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

Abstract

The invention is suitable for the technical field of radars, and provides a radar control method and device, terminal equipment and a computer readable storage medium, and the method comprises the steps: determining a target receiving channel according to echo signals received by each receiving channel; wherein the target receiving channel is a receiving channel of which the received echo signal is an echo signal reflected by a high-reflection object; adjusting a transmitting channel group according to the target receiving channel; wherein the transmitting channel corresponding to the target receiving channel and the transmitting channel corresponding to the non-target receiving channel are located in different transmitting channel groups; and controlling the transmitting channels to re-transmit the detection signals according to the adjusted transmitting channel groups. The transmitting channel corresponding to the target receiving channel and the transmitting channel corresponding to the non-target receiving channel separately transmit the detection laser, so that crosstalk of high-energy reflection echoes generated by a high-reflection object to reflection echoes of a non-high-reflection object can be effectively reduced, and the detection accuracy of the laser radar is improved.

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] Laser radar is often used in autonomous driving, logistics vehicles, robots, public smart transportation and other fields due to its high resolution, high sensitivity, strong anti-interference ability, and no influence from dark conditions.

[0003] As the resolution of commercial vehicle-mounted radar increases, multiple channels will be used for detection at the same time. When multiple channels are used for detection at the same time, when there are highly reflective objects, the echo signal reflected by the highly reflective object will cause serious crosstalk with the echo signal reflected by the non-highly reflective object, reducing the accuracy of LiDAR detection. 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 reduce crosstalk between parallel channels and improve the detection accuracy of laser radar.

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

[0006] Determining a target receiving channel according to the echo signals received by each receiving channel; wherein the target receiving channel is a receiving channel whose received echo signal is an echo signal reflected by a highly reflective object;

[0007] Adjusting the transmission channel grouping according to the target receiving channel; wherein the transmission channel corresponding to the target receiving channel and the transmission channel corresponding to the non-target receiving channel are in different transmission channel groups;

[0008] The transmission channels are controlled to retransmit the detection signal according to the adjusted transmission channel grouping.

[0009] In an implementation of the first aspect, controlling the transmission channel to retransmit the detection signal according to the adjusted transmission channel grouping includes:

[0010] Determine the adjusted transmission strategy of the transmission channel grouping according to the target strategy;

[0011] The detection signal is resent in the transmission channel group after the adjustment is controlled according to the transmission strategy.

[0012] In an implementation manner of the first aspect, the target strategy includes at least one of a transmission power adjustment strategy, a transmission mode adjustment strategy, a coding mode adjustment strategy, and a transmission time adjustment strategy.

[0013] In an implementation manner of the first aspect, when the target strategy is the transmission time adjustment strategy, determining the adjusted transmission strategy of the transmission channel grouping according to the target strategy includes:

[0014] Adjust the transmission time of the transmission channel group to which the transmission channel corresponding to the target receiving channel belongs and / or adjust the transmission time of the transmission channel group to which the transmission channel corresponding to the non-target receiving channel belongs; wherein there is a time interval between the transmission time of the transmission channel group to which the transmission channel corresponding to the target receiving channel belongs after adjustment and the transmission time of the transmission channel group to which the transmission channel corresponding to the non-target receiving channel belongs.

[0015] In an implementation of the first aspect, adjusting the transmission time of the transmission channel group to which the transmission channel corresponding to the target receiving channel belongs and / or adjusting the transmission time of the transmission channel group to which the transmission channel corresponding to the non-target receiving channel belongs includes:

[0016] Determine the transmission time of the transmission channel group to which the transmission channel corresponding to the target receiving channel belongs according to the first coding set and / or determine the transmission time of the transmission channel group to which the transmission channel corresponding to the non-target receiving channel belongs according to the first coding set.

[0017] In an implementation manner of the first aspect, after controlling the transmission channel to retransmit the detection signal according to the adjusted transmission channel group, the method further includes:

[0018] It is determined whether the target receiving channel exists according to the echo signals re-received by each of the receiving channels.

[0019] In an implementation of the first aspect, the laser radar includes a plurality of transmission channel groups, and adjusting the transmission channel grouping according to the target receiving channel includes:

[0020] Filtering out a target transmission channel in each of the transmission channel groups, the target transmission channel being a transmission channel corresponding to the target receiving channel;

[0021] The target transmission channels in each group are arranged in a transmission channel group.

[0022] In an implementation of the first aspect, the laser radar includes a plurality of transmission channel groups, and adjusting the transmission channel grouping according to the target receiving channel includes:

[0023] Determine the target launch channel group according to the target detection field of view;

[0024] Filtering out a target transmission channel in the target transmission channel group, wherein the target transmission channel is a transmission channel corresponding to the target receiving channel;

[0025] The target transmission channel is set in a transmission channel group.

[0026] In an implementation manner of the first aspect, the target strategy includes a receiving threshold adjustment strategy, and after adjusting the transmission channel grouping according to the target receiving channel, the method may further include:

[0027] The receiving threshold of the receiving channel is adjusted according to the receiving threshold adjustment strategy.

[0028] In a second aspect, an embodiment of the present application provides a radar control device, including:

[0029] A determination module, used to determine a target receiving channel according to the echo signals received by each receiving channel; wherein the target receiving channel is a receiving channel whose received echo signal is an echo signal reflected by a highly reflective object;

[0030] A grouping adjustment module, used for adjusting the transmission channel grouping according to the target receiving channel; wherein the transmission channel corresponding to the target receiving channel and the transmission channel corresponding to the non-target receiving channel are in different transmission channel groups;

[0031] The control module is used to control the transmission channel to re-transmit the detection signal according to the adjusted transmission channel grouping. Highly reflective objects

[0032] 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.

[0033] 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.

[0034] 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.

[0035] The radar control method, device, terminal device, computer-readable storage medium and computer program product provided by the embodiments of the present application have the following beneficial effects:

[0036] The radar control method provided in the embodiment of the present application determines the target receiving channel corresponding to the highly reflective object according to the echo information of the reflected echo received by each receiving channel, and then adjusts the transmission channel grouping of all the transmission channels of the laser radar, so that the transmission channel corresponding to the target receiving channel corresponding to the highly reflective object and the transmission channel corresponding to the receiving channel corresponding to the non-highly reflective object are in different transmission channel groups, and controls the laser radar to transmit the detection signal according to the adjusted transmission channel grouping. Since the transmission channel corresponding to the target receiving channel and the transmission channel corresponding to the non-target receiving channel separately transmit the detection laser, the crosstalk of the high-energy reflected echo generated by the high-reflective object to the reflected echo generated by the non-high-reflective object can be effectively reduced, thereby improving the resolution of the laser radar for highly reflective objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] 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.

[0038] Figure 1 It is a schematic diagram of an implementation flow of a radar control method provided in an embodiment of the present application;

[0039] Figure 2 It is a schematic diagram of the transmission channel grouping of the laser radar channel provided in the embodiment of the present application;

[0040] Figure 3 This is a schematic diagram of the transmission channel grouping of a laser radar channel provided by another embodiment of the present application;

[0041] Figure 4 This is a schematic diagram of the transmission channel grouping of a laser radar channel provided by another embodiment of the present application;

[0042] Figure 5 is a schematic diagram of the implementation flow of S13 in the radar control method provided in an embodiment of the present application;

[0043] Figure 6 It is a schematic diagram of the emission timing of different emission channel groups of the laser radar provided in an embodiment of the present application;

[0044] Figure 7 is a schematic diagram of an implementation flow of a radar control method provided by another embodiment of the present application;

[0045] Figure 8 is a schematic structural diagram of a radar control device provided in an embodiment of the present application;

[0046] Fig. 9 It is a structural diagram of a terminal device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0047] 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.

[0048] 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.

[0049] 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.

[0050] On-board laser radar can obtain three-dimensional images of physical space to detect the driving environment. Autonomous driving requires that laser radar can distinguish small target objects at a long distance with high precision. In order to improve the recognition accuracy of laser radar for small target objects at a long distance, laser radar with multiple parallel transceiver channels is usually used for detection. Laser radar often includes multiple laser transmitters and multiple laser receivers arranged densely. In laser radar, each laser transmitter corresponds to a transmitting channel, and each laser receiver corresponds to a receiving channel, so as to form a complete transceiver channel of laser radar through the corresponding transmitting channel and receiving channel. It should be noted that one transmitting channel can correspond to one receiving channel or multiple receiving channels. However, due to the improvement of detection accuracy in the current laser radar field, laser transmitters and laser receivers are densely arranged, making it difficult for the optical design of laser radar to achieve no optical crosstalk between adjacent channels. Therefore, laser radar has crosstalk between optically adjacent channels to a large extent.

[0051] Specifically, the increase in the point frequency and the ranging distance will cause crosstalk between the various channels of the lidar.

[0052] Assume that the effective measurement distance of the laser radar is L and the total scanning time is T tot , the total frequency is N tot , then the average time of each point is: T ave =T tot / N tot The flight time of the light pulse is: τ = 2L / c. Where c is the speed of light. <T ave , then only one receiving channel of the laser radar is working in each analysis time period, which can effectively avoid crosstalk between channels. However, with the increase of radar frequency and ranging distance, T ave If it continues to decrease, τ>T ave In this case, multiple receiving channels may work in parallel in the same time period, which may cause crosstalk between adjacent receiving channels.

[0053] Since the on-board LiDAR mainly detects the driving environment, the scenes on the road mainly include two types of objects, one is the Lambertian body and the other is the highly reflective object. Among them, the Lambertian body refers to an object that will evenly diverge the incident laser and realize diffuse reflection, such as trees on the road. Highly reflective objects refer to objects whose reflected echo is in the same direction as the incident laser and has a high degree of directionality, such as road signs on the road. Among them, the echo intensity of a highly reflective object is more than 200 times that of a Lambertian body. The reflected echo generated by a highly reflective object will cause serious crosstalk to the reflected echo generated by a Lambertian body (i.e., a non-highly reflective object), reducing the detection accuracy of the LiDAR.

[0054] Based on this, an embodiment of the present application provides a radar control method, which determines the target receiving channel corresponding to the highly reflective object according to the echo information of the reflected echo received by each receiving channel, and then adjusts the transmission channel grouping of all transmission channels of the laser radar, so that the transmission channel corresponding to the target receiving channel corresponding to the highly reflective object and the transmission channel corresponding to the receiving channel corresponding to the non-highly reflective object are in different transmission channel groups, and controls the laser radar to transmit the detection signal according to the adjusted transmission channel grouping. Since the transmission channel corresponding to the target receiving channel and the transmission channel corresponding to the non-target receiving channel separately transmit the detection laser, the crosstalk of the high-energy reflected echo generated by the high-reflective object to the reflected echo generated by the non-highly reflective object can be effectively reduced, thereby improving the detection accuracy of the laser radar.

[0055] The radar control method provided in the embodiment of the present application is described in detail below:

[0056] See also Figure 1 , Figure 1 It is a schematic flow chart of a radar control method provided in an embodiment of the present application. The execution subject of the radar control method provided in the embodiment of the present application can be a laser radar, or it can be a control system / module inside the laser radar, or it can be a terminal device connected to the laser radar for communication. The above terminal device can be a mobile terminal such as a smart phone, tablet computer or wearable device, or it can be a computer, cloud server, radar-assisted computer and other devices in various application scenarios. It can be understood that the embodiment of the present application is for the situation where there are multiple transceiver channels working simultaneously. The following is explained by taking the execution subject as a laser radar as an example:

[0057] like Figure 1 As shown, the radar control method provided in the embodiment of the present application may include S11 to S13, which are described in detail as follows:

[0058] S11: Determine a target receiving channel according to the echo signals received by each receiving channel.

[0059] The above-mentioned target receiving channel refers to a receiving channel in which the received echo signal is an echo signal reflected by a highly reflective object, that is, a channel in which the intensity of the received echo signal is greater than a preset value, wherein the preset value is related to the receiving efficiency of the receiving device corresponding to the receiving channel, the receiving threshold setting of the receiving device and the arrangement density of the receiving device.

[0060] In specific applications, after each transmitting channel of the laser radar transmits a detection signal, the receiving channel of the laser radar corresponding to the transmitting channel will receive the echo signal reflected by the target object. After obtaining the echo signals received by each receiving channel, the laser radar can judge whether the echo signal received by the receiving channel is an echo signal reflected by a highly reflective object based on the echo information of the echo signal, that is, determine which receiving channel has received the echo signal reflected by the highly reflective object based on the intensity information of the echo signal. If it is determined based on the echo information of the echo signal that there is a receiving channel in the receiving channel that receives the echo signal reflected by a highly reflective object, then the receiving channel that receives the echo signal reflected by the highly reflective object is determined as the target receiving channel.

[0061] In the embodiment of the present application, the above echo information includes but is not limited to echo intensity, echo area value and reflectivity information.

[0062] In a specific application, after the laser radar obtains the echo signal received by each receiving channel, it can obtain the echo strength of the echo signal. If the echo strength of the echo signal is greater than the preset strength threshold, the receiving channel corresponding to the echo signal can be determined as the target receiving channel. It should be noted that the above-mentioned preset strength threshold can be set according to the specific parameters and performance parameters of the device in the actual application process, and this application does not make specific restrictions on this.

[0063] In a specific application, after the laser radar obtains the echo signal received by each receiving channel, it can also obtain the echo area value of the echo signal. If the echo area value of the echo signal is greater than the preset area threshold, the receiving channel corresponding to the echo signal can be determined as the target receiving channel. It should be noted that the above-mentioned preset area threshold can be set according to the specific parameters and performance parameters of the device in the actual application process, and this application does not impose specific restrictions on this.

[0064] In specific applications, after the laser radar obtains the echo signals received by each receiving channel, it can also calculate the reflectivity of the echo signals. If the reflectivity of the echo signals is greater than the preset reflectivity threshold, the receiving channel corresponding to the echo signals can be determined as the target receiving channel. It should be noted that the above-mentioned preset reflectivity threshold can be set according to the specific parameters and performance parameters of the equipment in the actual application process, the environmental parameters in the actual application scenario, etc., and this application does not impose specific restrictions on this.

[0065] It should also be noted that the calculation method of the echo intensity, echo area value and reflectivity of the echo signal can be implemented based on the existing calculation method, which is not elaborated in this application.

[0066] In a specific application, the laser radar can use any of the above echo information as an evaluation criterion to determine whether the receiving channel is the target receiving channel, or can use two or more echo information as evaluation criteria to determine whether the receiving channel is the target receiving channel. Exemplarily, the laser radar can use echo intensity as an evaluation criterion, and then after receiving the echo signals corresponding to each receiving channel, the laser radar will calculate the echo intensity of each echo signal, and then compare the calculated echo intensity of each echo signal with the preset intensity threshold, and determine the receiving channel corresponding to the echo signal with an echo intensity greater than the preset intensity threshold as the target receiving channel. Exemplarily, the laser radar can use echo intensity and reflectivity as evaluation criteria, and then after receiving the echo signals corresponding to each receiving channel, the laser radar will calculate the echo intensity and reflectivity of each echo signal, and then compare the calculated echo intensity of each echo signal with the preset intensity threshold, and compare the calculated reflectivity of each echo signal with the preset reflectivity threshold, and determine the receiving channel corresponding to the echo signal with an echo intensity greater than the preset intensity threshold or a reflectivity greater than the preset reflectivity threshold as the target receiving channel.

[0067] Exemplarily, S11 is described as follows using the echo intensity as the evaluation standard:

[0068] Assuming that a laser radar transmission group includes 8 transmission channels (assuming parallel transmission and reception, and one transmission channel corresponds to one receiving channel), after the laser radar controls the transmission channel in the 8 transceiver channels to transmit the detection signal, the first receiving channel will receive the first echo signal, the second receiving channel will receive the second echo signal, the third receiving channel will receive the third echo signal, the fourth receiving channel will receive the fourth echo signal, the fifth receiving channel will receive the fifth echo signal, the sixth receiving channel will receive the sixth echo signal, the seventh receiving channel will receive the seventh echo signal, and the eighth receiving channel will receive the eighth echo signal. The laser radar analyzes the above-mentioned first echo signal, the second echo signal, the third echo signal, the fourth echo signal, the fifth echo signal, the sixth echo signal, the seventh echo signal, and the eighth echo signal. Assuming that the echo intensity of the third echo signal is greater than the preset intensity threshold and the echo intensity of the fourth echo signal is greater than the preset intensity threshold, the third receiving channel and the fourth receiving channel can be determined as the target receiving channel.

[0069] S12: adjusting the transmission channel grouping according to the target receiving channel.

[0070] In the application embodiment, adjusting the transmission channel grouping according to the target receiving channel specifically involves placing the transmission channel corresponding to the target receiving channel corresponding to the highly reflective object separately in a transmission channel group, so that the transmission channel corresponding to the target receiving channel and the transmission channel corresponding to the non-target receiving channel are in different transmission channel groups, thereby separating the transmission channel group corresponding to the target receiving channel from the transmission channel group corresponding to the non-target receiving channel.

[0071] For example, see Figure 2 , assuming that the laser radar includes 8 transmission channels. Among them, the first transmission channel and the second transmission channel are the transmission channels corresponding to the target receiving channel. When modulating the transmission channel group, the first transmission channel and the second transmission channel can be grouped in one transmission channel group, and the third transmission channel, the fourth transmission channel, the fifth transmission channel, the sixth transmission channel, the seventh transmission channel, and the eighth transmission channel can be set in one transmission channel group.

[0072] In a specific application, when the laser radar starts working, it can include multiple emission groups, each of which can include multiple emission channels, wherein it can be understood that the emitters corresponding to the multiple emission channels in each emission group emit laser beams in parallel. Multiple emission groups can emit in parallel or in series. It can be understood that parallel emission means emitting laser beams simultaneously within a preset time. Serial emission means that multiple emission groups emit laser beams in sequence. For example, after the first emission group completes all the emission, the second emission group emits. It can be understood that after completing a round of transceiver work, the laser radar can determine the target receiving channel corresponding to each emission group according to S11, and then adjust the existing emission channel grouping according to the emission channel corresponding to the target receiving channel, that is, the emission channel corresponding to the target receiving channel in each emission group is placed separately in one emission channel group, or the emission channels corresponding to the target receiving channels in all emission groups are all placed separately in one emission channel group, or the emission channels corresponding to the target receiving channels in all emission groups are placed in at least two emission channel groups, thereby completing the adjustment of the emission channel grouping. The number of groups of the transmission channels corresponding to the specific target receiving channel is related to the energy of the echo received by the target receiving channel and the distance between the receiving channels.

[0073] It should be noted that the transmission channel corresponding to the non-target receiving channel can be transmitted according to the original transmission grouping. Optionally, the grouping of the transmission channel corresponding to the non-target receiving channel can also be adjusted according to the location of the target receiving channel and the intensity of the echo received by the target receiving channel. Specifically, the adjustment can be mainly determined based on information such as the distance between the non-target receiving channel and the target receiving channel, the physical interval between the receiving channels, etc. For example, if the target receiving channels are distributed, I can set the transmission channels separated by the target transmission channels corresponding to the target receiving channels as different transmission groups.

[0074] It should be noted that each transmitting channel may correspond to one receiving channel or multiple receiving channels, and the laser radar may determine the transmitting channel corresponding to the target receiving channel based on the corresponding relationship between the transmitting channel and the receiving channel.

[0075] For example, see Figure 3 , assuming that a laser radar transmission group includes 12 transceiver channels (also assuming that the transceiver channels are parallel, and one transceiver channel includes a transmission channel and a corresponding receiving channel), when the laser radar starts working, the 12 transmission channels of the above 12 transceiver channels will be divided into 3 transmission channel groups, each transmission channel group includes 4 transmission channels, after the laser radar controls the above 3 transmission channel groups to transmit detection signals respectively, it can receive the echo signals received by the above 12 receiving channels, and determine the target receiving channel according to S11. Assuming that the target receiving channel determined according to S11 includes the fourth receiving channel, the fifth receiving channel, and the sixth receiving channel, the laser radar will set the first transmitting channel (corresponding to the first receiving channel), the second transmitting channel (corresponding to the second receiving channel), and the third transmitting channel (corresponding to the third receiving channel) as a transmitting channel group (the transmitting channels in the transmitting channel group are the transmitting channels corresponding to the receiving channels corresponding to non-high-reflective objects), and set the fourth transmitting channel (corresponding to the fourth receiving channel), the fifth transmitting channel (corresponding to the fifth receiving channel), and the sixth transmitting channel (corresponding to the sixth receiving channel) as a transmitting channel group (the transmitting channels in the transmitting channel group are the transmitting channels corresponding to the receiving channels corresponding to high-reflective objects), and set the seventh transmitting channel (corresponding to the seventh receiving channel), the eighth transmitting channel (corresponding to the eighth receiving channel), the ninth transmitting channel (corresponding to the ninth receiving channel), the tenth transmitting channel (corresponding to the tenth receiving channel), the eleventh transmitting channel (corresponding to the eleventh receiving channel), and the twelfth transmitting channel (corresponding to the twelfth receiving channel) as a transmitting channel group to complete the adjustment of the channel transmitting channel grouping.

[0076] In some embodiments of the present application, when there are multiple parallel transmission channel groups in the laser radar, the laser radar can control each transmission channel group to transmit a detection signal according to a preset transmission strategy, and then screen out the target transmission channel in each transmission channel group, and then set the target transmission channel in the preset transmission channel group to distinguish it from the non-target transmission channel of the transmission channel group, thereby avoiding the interference of the transmission of the target transmission channel on the echo signal of the receiving channel corresponding to the non-target transmission channel, thereby improving the accuracy of detection.

[0077] Here, the target transmitting channel is a transmitting channel corresponding to the target receiving channel.

[0078] For example, assuming that there are three transmission channel groups in the laser radar, each transmission channel group includes 12 transmission channels. When the laser radar starts working, it will first control all 12 transmission channels in the first transmission channel group to transmit detection signals, then control all 12 transmission channels in the second transmission channel group to transmit detection signals, and finally control all 12 transmission channels in the third transmission channel group to transmit detection signals. After receiving the echo signal generated by the detection signal emitted by the 12 transmission channels in the first transmission channel group, the laser radar can determine the target transmission channel in the first transmission channel group (referred to as the first group of target transmission channels for short), after receiving the echo signal generated by the detection signal emitted by the 12 transmission channels in the second transmission channel group, the target transmission channel in the second transmission channel group (referred to as the second group of target transmission channels for short), after receiving the echo signal generated by the detection signal emitted by the 12 transmission channels in the third transmission channel group, the target transmission channel in the third transmission channel group (referred to as the third group of target transmission channels for short) can be determined. After determining the first group of target transmission channels, the first group of target transmission channels can be divided out from the above-mentioned first transmission channel group and placed separately in a transmission channel group (first transmission channel group), and the non-target transmission channels in the first transmission channel group can be placed in a transmission channel group (second transmission channel group); after determining the second group of target transmission channels, the second group of target transmission channels can be divided out from the above-mentioned second transmission channel group and placed separately in a transmission channel group (third transmission channel group), and the non-target transmission channels of the second transmission channel group can be placed in a transmission channel group (fourth transmission channel group); after determining the third group of target transmission channels, the third group of target transmission channels can be divided out from the above-mentioned third transmission channel group and placed separately in a transmission channel group (fifth transmission channel group), and the non-target transmission channels of the third transmission channel group can be placed in a transmission channel group (sixth transmission channel group).

[0079] Of course, the non-target transmission channels of the first transmission channel group, the non-target transmission channels of the second transmission channel group, and the non-target transmission channels of the third transmission channel group can also be divided into multiple transmission channel groups according to needs, for example Figure 4 Example shown.

[0080] As an optional implementation, for the target transmission channel of the first transmission channel group, the target transmission channel in the second transmission channel group and the target transmission channel in the third transmission channel group can be placed in the same target transmission channel group; or, for the target transmission channel of the first transmission channel group, the target transmission channel in the second transmission channel group and the target transmission channel in the third transmission channel group can also be placed in at least two transmission channel groups.

[0081] It can be understood that when the above-mentioned laser radar adjusts the transmission channel grouping of multiple transmission channel groups, the transmission channel grouping of all transmission channel groups can be adjusted as in the above-mentioned embodiment, or the transmission channel grouping of some of the above-mentioned multiple transmission channel groups can be adjusted, or the transmission channel grouping of only one of the transmission channel groups can be adjusted.

[0082] As an optional implementation, the choice of adjusting the transmission channel grouping of multiple transmission channel groups of the laser radar can be determined based on factors such as the actual working parameters and the actual working environment of the laser radar. For example, the grouping of some channels in each transmission group can be adjusted according to the detection requirements of the radar. For example, the grouping of the transmission channels corresponding to the central detection field of view in each transmission group can be adjusted.

[0083] For example, the transmission channel grouping may be adjusted only for the transmission channel group corresponding to the detection area with higher resolution requirements, while the transmission channel grouping may not be adjusted for the transmission channel group corresponding to the detection area with lower resolution requirements.

[0084] In one embodiment of the present application, the laser radar includes multiple transmission channel groups. It can be understood that each transmission channel corresponds to a different detection field of view. Among them, the detection area corresponding to some transmission channel groups is the detection area corresponding to the central detection field of view, and the detection area corresponding to some transmission channel groups is the detection area corresponding to the edge detection field of view. Among them, it can be understood that the resolution requirement of the detection area corresponding to the central detection field of view is higher than the resolution of the edge detection area. Therefore, the above S12 can include the following steps:

[0085] Determine the target launch channel group according to the target detection field of view;

[0086] Filtering out a target transmission channel in the target transmission channel group, wherein the target transmission channel is a transmission channel corresponding to the target receiving channel;

[0087] The target transmission channel is set in a transmission channel group.

[0088] In an embodiment of the present application, the target detection field of view can be determined based on the detection requirements / resolution requirements of the laser radar, and the target transmission channel group is the transmission channel group corresponding to the target detection field of view. That is, only the transmission channel group of the target detection field of view is adjusted, and the target transmission channels in the target transmission channel group are set in one transmission channel group, and the non-target transmission channels in the target transmission channel group are set in another or several other transmission channel groups, and no adjustment is made to other transmission channel groups.

[0089] S13: Control the transmission channel to retransmit the detection signal according to the adjusted transmission channel grouping.

[0090] In specific applications, the laser radar can control the adjusted transmission channel groups to transmit detection signals separately. Specifically, the transmission channel group corresponding to the target receiving channel (i.e., the target transmission channel) and the transmission channel group corresponding to the non-target receiving channel (i.e., the non-target transmission channel) can send detection signals in time.

[0091] Since the transmission channel corresponding to the highly reflective object and the transmission channel corresponding to the non-highly reflective object transmit laser separately, the crosstalk of the high-energy reflected echo generated by the highly reflective object on the reflected echo of the non-highly reflective object can be effectively reduced, thereby improving the detection accuracy of the lidar.

[0092] In order to further reduce the crosstalk between the receiving channels, such as Figure 5 As shown, in an embodiment of the present application, the above S13 may further include the following steps:

[0093] S131: Determine the adjusted transmission strategy of the transmission channel grouping according to the target strategy;

[0094] S132: resending the detection signal in the transmission channel group after the adjustment is controlled according to the transmission strategy.

[0095] The above-mentioned target strategy may include but is not limited to: transmission power adjustment strategy, transmission mode adjustment strategy, transmission coding adjustment strategy and transmission time adjustment strategy, etc.

[0096] Among them, the transmission power adjustment strategy is used to adjust the transmission power of each transmission channel of the laser radar. Specifically, it can be to reduce the transmission power of the target transmission channel group, thereby further reducing the echo intensity of the echo signal reflected by the highly reflective object and reducing its interference level.

[0097] Among them, the emission mode adjustment strategy, for example, adjusts the target emission channel according to the area where the target emission channel is located. For example, if the emission channels corresponding to the target detection field of view are determined to be channels 4, 5, 6, and 7, then channels 4 and 6 can be controlled to emit simultaneously, and channels 5 and 7 can be controlled to emit simultaneously.

[0098] The above coding mode adjustment strategy is used to adjust the coding mode of the target transmission channel, for example, to reduce the coding correlation coefficient of the target transmission channel.

[0099] The above-mentioned emission time adjustment strategy is used to adjust the emission time of the detection signal emitted by each emission channel of the laser radar. Specifically, it can be to make a certain time interval between the emission time of the emission channel group where the target emission channel is located and the emission time of the emission channel group where the non-target emission channel is located, so that the emission channel group where the target emission channel is located and the emission channel group where the non-target emission channel is located are transmitted serially, further reducing the interference of the echo signal reflected by the highly reflective object on the echo signal reflected by other reflectors.

[0100] For example, see Figure 6 , Figure 6 A schematic diagram of the transmission timing of different transmission channel groups of a laser radar provided in an embodiment of the present application. Figure 6 As shown, when the laser radar transmits the detection signal, it can control the transmission channel grouping where the non-target transmission channel is located (for example Figure 6 The first transmission channel group and the third transmission channel group in the first moment transmit the detection signal in parallel to control the transmission channel group (for example Figure 6 The second transmission channel group in (a) transmits the detection signal in parallel at the second moment.

[0101] It should be noted that the above method of making a certain time interval between the transmission time of the transmission channel group where the target transmission channel is located and the transmission time of the transmission channel group where the non-target transmission channel is located can be achieved in the following manner:

[0102] The transmission channel group is controlled to be transmitted according to the first transmission coding set.

[0103] In a specific application, different transmission channel groups are grouped such that their transmission times are separated by a time interval (implemented by the above-mentioned first transmission code set).

[0104] In the embodiment of the present application, the transmission time of different transmission channel groups (ie, the first transmission code set) must meet the transmission jitter requirement, that is, the mutual correlation between any two transmission codes in the first transmission code set is less than a preset threshold.

[0105] The transmission jitter requirement is to ensure that the transmission time of the transmission channel groups is staggered with a small time difference to achieve out-of-order transmission (that is, the transmission time of different transmission channel groups is different each time), and the transmission channel transmission signals will not interfere with each other.

[0106] In a specific application, the first transmission code set may be random, that is, the transmission time is random, and a pseudo-random sequence may be used as a jitter time code sequence for different transmission channel groups, that is, the first transmission code set is set based on a pseudo-random sequence. However, if the mutual correlation between the pseudo-random sequences is large, the laser emitted by the target transmission channel is likely to interfere with the non-target transmission channel. Therefore, in order to reduce the interference between channels, the mutual correlation function of each pseudo-random sequence may be obtained, and the correlation degree of the transmission time (transmission code) of each transmission channel group may be calculated according to the mutual correlation function, and the jitter delay with a mutual correlation degree less than a preset threshold may be selected.

[0107] In practical applications, the cross-correlation function of multiple pseudo-random sequences can be determined by the following formula:

[0108]

[0109] Among them, CCR(a,b,τ) is the cross-correlation function, a i , b i+τ Indicates the pseudo-random code sequence corresponding to adjacent transmission channels transmitted in parallel.

[0110] A pair of pseudo-random sequences whose mutual correlation coefficient is less than a preset threshold is selected as the jitter delay of the two transmission channel groups. According to the above method, the jitter delay corresponding to each transmission channel group in the laser radar can be determined.

[0111] The above preset thresholds can be selected according to the actual scenario, and this application does not impose any specific restrictions on this.

[0112] In specific applications, laser radars can select different target strategies for different situations. For example, for laser radars with adjustable transmission power, the laser radar can select the above-mentioned transmission power adjustment strategy to adjust the transmission power of the transmission channel group where the target transmission channel is located, that is, reduce the transmission power of the transmission channel group where the target transmission channel is located, thereby reducing the interference of the echo signal reflected by the highly reflective object to the echo signal reflected by other non-highly reflective objects; for example, for laser radars that cannot adjust the transmission power due to hardware conditions, the above-mentioned transmission time adjustment strategy can be selected to adjust the transmission time of different transmission channel groups, so that there is a certain time interval between the transmission time of the transmission channel group where the target transmission channel is located and the transmission time of the transmission channel group where the non-target transmission channel is located.

[0113] In an embodiment of the present application, the above-mentioned target strategy may also include a receiving threshold adjustment strategy.

[0114] Receiving Threshold Adjustment Strategy The above-mentioned receiving threshold adjustment strategy is used to adjust the signal receiving threshold of each receiving channel of the laser radar.

[0115] That is, in addition to adjusting the transmission power, transmission coding method, and transmission time of the transmission channel, the laser radar in the embodiment of the present application can also adjust the receiving threshold of the receiving channel.

[0116] The above-mentioned receiving threshold adjustment strategy is used to adjust the signal receiving threshold of each receiving channel of the laser radar. Specifically, it can be to increase the signal receiving threshold of the non-target receiving channel, thereby improving the receiving capacity of the receiving channel and reducing the interference of crosstalk.

[0117] It should be noted that the above-mentioned target strategy can be any one of the above-mentioned transmission power adjustment strategy, receiving threshold adjustment strategy, transmission time adjustment strategy and coding method adjustment strategy, or it can be a strategy obtained by combining any two or more of the above-mentioned transmission power adjustment strategy, receiving threshold adjustment strategy, transmission time adjustment strategy and coding method adjustment strategy.

[0118] For example, the above-mentioned target strategy may include not only the above-mentioned transmission power adjustment strategy, but also the above-mentioned receiving threshold adjustment strategy and the transmission time adjustment strategy. That is, when the transmission strategy of the adjusted transmission channel group is determined according to the target strategy, the transmission power of the transmission channel group where the target transmission channel is located can be adjusted according to the transmission power adjustment strategy, or the transmission power of the transmission channel group where the non-target transmission channel is located can be adjusted. The transmission time of each transmission channel group can also be adjusted according to the above-mentioned transmission time adjustment strategy, so that there is a certain time interval between the transmission time of the transmission channel group where the target transmission channel is located and the transmission time of the transmission channel group where the non-target transmission channel is located. Then, the signal reception threshold of the non-target receiving channel can be adjusted according to the above-mentioned receiving threshold adjustment strategy, or the signal reception threshold of the target receiving channel can be adjusted.

[0119] It is understandable that, in the process of adjusting according to the target strategy, the adjustment may be made only to the target transmission channel or the target reception channel, or to the target transmission channel, the target reception channel, the non-target transmission channel and the non-target reception channel at the same time.

[0120] For example, when adjusting according to the transmit power adjustment strategy, the transmit power of the transmit channel group corresponding to the target transmit channel and the transmit power of the transmit channel group corresponding to the non-target transmit channel can be adjusted at the same time, or only the transmit power of the transmit channel group corresponding to the target transmit channel can be adjusted, or only the transmit power of the transmit channel group corresponding to the non-target transmit channel can be adjusted. In a specific application, while adjusting the transmit power of the transmit channel group according to the transmit power adjustment strategy, the receiving threshold of the receiving channel can also be adjusted according to the receiving threshold adjustment strategy.

[0121] For example, the signal reception threshold of the target receiving channel is adjusted while the transmission power of the transmission channel group corresponding to the target transmission channel is adjusted; or the signal reception threshold of the non-target receiving channel is adjusted while the transmission power of the transmission channel group corresponding to the target transmission channel is adjusted; or, the signal reception threshold of the target receiving channel is adjusted while the transmission power of the transmission channel group corresponding to the non-target transmission channel is adjusted; or, the signal reception threshold of the non-target receiving channel is adjusted while the transmission power of the transmission channel group corresponding to the non-target transmission channel is adjusted; or, the transmission power of the transmission channel group corresponding to the target transmission channel is adjusted. At the same time, the transmission power of the transmission channel group corresponding to the non-target transmission channel is adjusted, and the signal receiving threshold of the target receiving channel is adjusted; or, while the transmission power of the transmission channel group corresponding to the target transmission channel is adjusted, the transmission power of the transmission channel group corresponding to the non-target transmission channel is adjusted, and the signal receiving threshold of the non-target receiving channel is adjusted; or, while the transmission power of the transmission channel group corresponding to the target transmission channel is adjusted, the transmission power of the transmission channel group corresponding to the non-target transmission channel is adjusted, and the signal receiving threshold of the target receiving channel is adjusted, and the signal receiving threshold of the non-target receiving channel is adjusted.

[0122] Of course, the transmission time and the transmission coding method can also be adjusted while adjusting the transmission power. The specific combination method can be found in the above examples and will not be described in detail here.

[0123] From the above, it can be seen that by setting the target transmission channel and the non-target transmission channel in different transmission channel groups and further adjusting the transmission strategies of different transmission channel groups, the crosstalk of the echo signal reflected by the high-reflective object to the echo signal reflected by the non-high-reflective object can be further reduced, thereby further improving the resolution of the lidar.

[0124] See also Figure 7 , Figure 7A schematic diagram of the implementation flow of the radar control method provided in an embodiment of the present application, which is different from Figure 1 In the embodiment shown, the thunder control method provided in the embodiment of the present application comprises the following steps:

[0125] S71: Control the transmitting channel of the laser radar to transmit detection signals in parallel, and receive echo signals through the receiving channel.

[0126] When the laser radar starts working, it can control the transmitting channels in the current transmitting channel group to transmit detection signals in parallel. After the detection signal reaches the target object, it will be reflected by the target object to form an echo signal. At this time, the receiving channel can receive the corresponding echo signal.

[0127] It should be noted that the laser radar may include multiple transmission channel groups. During the operation of the laser radar, different transmission channel groups may be controlled in series or in parallel to transmit detection signals.

[0128] For example, assuming that the laser radar has three transmission channel groups, each transmission channel group may include 12 transmission channels. When the laser radar starts working, it may first control all 12 transmission channels in the first transmission channel group to transmit detection signals, then control all 12 transmission channels in the second transmission channel group to transmit detection signals, and finally control all 12 transmission channels in the third transmission channel group to transmit detection signals. Of course, the laser radar may also control the first transmission channel group, the second transmission channel group, and the third transmission channel group to transmit detection signals in parallel.

[0129] S72: Determine whether there is a target receiving channel according to the echo signals received by each receiving channel. If yes, execute S73; otherwise, return to execute S71.

[0130] The specific implementation of the above S72 can refer to the description of S11, which will not be elaborated here.

[0131] S73: Adjust the transmission channel grouping according to the target receiving channel.

[0132] The specific implementation of the above S73 can refer to the description of S12 and will not be elaborated here.

[0133] S74: Control the transmission channel to retransmit the detection signal according to the adjusted transmission channel grouping, and receive the echo signal through the receiving channel.

[0134] For the specific implementation of the above S74, please refer to the description of S13, which will not be elaborated here.

[0135] S75: Determine whether there is a target receiving channel based on the echo signals re-received by each receiving channel. If yes, return to execute S73; otherwise, return to execute S71.

[0136] In S75, the echo signal at this time is the echo signal received after the laser radar re-transmits the detection signal after the transmission channel grouping is adjusted or the transmission channel grouping is adjusted and the transmission strategy is adjusted. At this time, it can be further determined whether there is still a receiving channel corresponding to the highly reflective object (i.e., the target receiving channel). If there is a target receiving channel, the transmission channel grouping can be further adjusted (i.e., return to execute S73). If there is no target receiving channel, the laser radar can continue to perform serial or parallel transmission and reception actions (i.e., return to execute S71).

[0137] From the above, it can be seen that the radar control method provided in the embodiment of the present application can also determine the target receiving channel corresponding to the highly reflective object according to the echo information of the reflected echo received by each receiving channel, and adjust the transmission channel grouping of all transmission channels of the laser radar, so that the transmission channel corresponding to the target receiving channel corresponding to the high-reflective object and the transmission channel corresponding to the receiving channel corresponding to the non-high-reflective object are in different transmission channel groups, and control the laser radar to transmit the detection signal according to the adjusted transmission channel grouping. Since the target transmission channel and the non-target transmission channel emit laser separately, the crosstalk of the high-energy reflected echo generated by the high-reflective object to the reflected echo of the non-high-reflective object can be effectively reduced, thereby improving the resolution of the laser radar.

[0138] 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.

[0139] 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.

[0140] See also Figure 8 , Figure 8 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 Related description in the corresponding embodiment: For ease of explanation, only the parts related to this embodiment are shown.

[0141] like Figure 8 As shown, the radar control device 80 includes: a determination module 81, a grouping module 82 and a control module 83. Among them:

[0142] The determination module 81 is used to determine a target receiving channel according to the echo signals received by each receiving channel; wherein the target receiving channel is a receiving channel whose received echo signal is an echo signal reflected by a highly reflective object.

[0143] The grouping module 82 is used to adjust the transmission channel grouping according to the target receiving channel; wherein the transmission channel corresponding to the target receiving channel and the transmission channel corresponding to the non-target receiving channel are in different transmission channel groups.

[0144] The control module 83 is used to control the transmission channel to retransmit the detection signal according to the adjusted transmission channel grouping.

[0145] In one embodiment of the present application, the control module 83 includes a strategy adjustment unit and a control unit.

[0146] The strategy adjustment unit is used to determine the adjusted transmission strategy of the transmission channel grouping according to the target strategy.

[0147] The control unit is used to control the adjusted transmission channel groups to resend the detection signal according to the transmission strategy.

[0148] In one embodiment of the present application, the target strategy includes at least one of a transmission power adjustment strategy, a coding mode adjustment strategy, and a transmission time adjustment strategy.

[0149] When the target strategy is the transmission time adjustment strategy, the strategy adjustment unit is specifically used to adjust the transmission time of the transmission channel group to which the transmission channel corresponding to the target receiving channel belongs and / or adjust the transmission time of the transmission channel group to which the transmission channel corresponding to the non-target receiving channel belongs; wherein, there is a time interval between the transmission time of the transmission channel group to which the transmission channel corresponding to the target receiving channel belongs after adjustment and the transmission time of the transmission channel group to which the transmission channel corresponding to the non-target receiving channel belongs.

[0150] In one embodiment of the present application, the determination module 81 is further configured to determine whether the target receiving channel exists according to the echo signals re-received by each of the receiving channels.

[0151] In one embodiment of the present application, the above-mentioned laser radar includes multiple transmission channel groups, and the above-mentioned grouping module 82 is specifically used to screen out the target transmission channel in each transmission channel group, and the target transmission channel is the transmission channel corresponding to the target receiving channel; the target transmission channel in each group is set in a transmission channel group.

[0152] In one embodiment of the present application, the above-mentioned laser radar includes multiple transmission channel groups, and the above-mentioned grouping module 82 is specifically used to determine the target transmission channel group according to the target detection field of view; filter out the target transmission channel in the target transmission channel group, and the target transmission channel is the transmission channel corresponding to the target receiving channel; and set the target transmission channel in a transmission channel group.

[0153] In one embodiment of the present application, the target policy includes a receiving threshold adjustment policy, and the policy adjustment unit is further configured to adjust the receiving threshold of the receiving channel according to the receiving threshold adjustment policy.

[0154] 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.

[0155] Highly reflective object In summary, the radar control device provided in the embodiment of the present application can also determine the target receiving channel corresponding to the highly reflective object according to the echo information of the reflected echo received by each receiving channel, and then adjust the transmission channel grouping of all transmission channels of the laser radar, so that the transmission channel corresponding to the target receiving channel corresponding to the high-reflective object and the transmission channel corresponding to the receiving channel corresponding to the non-high-reflective object are in different transmission channel groups, and control the laser radar to transmit the detection signal according to the adjusted transmission channel grouping. Since the transmission channel corresponding to the target receiving channel and the transmission channel corresponding to the non-target receiving channel separately transmit the detection laser, the crosstalk of the high-energy reflected echo generated by the high-reflective object to the reflected echo generated by the non-high-reflective object can be effectively reduced, thereby improving the detection accuracy of the laser radar.

[0156] Highly reflective object Highly reflective object Highly reflective object Highly reflective object Fig. 9 FIG. 1 is a schematic diagram of a terminal device provided in another embodiment of the present application. Fig. 9 As shown, the terminal device 9 provided in this embodiment includes: a processor 90, a memory 91, and a computer program 92 stored in the memory 91 and executable on the processor 90, such as an image segmentation program. When the processor 90 executes the computer program 92, the steps in the above-mentioned radar control method embodiments are implemented, such as Figure 1 Alternatively, when the processor 90 executes the computer program 92, the functions of the modules / units in the above-mentioned terminal device embodiments are realized, for example, Figure 8 The functions of units 81 to 83 are shown.

[0157] Exemplarily, the computer program 92 may be divided into one or more modules / units, which are stored in the memory 91 and executed by the processor 90 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 92 in the terminal device 9. For example, the computer program 92 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.

[0158] The terminal device may include, but is not limited to, a processor 90 and a memory 91. Those skilled in the art will appreciate that Fig. 9 It is only an example of the terminal device 9 and does not constitute a limitation on the terminal device 9. 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.

[0159] The processor 90 may be a central processing unit (CPU), 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.

[0160] The memory 91 may be an internal storage unit of the terminal device 9, such as a hard disk or memory of the terminal device 9. The memory 91 may also be an external storage device of the terminal device 9, 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 9. Further, the memory 91 may also include both an internal storage unit of the terminal device 9 and an external storage device. The memory 91 is used to store the computer program and other programs and data required by the terminal device. The memory 91 may also be used to temporarily store data that has been output or is to be output.

[0161] 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.

[0162] 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.

[0163] 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.

[0164] 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.

[0165] 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.

[0166] 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: Determining a target receiving channel according to the echo signals received by each receiving channel; wherein the target receiving channel is a receiving channel whose received echo signal is an echo signal reflected by a highly reflective object; Adjusting the transmission channel grouping according to the target receiving channel; wherein the transmission channel corresponding to the target receiving channel and the transmission channel corresponding to the non-target receiving channel are in different transmission channel groups; The transmission channels are controlled to retransmit the detection signal according to the adjusted transmission channel grouping.

2. The radar control method according to claim 1, characterized in that: The controlling the transmission channel to retransmit the detection signal according to the adjusted transmission channel grouping includes: Determine the adjusted transmission strategy of the transmission channel grouping according to the target strategy; The detection signal is resent in the transmission channel group after the adjustment is controlled according to the transmission strategy.

3. The radar control method according to claim 2, characterized in that: The target strategy includes at least one of a transmission power adjustment strategy, a coding mode adjustment strategy and a transmission time adjustment strategy.

4. The radar control method according to claim 3, characterized in that: When the target strategy is the transmission time adjustment strategy, determining the adjusted transmission strategy of the transmission channel grouping according to the target strategy includes: Adjust the transmission time of the transmission channel group to which the transmission channel corresponding to the target receiving channel belongs and / or adjust the transmission time of the transmission channel group to which the transmission channel corresponding to the non-target receiving channel belongs; wherein there is a time interval between the transmission time of the transmission channel group to which the transmission channel corresponding to the target receiving channel belongs after adjustment and the transmission time of the transmission channel group to which the transmission channel corresponding to the non-target receiving channel belongs.

5. The radar control method according to claim 4, characterized in that: The adjusting the transmission time of the transmission channel group to which the transmission channel corresponding to the target receiving channel belongs and / or adjusting the transmission time of the transmission channel group to which the transmission channel corresponding to the non-target receiving channel belongs includes: Determine the transmission time of the transmission channel group to which the transmission channel corresponding to the target receiving channel belongs according to the first coding set and / or determine the transmission time of the transmission channel group to which the transmission channel corresponding to the non-target receiving channel belongs according to the first coding set.

6. The radar control method according to claim 5, characterized in that: After controlling the transmission channel to retransmit the detection signal according to the adjusted transmission channel grouping, the method further includes: It is determined whether the target receiving channel exists according to the echo signals re-received by each of the receiving channels.

7. The radar control method according to any one of claims 1 to 6, characterized in that: The radar includes a plurality of transmission channel groups, and adjusting the transmission channel grouping according to the target receiving channel includes: Filtering out a target transmission channel in each of the transmission channel groups, the target transmission channel being a transmission channel corresponding to the target receiving channel; The target transmission channels in each group are arranged in a transmission channel grouping.

8. The radar control method according to any one of claims 1 to 6, characterized in that: The radar includes a plurality of transmission channel groups, and the adjusting the transmission channel grouping according to the target receiving channel includes: Determine the target launch channel group according to the target detection field of view; Filtering out a target transmission channel in the target transmission channel group, wherein the target transmission channel is a transmission channel corresponding to the target receiving channel; The target transmission channel is set in a transmission channel group.

9. The radar control method according to claim 1, characterized in that: The target strategy includes a receiving threshold adjustment strategy. After adjusting the transmission channel grouping according to the target receiving channel, it may also include: The receiving threshold of the receiving channel is adjusted according to the receiving threshold adjustment strategy.

10. A radar control device, characterized in that: include: A determination module, used to determine a target receiving channel according to the echo signals received by each receiving channel; wherein the target receiving channel is a receiving channel high-reflection object whose received echo signal is an echo signal reflected by a high-reflection object; A grouping adjustment module, used for adjusting the transmission channel grouping according to the target receiving channel; wherein the transmission channel corresponding to the target receiving channel and the transmission channel corresponding to the non-target receiving channel are in different transmission channel groups; The control module is used to control the transmission channel to retransmit the detection signal according to the adjusted transmission channel grouping.

11. 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 9 is implemented.

12. 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 9 is implemented.

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