI data. Among them, the packet loss data can be inserted into the Header part of the MIPI data packet, or the packet loss identifier can be inserted by adding data bits on the basis of the original MIPI data packet. As shown in the figure, 1-8 is the position identifier. If the packet loss state of the packet loss identifier is no packet loss, the packet loss identifier is inserted into the MIPI data. If packet loss occurs at the position corresponding to position identifier 4, that is, MIPI data is not collected at the corresponding position, the packet loss identifier of the corresponding position is discarded. The main control module repackages the MIPI data containing the packet loss mark and outputs it to the vehicle through the communication chip via high-speed serial transmission methods such as GMSL or FPDLink. After receiving the MIPI data packet, the vehicle extracts the packet loss mark inserted by the main control module according to the communication protocol in addition to extracting information such as signal strength information, distance information, time information, and echo waveform characteristics. The vehicle applies the packet loss mark in the point cloud generation process to realize the packet loss mark correction of MIPI data and prevent the problem of target recognition errors caused by packet loss.

[0069] In an asynchronous transmission scheme, such as Figure 6As shown in the figure, the yellow square indicates that the MIPI data of the corresponding position has been collected, and the gray square indicates that the MIPI data of the corresponding position has not been collected, that is, the corresponding position has been lost. The main control module obtains the packet loss identifier generated by the scanning module. The main control module sends the MIPI data directly to the vehicle end through the data transmission link, and counts the packet loss identifiers within the preset time period to generate an identifier index table. There are two ways to generate the identifier index table. One of the ways is to count all the packet loss identifiers within the preset time period, sort them according to the size order of the position identifiers, and generate an identifier index table. As shown in the figure, for example: the packet loss status corresponding to position identifier 1 is √; the packet loss status corresponding to position identifier 2 is √; the packet loss status corresponding to position identifier 3 is √; the packet loss status corresponding to position identifier 4 is ×; the packet loss status corresponding to position identifier 5 is √; the packet loss status corresponding to position identifier 6 is √; the packet loss status corresponding to position identifier 7 is √; the packet loss status corresponding to position identifier 8 is √. Among them, the packet loss status √ indicates no packet loss, and the packet loss status × indicates packet loss. An identifier index table can include packet loss identifiers of 1200 positions. Another way is to count the packet loss identifiers of the packet loss status within a preset time period, sort them according to the size of the position identifier, and generate an identifier index table. After the original radar data corresponding to the last position identifier in the identifier index table, that is, the MIPI data is transmitted to the vehicle side, the identifier index table is transmitted to the vehicle side through the control transmission link. After the vehicle side receives the MIPI data and the identifier index table, if the identifier index table includes packet loss identifiers for 1200 positions, the identifier index table corresponds to the 1200 MIPI data before receiving the identifier index table. The vehicle side applies the identifier index table in the point cloud generation process to realize the packet loss identifier correction of the MIPI data to prevent the problem of target recognition errors caused by packet loss.

[0070] Based on the same inventive concept, the embodiment of the present application also provides a laser radar including the above radar data processing device. The implementation solution provided by the laser radar to solve the problem is similar to the implementation solution recorded in the above radar data processing device, so the specific limitations in one or more laser radar embodiments provided below can refer to the limitations on the radar data processing device above, and will not be repeated here.

[0071] A laser radar, comprising: a radar data processing device of any one of the above embodiments, wherein the laser radar is arranged at a vehicle end; a laser transmitting module, used to generate laser; a laser receiving module, used to receive reflected laser corresponding to the laser, and generate original radar data; a scanning module, used to adjust the position where the laser transmitting module generates laser at a preset angle, and generate a packet loss mark of the corresponding position; a main control module, used to obtain the original radar data generated by the laser receiving module and the packet loss mark corresponding to the scanning module, and transmit the original radar data and the corresponding packet loss mark to the vehicle end, so that the vehicle end corrects the original radar data according to the packet loss mark.

[0072] Based on the same inventive concept, the embodiment of the present application also provides a data transmission method for the radar data processing device in the above radar data processing device embodiment. The implementation solution provided by the method to solve the problem is similar to the implementation solution recorded in the above radar data processing device, so the specific limitations in the data transmission method embodiments of one or more radar data processing devices provided below can refer to the above limitations on the radar data processing device, and will not be repeated here.

[0073] In one embodiment, Figure 7 As shown, a data transmission method for a radar data processing device is provided, and the method is applied to any one of the radar data processing devices in the above embodiments, comprising the following steps:

[0074] Step 71, generate laser light, and receive reflected laser light corresponding to the laser light to generate raw radar data.

[0075] Step 72, adjusting the position where the laser is generated at a preset angle, and generating a packet loss mark at the corresponding position.

[0076] Step 73, transmitting the original radar data and the corresponding packet loss identifier to an external device, so that the external device corrects the original radar data according to the packet loss identifier.

[0077] In one embodiment, the above step 71 specifically includes the following steps:

[0078] Based on a preset periodic signal, laser is generated periodically, and reflected laser corresponding to the laser is received to generate raw radar data; the period range of the periodic signal is: 30μs-100μs.

[0079] In one embodiment, the step 72 specifically includes the following steps:

[0080] Step 721, adjusting the position of the laser at a preset time interval and a preset angle, and generating an angle position signal;

[0081] Step 722: Generate a packet loss indicator according to the angle position signal.

[0082] In one embodiment, the step 722 specifically includes the following steps:

[0083] Step 7221, generating a position identifier according to the angle position signal;

[0084] Step 7222, determining a packet loss state according to a time difference between two adjacent angle position signals received;

[0085] Step 7223, generating a packet loss identifier of the corresponding position according to the position identifier and the packet loss status.

[0086] In one of the embodiments, the above step 73 is specifically as follows: if the packet loss status in the packet loss identifier is no packet loss, the packet loss identifier is inserted into the corresponding original radar data, a data packet including the packet loss identifier is generated, and the data packet is sent to an external device.

[0087] In one embodiment, if Figure 8 As shown, the above step 73 is specifically as follows:

[0088] Step 81, parsing the original radar data to obtain original parsed data;

[0089] Step 82, inserting the packet loss identifier into the corresponding original parsed data to generate original parsed data including the packet loss identifier;

[0090] Step 83: Pack the original parsed data including the packet loss identifier to obtain a data packet including the packet loss identifier, and send the data packet to an external device.

[0091] In one embodiment, if Fig. 9 As shown, the above step 73 specifically includes the following steps:

[0092] Step 91, sending the received raw radar data to an external device in real time.

[0093] Step 92: Count the packet loss flags within a preset time period and generate a flag index table.

[0094] Step 93: Send the identification index table to an external device.

[0095] In one of the embodiments, step 92 specifically includes: counting target packet loss identifiers within a preset time period; and sorting the target packet loss identifiers in sequence according to their position identifiers to generate an identifier index table.

[0096] In one of the embodiments, step 92 specifically includes: counting target packet loss identifiers whose packet loss status is packet loss within a preset time period; and sorting the target packet loss identifiers in sequence according to their position identifiers to generate an identifier index table.

[0097] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0098] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0099] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0100] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A radar data processing device, characterized in that: The radar data processing device comprises: a laser emitting module, a laser receiving module, a scanning module and a main control module; the laser emitting module, the laser receiving module and the scanning module are respectively connected to the main control module; The laser emission module is used to generate laser; The laser receiving module is used to receive the reflected laser corresponding to the laser and generate raw radar data; The scanning module is used to adjust the position where the laser emitting module generates laser light at a preset angle and generate a packet loss mark at the corresponding position; The main control module is used to obtain the original radar data generated by the laser receiving module and the packet loss identifier corresponding to the scanning module, and transmit the original radar data and the corresponding packet loss identifier to an external device, so that the external device corrects the original radar data according to the packet loss identifier; The scanning module comprises: a scanning component and a driving mechanism; The scanning component is arranged on the optical path of the laser generated by the laser emitting module; The driving mechanism is connected to the scanning component and the main control module respectively, and is used to adjust the angle of the scanning component at a preset time interval and a preset angle, so as to adjust the position where the laser emission module generates the laser and generate a packet loss mark; The driving mechanism comprises: a driving component and a driving control component; The driving component is connected to the scanning component and is used to adjust the angle of the scanning component at a preset time interval and a preset angle to adjust the position where the laser emitting module generates the laser and generate an angle position signal; The drive control component is connected to the drive component and the main control module respectively, and is used to obtain the angle position signal and generate a packet loss mark based on the angle position signal.

2. The radar data processing device according to claim 1, characterized in that: The drive control component is also used to generate a position identifier according to the angle position signal; determine the packet loss status according to the time difference between two adjacent angle position signals received; and generate a packet loss identifier of the corresponding position according to the position identifier and the packet loss status.

3. The radar data processing device according to claim 2, characterized in that: The main control module includes: a timing control component and a main control component; The timing control component is connected to the laser emitting module, the laser receiving module and the main control component respectively, and is used to periodically control the laser emitting module to generate laser based on a preset periodic signal, and control the laser receiving module to receive the reflected laser corresponding to the laser to generate original radar data; The main control component is connected to the laser transmitting module, the laser receiving module and the scanning module respectively, and is used to obtain the original radar data generated by the laser receiving module and the packet loss identifier corresponding to the scanning module, and transmit the original radar data and the corresponding packet loss identifier to an external device so that the external device corrects the original radar data according to the packet loss identifier.

4. The radar data processing device according to claim 3, characterized in that: The scanning assembly includes: a motor and an optical element driven by the motor; the motor is connected to the driving mechanism; The speed range of the motor is: 75RPM-600RPM; The period range of the periodic signal is 30 μs-100 μs.

5. The radar data processing device according to claim 2, characterized in that: The main control module is further used to insert the packet loss identifier into the corresponding original radar data if the packet loss status in the packet loss identifier is no packet loss, generate a data packet containing the packet loss identifier, and send the data packet to an external device.

6. The radar data processing device according to claim 5, characterized in that: The main control module is further used to parse the original radar data to obtain original parsed data; insert the packet loss identifier into the original parsed data to generate original parsed data containing the packet loss identifier; The original parsed data including the packet loss identifier is packaged to obtain a data packet including the packet loss identifier, and the data packet is sent to an external device.

7. The radar data processing device according to claim 6, characterized in that: The main control module is also used to send the data packet to an external device via high-speed serial transmission.

8. The radar data processing device according to claim 2, characterized in that: The main control module is also used to send the received original radar data to an external device in real time, count the packet loss identifiers within a preset time period, generate an identifier index table, and send the identifier index table to the external device.

9. The radar data processing device according to claim 8, characterized in that: The main control module is further used to count target packet loss identifiers within a preset time period; and to sort the target packet loss identifiers in sequence according to their position identifiers to generate an identifier index table.

10. The radar data processing device according to claim 8, characterized in that: The main control module is further used to count the target packet loss identifiers whose packet loss status is packet loss within a preset time period; sort the target packet loss identifiers in sequence according to their position identifiers to generate an identifier index table.

11. The radar data processing device according to claim 1, characterized in that: The laser emission module is used to generate laser light extending in a first direction; The scanning module is used to adjust the position where the laser emitting module generates laser light in a second direction at a preset angle and generate a packet loss mark at a corresponding position; the first direction is perpendicular to the second direction.

12. The radar data processing device according to claim 1, characterized in that: The laser receiving module includes: a SPAD detector.

13. A laser radar, characterized in that: The laser radar comprises: a radar data processing device according to any one of claims 1 to 12, wherein the laser radar is arranged at the vehicle end; The main control module is used to obtain the original radar data generated by the laser receiving module and the packet loss mark corresponding to the scanning module, and transmit the original radar data and the corresponding packet loss mark to the vehicle end so that the vehicle end corrects the original radar data according to the packet loss mark.

14. A data transmission method for a radar data processing device, characterized in that: The method is applied to the radar data processing device according to any one of claims 1 to 12, and the method comprises: Generate laser light, receive reflected laser light corresponding to the laser light, and generate raw radar data; Adjust the position of the laser at a preset angle and generate a packet loss mark at the corresponding position; The original radar data and the corresponding packet loss identifier are transmitted to an external device, so that the external device corrects the original radar data according to the packet loss identifier.

15. The data transmission method according to claim 14, characterized in that: The generating of laser light, receiving reflected laser light corresponding to the laser light, and generating raw radar data comprises: Based on a preset periodic signal, laser light is generated periodically, and reflected laser light corresponding to the laser light is received to generate raw radar data.

16. The data transmission method according to claim 14, characterized in that: The step of adjusting the position where the laser is generated at a preset angle and generating a packet loss mark at the corresponding position includes: Adjusting the position of the laser at a preset time interval and a preset angle, and generating an angle position signal; A packet loss flag is generated according to the angular position signal.

17. The data transmission method according to claim 16, characterized in that: Generating a packet loss flag according to the angle position signal includes: generating a position identifier according to the angular position signal; Determining a packet loss state according to a time difference between two adjacent received angle position signals; A packet loss identifier of a corresponding position is generated according to the position identifier and the packet loss status.

18. The data transmission method according to claim 17, characterized in that: The transmitting the original radar data and the corresponding packet loss identifier to an external device includes: If the packet loss status in the packet loss identifier is no packet loss, the packet loss identifier is inserted into the corresponding original radar data, a data packet including the packet loss identifier is generated, and the data packet is sent to an external device.

19. The data transmission method according to claim 18, characterized in that: The step of inserting the packet loss identifier into the corresponding original radar data, generating a data packet including the packet loss identifier, and sending the data packet to an external device comprises: Parsing the original radar data to obtain original parsed data; Inserting the packet loss identifier into the corresponding original parsed data to generate original parsed data including the packet loss identifier; The original parsed data including the packet loss identifier is packaged to obtain a data packet including the packet loss identifier, and the data packet is sent to an external device.

20. The data transmission method according to claim 17, characterized in that: The transmitting the original radar data and the corresponding packet loss identifier to an external device includes: Send the received raw radar data to external devices in real time; Count the packet loss marks within a preset time period and generate a mark index table; The identification index table is sent to an external device.

21. The data transmission method according to claim 20, characterized in that: The step of counting packet loss identifiers within a preset time period and generating an identifier index table comprises: Count the target packet loss flags within a preset time period; The position identifiers of the target packet loss identifiers are sorted in sequence to generate an identifier index table.

22. The data transmission method according to claim 20, characterized in that: The step of counting packet loss identifiers within a preset time period and generating an identifier index table comprises: Counting target packet loss identifiers whose packet loss status is packet loss within a preset time period; The position identifiers of the target packet loss identifiers are sorted in sequence to generate an identifier index table.

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